version: 66.13
glider: 401
mission: 22
dive: 245
start: 7 31 117 0 32 0
data:
$ID,401
$MISSION,22
$DIVE,245
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,310717,000821,5946.1304,-17116.5918,5,0.9,17,8.2,0.0,34.1,10,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.6
$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,-0.337145,-0.039864
$KALMAN_X,31844.242188,-1727.601318,-574.990845,-77926.710938,172.592590
$KALMAN_Y,11136.349609,2432.722656,898.863892,42602.628906,77.698059
$MHEAD_RNG_PITCHd_Wd,255.1,9745,-11.3,-9.091,-14.99,6422
$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,-389.9,2411,1889,2394,4092,0.0,0.0,0,17,5.80,0.00,-1.25,0.000,20482,0.022,0.000,1843,1889,2530,2530,4094,0,0,0,0,0,0,26.19,28.83,26.23,10.32,49.72
$GC,19,-1.61,-389.9,1843,1889,2530,4094,0.2,0.0,1,31,0.00,2.38,-3.85,0.000,16900,0.000,1.314,1843,1042,2961,2961,4095,0,0,0,0,0,0,26.38,25.05,26.39,10.35,50.00
$GC,109,-1.61,-389.9,1843,1042,2962,4095,9.7,-13.4,16,115,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1911,2962,2962,4095,0,0,0,0,0,0,26.14,26.08,26.16,10.44,50.27
$GC,146,-1.61,-389.9,1842,1911,2963,4095,14.6,-13.6,22,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1911,2963,2963,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.44,49.84
$GC,182,-1.61,-389.9,1842,1911,2964,4094,19.4,-13.5,28,188,0.00,2.28,0.00,0.000,260,0.000,0.058,1843,2762,2964,2964,4095,0,0,0,0,0,0,26.37,26.05,26.39,10.44,50.19
$GC,219,-1.61,-389.9,1842,2762,2965,4095,23.3,-10.7,34,225,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1914,2965,2965,4095,0,0,0,0,0,0,26.20,26.12,26.22,10.41,49.29
$GC,256,-1.61,-389.9,1842,1914,2965,4095,27.2,-10.8,40,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2966,2966,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.38,48.77
$GC,292,-1.61,-389.9,1842,1914,2966,4094,31.0,-10.3,46,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2966,2966,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.37,47.71
$GC,329,-1.61,-389.9,1842,1914,2967,4094,34.8,-10.6,52,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2967,2967,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.36,47.04
$GC,365,-1.61,-389.9,1842,1914,2968,4094,38.7,-10.6,58,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2967,2967,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.34,46.41
$GC,401,-1.61,-389.9,1842,1914,2968,4095,42.7,-10.9,64,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2969,2969,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.34,46.53
$GC,437,-1.61,-389.9,1842,1914,2969,4094,46.7,-11.0,70,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2969,2969,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,45.98
$GC,473,-1.61,-389.9,1842,1914,2970,4094,50.8,-11.0,76,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2969,2969,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.32,46.02
$GC,509,-1.61,-389.9,1842,1914,2970,4095,54.8,-11.0,82,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2971,2971,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.32,45.43
$GC,545,-1.61,-389.9,1842,1914,2971,4095,58.7,-10.9,88,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1914,2971,2971,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.32,45.86
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,560,-0.45,0.0,1843,2039,2972,4095,60.0,-11.0,90,593,3.95,0.00,22.90,1.274,10244,0.058,0.000,2207,2039,2500,2500,4094,0,0,0,0,0,0,26.25,25.30,24.64,10.31,45.58
$STATE,594,end apogee,CONTROL_FINISHED_OK
$STATE,594,begin climb
$GC,596,1.61,389.9,2207,2039,2500,4094,62.0,0.0,96,630,6.95,0.00,22.60,1.248,11270,0.037,0.000,2861,2040,2045,2045,4094,0,0,0,0,0,0,25.73,25.89,24.17,10.21,44.84
$GC,661,1.61,389.9,2861,2039,2044,4094,57.2,10.8,107,667,0.00,2.25,0.00,0.000,260,0.000,0.057,2861,2856,2044,2044,4094,0,0,0,0,0,0,25.60,25.30,25.60,10.11,44.21
$GC,715,1.61,389.9,2861,2856,2043,4094,50.4,12.6,116,722,0.00,2.15,0.00,0.000,1030,0.000,0.030,2861,2021,2043,2043,4094,0,0,0,0,0,0,25.60,25.53,25.63,10.11,44.68
$GC,753,1.61,389.9,2861,2020,2042,4094,46.1,11.4,122,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2021,2042,2042,4095,0,0,0,0,0,0,25.87,25.89,25.89,10.10,44.92
$GC,789,1.61,389.9,2861,2020,2041,4095,41.9,11.3,128,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2041,2041,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.10,44.76
$GC,825,1.61,389.9,2861,2021,2040,4094,37.7,11.5,134,831,0.00,2.35,0.00,0.000,516,0.000,0.068,2861,1154,2039,2039,4094,0,0,0,0,0,0,26.01,25.67,26.02,10.10,45.39
$GC,868,1.61,389.9,2861,1154,2039,4094,32.6,11.9,141,874,0.00,2.08,0.00,0.000,1030,0.000,0.029,2861,1988,2039,2039,4094,0,0,0,0,0,0,25.89,25.82,25.91,10.09,45.43
$GC,905,1.61,389.9,2861,1988,2038,4094,28.3,11.4,147,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2037,2037,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.09,45.15
$GC,941,1.61,389.9,2861,1988,2037,4094,24.2,10.9,153,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2038,2038,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.08,45.94
$GC,977,1.61,389.9,2861,1988,2036,4094,20.4,10.4,159,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2036,2036,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.09,45.78
$GC,1013,1.61,389.9,2861,1989,2035,4094,16.7,10.0,165,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2035,2035,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.13,46.41
$GC,1049,1.61,389.9,2861,1990,2035,4094,13.3,9.3,171,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1990,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.15,48.18
$GC,1085,1.61,389.9,2861,1990,2034,4094,9.7,9.8,177,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1990,2033,2033,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.17,49.17
$GC,1121,1.61,389.9,2861,1990,2033,4094,6.0,10.7,183,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2033,2033,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.19,49.40
$GC,1157,1.61,389.9,2861,1993,2032,4094,2.3,10.5,189,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2031,2031,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,50.07
$STATE,1167,end climb,FINISH_DEPTH_REACHED
$STATE,1167,begin subsurface finish
$FINISH1,1.1,1.025600,0
$GC,1172,0.00,0.0,2861,1994,2031,4094,1.1,10.0,191,1184,5.28,0.00,-4.07,0.000,20486,0.044,0.000,2363,1996,2505,2505,4094,0,0,0,0,0,0,26.10,25.25,26.13,10.20,50.39
$FINISH2,0.1
$STATE,1185,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1186,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,300717,224933
$TT8_MAMPS,0.025466,0.083139
$HUMID,50.94
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.17,6.022
$10V_AH,10.52,7.696
$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,21.975,18.325,45.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,429.991,336.516,145.723,289.681,41.340,33.424,364.100,0.000,288.112,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,1314.270,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330956
$DATA_FILE_SIZE,14181,193
$CAP_FILE_SIZE,35745,0
$CFSIZE,1024409600,1007452160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,000821,5946.130,-17116.592,5,0.9,17,8.2,0.0,34.1,10,4.8