version: 66.13
glider: 401
mission: 22
dive: 244
start: 7 31 117 0 9 28
data:
$ID,401
$MISSION,22
$DIVE,244
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,310717,000206,5946.1011,-17116.7051,34,0.7,39,8.2,0.2,60.0,11,4.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-39.2
$GPS2,310717,000821,5946.1304,-17116.5918,5,0.9,17,8.2,0.0,34.1,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338855,-0.021715
$KALMAN_X,31638.708984,-1816.696533,-686.255188,-77518.875000,231.328430
$KALMAN_Y,11039.248047,2448.561768,939.955872,42633.230469,48.747803
$MHEAD_RNG_PITCHd_Wd,258.1,9745,-11.3,-9.091,-14.99,6425
$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,8,-1.61,-390.0,239,1900,2029,4092,0.0,0.0,0,21,11.15,0.00,0.00,0.000,2049,0.102,0.000,1168,1900,2029,2029,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.28,49.68
$GC,23,-1.61,-390.0,1168,1900,2029,4094,1.0,0.0,1,51,7.20,2.50,-8.52,0.000,18948,0.049,1.307,1834,1033,2959,2959,4095,0,0,0,0,0,0,25.89,24.84,25.97,10.28,50.07
$GC,165,-1.61,-390.0,1834,1033,2961,4095,11.5,-13.6,21,175,0.00,2.17,0.00,0.000,1030,0.000,0.029,1834,1899,2961,2961,4094,0,0,0,0,0,0,25.92,25.89,26.00,10.48,48.93
$GC,212,-1.61,-390.0,1834,1898,2962,4094,17.8,-13.4,27,221,0.00,2.28,0.00,0.000,260,0.000,0.056,1835,2744,2962,2962,4095,0,0,0,0,0,0,26.17,25.87,26.19,10.48,48.14
$GC,250,-1.61,-390.0,1834,2743,2961,4095,22.3,-11.1,32,259,0.00,2.15,0.00,0.000,1030,0.000,0.030,1835,1909,2963,2963,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.44,48.18
$GC,296,-1.61,-390.0,1834,1908,2964,4094,27.2,-11.1,38,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2964,2964,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.41,46.88
$GC,340,-1.61,-390.0,1834,1909,2964,4095,32.0,-10.8,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2965,2965,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.38,46.45
$GC,384,-1.61,-390.0,1834,1909,2966,4095,36.8,-10.8,50,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2966,2966,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.38,44.72
$GC,428,-1.61,-390.0,1834,1909,2966,4095,41.8,-11.3,56,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2967,2967,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.37,44.80
$GC,472,-1.61,-390.0,1834,1909,2967,4095,46.8,-11.6,62,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2968,2968,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.36,44.05
$GC,517,-1.61,-390.0,1834,1909,2968,4094,52.0,-11.8,68,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2968,2968,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.35,44.13
$GC,560,-1.61,-390.0,1834,1909,2969,4094,57.0,-11.5,74,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1909,2969,2969,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,43.42
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,590,begin apogee
$GC,595,-0.45,0.0,1834,2034,2970,4094,60.5,-11.4,78,630,4.07,0.00,22.77,1.281,10244,0.061,0.000,2206,2035,2505,2505,4094,0,0,0,0,0,0,26.15,25.20,24.53,10.34,44.01
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.61,390.0,2205,2034,2505,4094,62.9,0.0,82,670,6.97,2.22,22.98,1.261,10500,0.037,0.056,2864,2845,2045,2045,4094,0,0,0,0,0,0,25.60,25.56,24.09,10.24,42.99
$GC,719,1.61,390.0,2863,2844,2043,4094,56.2,12.1,93,728,0.00,2.17,0.00,0.000,1030,0.000,0.029,2864,2019,2043,2043,4095,0,0,0,0,0,0,25.42,25.38,25.42,10.13,43.62
$GC,766,1.61,390.0,2863,2019,2042,4095,50.8,11.8,99,775,0.00,2.40,0.00,0.000,516,0.000,0.068,2863,1156,2042,2042,4094,0,0,0,0,0,0,25.77,25.45,25.79,10.12,43.26
$GC,817,1.61,390.0,2863,1155,2041,4094,44.4,12.4,106,826,0.00,2.08,0.00,0.000,1030,0.000,0.028,2864,1975,2041,2041,4094,0,0,0,0,0,0,25.69,25.66,25.72,10.12,43.42
$GC,861,1.61,390.0,2863,1975,2040,4094,39.3,11.6,112,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1975,2039,2039,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.12,43.42
$GC,906,1.61,390.0,2862,1975,2039,4094,34.2,11.6,118,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1975,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.10,43.69
$GC,952,1.61,390.0,2863,1975,2037,4094,28.9,11.6,124,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1976,2037,2037,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.10,44.25
$GC,998,1.61,390.0,2863,1975,2036,4094,23.6,11.5,130,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1976,2036,2036,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.10,44.44
$GC,1044,1.61,390.0,2863,1976,2035,4094,18.6,10.7,136,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1978,2035,2035,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.13,44.44
$GC,1090,1.61,390.0,2863,1978,2034,4094,14.1,9.4,142,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1979,2034,2034,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.17,46.41
$GC,1134,1.61,390.0,2863,1979,2032,4094,9.6,9.8,148,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1979,2032,2032,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.19,48.22
$GC,1178,1.61,390.0,2863,1979,2031,4094,5.1,10.6,154,1188,0.00,2.47,0.00,0.000,260,0.000,0.060,2864,2885,2031,2031,4094,0,0,0,0,0,0,26.31,25.98,26.32,10.20,48.46
$STATE,1208,end climb,FINISH_DEPTH_REACHED
$STATE,1209,begin subsurface finish
$FINISH1,1.5,1.024209,97
$GC,1217,0.15,96.9,2864,2018,2030,4094,1.5,11.2,158,1227,4.70,0.00,-3.22,0.000,20486,0.028,0.000,2412,2018,2394,2394,4095,0,0,0,0,0,0,26.08,25.23,26.14,10.22,48.74
$FINISH2,0.3
$STATE,1228,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1228,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,224933
$TT8_MAMPS,0.026215,0.24717
$HUMID,49.05
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.09,6.005
$10V_AH,10.22,7.686
$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,34.100,22.950,45.750,0.000,0.000,24.085,19.020,226.308,0.000,0.000,18.948,448.878,0.000,139.772,951.245,88.977,33.453,412.842,0.000,386.471,0.000,0.543,0.000
$DEVICE_MAMPS,101.745,1306.620,1281.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.661,431.975,341.862,506.480,660.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,14349,159
$CAP_FILE_SIZE,35621,0
$CFSIZE,1024409600,1007501312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,000821,5946.130,-17116.592,5,0.9,17,8.2,0.0,34.1,10,4.8