version: 66.13
glider: 401
mission: 22
dive: 299
start: 7 31 117 23 16 23
data:
$ID,401
$MISSION,22
$DIVE,299
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,22
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,310717,225240,5949.4492,-17134.6094,10,0.9,17,8.1,0.0,43.2,9,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.0
$GPS2,310717,225240,5949.4492,-17134.6094,10,0.9,17,8.1,0.0,43.2,9,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.329004,-0.085118
$KALMAN_X,37114.210938,-2284.039062,-896.673340,-99377.843750,117.654419
$KALMAN_Y,17977.121094,1767.957397,608.747437,42863.984375,193.865601
$MHEAD_RNG_PITCHd_Wd,247.4,67213,-11.3,-9.091,-14.98,6438
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.61,-390.0,2409,1906,2388,4092,0.0,0.0,0,21,5.70,0.00,-5.20,0.000,20486,0.027,0.000,1859,1906,2960,2960,4094,0,0,0,0,0,0,26.08,25.18,26.10,10.34,49.40
$GC,23,-1.61,-390.0,1858,1906,2960,4094,0.2,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2961,2961,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.47,50.35
$GC,68,-1.61,-390.0,1858,1906,2961,4095,1.6,-5.9,7,75,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2961,2961,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.47,49.64
$GC,112,-1.61,-390.0,1858,1906,2961,4095,6.4,-11.5,13,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2962,2962,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.47,49.29
$GC,155,-1.61,-390.0,1859,1906,2963,4094,11.7,-11.6,19,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2963,2963,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.47,49.37
$GC,200,-1.61,-390.0,1858,1906,2964,4095,16.6,-11.0,25,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2964,2964,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.48,48.77
$GC,244,-1.61,-390.0,1858,1906,2964,4094,21.5,-11.1,31,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1906,2964,2964,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.46,48.70
$GC,288,-1.61,-390.0,1858,1906,2965,4095,26.0,-10.3,37,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2965,2965,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.44,48.30
$GC,333,-1.61,-390.0,1858,1906,2966,4095,30.7,-10.4,43,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2966,2966,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.42,47.75
$GC,376,-1.61,-390.0,1858,1906,2967,4095,35.2,-10.4,49,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2967,2967,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.39,46.81
$GC,420,-1.61,-390.0,1858,1906,2968,4095,39.7,-10.1,55,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2968,2968,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,46.25
$GC,465,-1.61,-390.0,1858,1906,2969,4095,44.1,-9.7,61,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2969,2969,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.37,46.25
$GC,509,-1.61,-390.0,1858,1906,2969,4095,48.5,-9.9,67,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2969,2969,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.36,44.95
$GC,553,-1.61,-390.0,1858,1906,2970,4095,52.9,-10.1,73,562,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2970,2970,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.36,44.68
$GC,598,-1.61,-390.0,1858,1906,2971,4095,57.5,-10.0,79,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1906,2971,2971,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.35,44.84
$STATE,629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,629,begin apogee
$GC,634,-0.45,0.0,1859,2034,2972,4094,60.7,-10.2,83,668,3.75,0.00,22.88,1.269,10246,0.059,0.000,2206,2035,2501,2501,4094,0,0,0,0,0,0,26.31,25.38,24.68,10.35,44.88
$STATE,669,end apogee,CONTROL_FINISHED_OK
$STATE,669,begin climb
$GC,671,1.61,390.0,2205,2035,2500,4094,63.2,0.0,87,706,6.95,0.00,22.62,1.247,10246,0.037,0.000,2862,2035,2045,2045,4095,0,0,0,0,0,0,25.79,25.06,24.21,10.25,44.36
$GC,743,1.61,390.0,2862,2034,2044,4095,58.0,10.8,96,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2035,2043,2043,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.14,43.50
$GC,787,1.61,390.0,2862,2034,2043,4094,52.7,11.8,102,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2035,2042,2042,4095,0,0,0,0,0,0,25.82,25.84,25.84,10.14,43.97
$GC,831,1.61,390.0,2862,2034,2041,4095,47.3,12.2,108,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2035,2041,2041,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.13,44.09
$GC,875,1.61,390.0,2862,2034,2040,4094,41.9,12.2,114,885,0.00,2.45,0.00,0.000,516,0.000,0.066,2862,1152,2040,2040,4094,0,0,0,0,0,0,26.01,25.68,26.03,10.13,44.17
$GC,927,1.61,390.0,2862,1152,2039,4094,35.8,11.5,121,935,0.00,2.12,0.00,0.000,1030,0.000,0.028,2862,1995,2038,2038,4094,0,0,0,0,0,0,25.89,25.84,25.91,10.12,44.40
$GC,973,1.61,390.0,2862,1994,2038,4094,30.8,10.7,127,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1995,2038,2038,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.12,44.68
$GC,1017,1.61,390.0,2862,1994,2037,4095,26.3,9.5,133,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1995,2037,2037,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.13,45.55
$GC,1061,1.61,390.0,2862,1995,2036,4094,21.7,10.1,139,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1996,2035,2035,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.16,45.47
$GC,1106,1.61,390.0,2862,1995,2034,4094,17.3,10.1,145,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1995,2034,2034,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,46.92
$GC,1150,1.61,390.0,2862,1996,2034,4094,12.9,10.1,151,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1995,2034,2034,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.20,48.14
$GC,1194,1.61,390.0,2862,1997,2032,4094,8.5,9.8,157,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2033,2033,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.21,49.13
$GC,1239,1.61,390.0,2862,1996,2031,4094,3.8,10.2,163,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2030,2030,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.23,49.72
$STATE,1261,end climb,FINISH_DEPTH_REACHED
$STATE,1262,begin subsurface finish
$FINISH1,1.4,1.024154,101
$GC,1267,0.15,100.8,2862,1997,2030,4094,1.4,10.2,166,1278,4.70,0.00,-3.15,0.000,20486,0.035,0.000,2411,1998,2388,2388,4093,0,0,0,0,0,0,26.17,25.28,26.22,10.23,50.19
$FINISH2,0.2
$STATE,1279,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1279,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,213014
$TT8_MAMPS,0.025466,0.202979
$HUMID,50.15
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.21,7.260
$10V_AH,10.29,9.130
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.100,7.375,45.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.665,0.000,144.954,699.186,43.838,33.431,429.437,0.000,251.688,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,65.790,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.229,453.736,0.000,532.119,691.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,14279,167
$CAP_FILE_SIZE,32251,0
$CFSIZE,1024409600,1004814336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,225240,5949.449,-17134.609,10,0.9,17,8.1,0.0,43.2,9,4.6