version: 66.13
glider: 401
mission: 22
dive: 246
start: 7 31 117 0 53 45
data:
$ID,401
$MISSION,22
$DIVE,246
$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,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
$GPS1,310717,000821,5946.1304,-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,0.20
$_SM_ANGLEo,0.3
$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,-0.334893,-0.055886
$KALMAN_X,32180.478516,-1696.147461,-534.875732,-78334.500000,230.781616
$KALMAN_Y,11218.822266,2425.942383,879.401123,42546.609375,93.208923
$MHEAD_RNG_PITCHd_Wd,252.3,9745,-11.3,-9.091,-14.99,6424
$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,6,begin dive
$GC,8,-1.61,-390.0,2362,1889,2505,4092,0.0,0.0,0,20,5.38,0.00,-4.15,0.000,20486,0.029,0.000,1847,1890,2960,2960,4094,0,0,0,0,0,0,26.19,25.29,26.21,10.33,51.92
$GC,22,-1.61,-390.0,1847,1889,2960,4094,0.1,0.0,1,31,0.00,2.35,0.00,0.000,516,0.000,0.073,1847,1035,2960,2960,4095,0,0,0,0,0,0,26.38,26.06,26.39,10.43,51.29
$GC,183,-1.61,-390.0,1847,1035,2962,4095,10.4,-12.8,25,193,0.00,2.15,0.00,0.000,1030,0.000,0.031,1847,1900,2962,2962,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.44,50.94
$GC,229,-1.61,-390.0,1846,1900,2964,4095,16.3,-12.8,31,238,0.00,2.28,0.00,0.000,260,0.000,0.059,1847,2751,2964,2964,4095,0,0,0,0,0,0,26.50,26.17,26.51,10.45,50.98
$GC,274,-1.61,-390.0,1846,2751,2964,4095,21.5,-10.6,37,283,0.00,2.15,0.00,0.000,1030,0.000,0.032,1847,1910,2964,2964,4095,0,0,0,0,0,0,26.29,26.25,26.31,10.41,50.35
$GC,319,-1.61,-390.0,1846,1910,2965,4095,26.2,-10.7,43,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1909,2965,2965,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.38,49.88
$GC,364,-1.61,-390.0,1846,1909,2966,4094,31.0,-10.6,49,373,0.00,2.38,0.00,0.000,516,0.000,0.070,1847,1033,2966,2966,4095,0,0,0,0,0,0,26.55,26.20,26.55,10.37,47.95
$GC,415,-1.61,-390.0,1847,1033,2966,4095,36.7,-11.2,56,425,0.00,2.12,0.00,0.000,1030,0.000,0.031,1847,1886,2968,2968,4095,0,0,0,0,0,0,26.34,26.32,26.36,10.35,47.36
$GC,461,-1.61,-390.0,1846,1887,2969,4095,41.7,-10.9,62,470,0.00,2.35,0.00,0.000,260,0.000,0.058,1847,2764,2968,2968,4095,0,0,0,0,0,0,26.58,26.25,26.58,10.34,46.92
$GC,512,-1.61,-390.0,1846,2764,2969,4095,47.4,-10.9,69,522,0.00,2.20,0.00,0.000,1030,0.000,0.031,1847,1900,2969,2969,4095,0,0,0,0,0,0,26.37,26.34,26.39,10.33,45.62
$GC,559,-1.61,-390.0,1846,1900,2970,4095,52.3,-11.0,75,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1900,2970,2970,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.32,45.47
$GC,605,-1.61,-390.0,1847,1900,2971,4095,57.3,-11.0,81,613,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1900,2971,2971,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.32,45.15
$STATE,628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,628,begin apogee
$GC,633,-0.45,0.0,1846,2049,2971,4095,60.2,-11.0,84,668,3.88,0.05,22.92,1.279,10244,0.061,0.057,2205,2008,2501,2501,4094,0,0,0,0,0,0,26.33,25.37,24.71,10.32,45.31
$STATE,669,end apogee,CONTROL_FINISHED_OK
$STATE,669,begin climb
$GC,671,1.61,390.0,2204,2009,2501,4094,62.4,0.0,88,707,6.97,0.00,22.67,1.258,11270,0.037,0.000,2863,2009,2044,2044,4094,0,0,0,0,0,0,25.80,25.98,24.22,10.21,44.80
$GC,744,1.61,390.0,2862,2008,2043,4094,57.3,11.0,97,754,0.00,2.40,0.00,0.000,260,0.000,0.057,2863,2863,2043,2043,4094,0,0,0,0,0,0,25.67,25.37,25.69,10.11,44.13
$GC,802,1.61,390.0,2862,2862,2042,4094,49.8,12.8,105,812,0.00,2.15,0.00,0.000,1030,0.000,0.030,2863,2038,2041,2041,4094,0,0,0,0,0,0,25.64,25.60,25.65,10.10,44.40
$GC,849,1.61,390.0,2862,2038,2041,4094,44.3,11.6,111,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2041,2041,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.10,44.56
$GC,895,1.61,390.0,2862,2038,2039,4094,38.9,11.8,117,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2039,2039,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.10,44.44
$GC,941,1.61,390.0,2862,2038,2038,4094,33.6,11.6,123,949,0.00,2.42,0.00,0.000,516,0.000,0.068,2863,1156,2038,2038,4094,0,0,0,0,0,0,26.08,25.75,26.10,10.09,44.52
$GC,1004,1.61,390.0,2862,1155,2037,4094,25.9,12.0,132,1014,0.00,2.10,0.00,0.000,1030,0.000,0.030,2863,1990,2036,2036,4094,0,0,0,0,0,0,25.95,25.91,25.96,10.09,44.99
$GC,1050,1.61,390.0,2862,1990,2035,4094,21.0,10.5,138,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1990,2035,2035,4095,0,0,0,0,0,0,26.20,26.22,26.21,10.09,45.43
$GC,1094,1.61,390.0,2862,1990,2034,4095,16.5,9.8,144,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2034,2034,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,46.85
$GC,1138,1.61,390.0,2862,1991,2034,4094,12.4,9.4,150,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1992,2033,2033,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,47.59
$GC,1183,1.70,450.4,2862,1992,2033,4094,8.7,8.1,156,1194,0.17,2.45,4.35,0.451,10500,0.054,0.059,2886,2891,1974,1974,4094,0,0,0,0,0,0,26.10,25.94,25.33,10.18,49.01
$STATE,1248,end climb,SURFACE_DEPTH_REACHED
$STATE,1248,begin surface coast
$FINISH,0.2,1.024216
$STATE,1256,end surface coast,CONTROL_FINISHED_OK
$STATE,1257,begin surface
$SM_CCo,1356,0.00,0.000,0,0,1971,455.06
$SM_GC,1.10,27.90,2.62,0.00,0.025,0.040,0.000,240,1902,1971,-6.61,1.00,455.06,0,0,0,0,0,0,26.09,26.03,26.13
$IRIDIUM_FIX,5955.74,-17228.01,300717,224933
$TT8_MAMPS,0.025466,0.236684
$HUMID,50.39
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.22,6.040
$10V_AH,10.23,7.733
$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,44.300,32.750,49.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,467.397,60.145,151.353,692.943,45.203,33.416,408.960,0.000,400.395,0.000,0.540,0.000
$DEVICE_MAMPS,61.200,72.675,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.925,450.941,356.913,529.348,690.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330956
$DATA_FILE_SIZE,17763,166
$CAP_FILE_SIZE,33414,0
$CFSIZE,1024409600,1007386624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,011712,5946.263,-17116.814,8,0.8,17,8.2,0.6,80.2,11,4.7