version: 66.13
glider: 401
mission: 22
dive: 247
start: 7 31 117 1 24 21
data:
$ID,401
$MISSION,22
$DIVE,247
$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,15
$R_STBD_OVSHOOT,20
$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
$GPS1,310717,011712,5946.2632,-17116.8145,8,0.8,17,8.2,0.6,80.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.0
$GPS2,310717,012313,5946.2710,-17116.7246,5,0.8,18,8.2,0.0,97.1,11,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.335520,0.052785
$KALMAN_X,32493.039062,-1698.747681,-531.341370,-78770.054688,206.187744
$KALMAN_Y,11498.845703,2445.965820,892.013245,42490.101562,-53.857605
$MHEAD_RNG_PITCHd_Wd,270.7,9600,-11.3,-9.091,-14.98,6429
$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,-390.0,239,1901,1970,4092,0.0,0.0,0,17,7.65,0.00,0.00,0.000,2049,0.107,0.000,871,1898,1970,1970,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.26,49.84
$GC,20,-1.61,-390.0,871,1898,1970,4094,1.0,0.0,1,47,10.43,2.50,-8.93,0.000,18948,0.051,1.311,1837,1029,2959,2959,4095,0,0,0,0,0,0,25.93,24.84,25.96,10.27,50.11
$GC,159,-1.61,-390.0,1836,1029,2962,4095,13.0,-13.1,24,165,0.00,2.20,0.00,0.000,1030,0.000,0.029,1837,1913,2962,2962,4094,0,0,0,0,0,0,26.01,25.95,26.03,10.49,48.54
$GC,197,-1.61,-390.0,1836,1913,2962,4094,18.2,-13.5,30,203,0.00,2.28,0.00,0.000,260,0.000,0.057,1837,2764,2963,2963,4095,0,0,0,0,0,0,26.22,25.91,26.24,10.48,48.34
$GC,264,-1.61,-390.0,1836,2764,2964,4095,24.9,-8.1,41,271,0.00,2.17,0.00,0.000,1030,0.000,0.029,1837,1902,2964,2964,4095,0,0,0,0,0,0,26.09,26.01,26.11,10.43,47.87
$GC,302,-1.61,-390.0,1837,1902,2964,4095,27.9,-8.0,47,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1902,2965,2965,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.41,46.69
$GC,338,-1.61,-390.0,1837,1902,2965,4095,30.8,-8.1,53,344,0.00,2.30,0.00,0.000,260,0.000,0.051,1837,2766,2965,2965,4094,0,0,0,0,0,0,26.33,26.02,26.34,10.40,46.37
$GC,399,-1.61,-390.0,1837,2766,2965,4094,35.9,-8.5,63,406,0.00,2.08,0.00,0.000,1030,0.000,0.028,1837,1933,2966,2966,4095,0,0,0,0,0,0,26.18,26.11,26.20,10.38,45.19
$GC,437,-1.61,-390.0,1836,1932,2967,4095,39.1,-8.3,69,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1933,2966,2966,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.37,44.95
$GC,473,-1.61,-390.0,1836,1932,2967,4095,42.1,-8.2,75,479,0.00,2.22,0.00,0.000,260,0.000,0.052,1837,2764,2967,2967,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.37,44.80
$GC,541,-1.61,-390.0,1836,2764,2969,4095,47.9,-8.8,86,547,0.00,2.05,0.00,0.000,1030,0.000,0.028,1837,1945,2968,2968,4095,0,0,0,0,0,0,26.26,26.19,26.27,10.35,44.21
$GC,579,-1.61,-390.0,1837,1945,2969,4095,51.1,-8.4,92,585,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1945,2969,2969,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.35,44.44
$GC,616,-1.61,-390.0,1836,1945,2969,4095,54.4,-8.5,98,621,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1945,2969,2969,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.34,44.36
$GC,652,-1.61,-390.0,1836,1945,2970,4095,57.5,-8.4,104,658,0.00,2.17,0.00,0.000,260,0.000,0.054,1837,2762,2970,2970,4094,0,0,0,0,0,0,26.49,26.17,26.51,10.34,44.29
$STATE,681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,682,begin apogee
$GC,689,-0.45,0.0,1837,2009,2971,4094,60.2,-8.6,109,720,4.03,0.00,22.85,1.264,10244,0.061,0.000,2206,2009,2499,2499,4094,0,0,0,0,0,0,26.22,25.49,24.61,10.33,44.48
$STATE,721,end apogee,CONTROL_FINISHED_OK
$STATE,721,begin climb
$GC,723,1.61,390.0,2206,2009,2500,4094,62.3,0.0,115,762,7.00,2.30,22.50,1.251,10756,0.039,0.064,2864,1163,2045,2045,4095,0,0,0,0,0,0,25.70,25.56,24.14,10.24,44.36
$GC,775,1.73,467.5,2863,1163,2045,4095,60.0,7.9,124,788,0.25,2.17,5.97,0.900,11270,0.045,0.028,2891,2023,1955,1955,4094,0,0,0,0,0,0,25.29,25.29,24.20,10.14,43.69
$GC,819,1.73,467.5,2891,2023,1954,4094,55.9,9.1,131,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2023,1954,1954,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.11,43.93
$GC,855,1.73,467.5,2891,2023,1954,4094,52.5,9.3,137,861,0.00,2.38,0.00,0.000,516,0.000,0.067,2891,1160,1954,1954,4094,0,0,0,0,0,0,25.74,25.41,25.75,10.11,44.17
$GC,1006,1.73,467.5,2891,1160,1950,4094,37.5,9.8,162,1012,0.00,2.08,0.00,0.000,1030,0.000,0.028,2891,1998,1950,1950,4094,0,0,0,0,0,0,25.87,25.81,25.89,10.09,45.39
$GC,1043,1.73,467.5,2891,1998,1950,4094,34.1,9.1,168,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1998,1949,1949,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.09,46.18
$GC,1079,1.73,467.5,2891,1998,1949,4094,30.7,9.1,174,1085,0.00,2.28,0.00,0.000,516,0.000,0.067,2891,1161,1949,1949,4094,0,0,0,0,0,0,26.13,25.80,26.15,10.09,46.25
$GC,1188,1.73,467.5,2891,1160,1946,4094,20.1,9.3,192,1194,0.00,2.03,0.00,0.000,1030,0.000,0.029,2891,1984,1946,1946,4095,0,0,0,0,0,0,26.06,26.01,26.08,10.10,46.53
$GC,1225,1.81,522.6,2891,1984,1945,4095,17.1,8.2,198,1232,0.25,0.00,4.30,0.499,10246,0.057,0.000,2921,1985,1890,1890,4094,0,0,0,0,0,0,26.03,25.85,25.22,10.13,47.71
$GC,1263,1.82,529.7,2921,1985,1889,4094,13.7,9.0,204,1269,0.00,0.00,2.22,0.111,8198,0.000,0.000,2921,1985,1882,1882,4095,0,0,0,0,0,0,26.25,25.88,25.27,10.14,48.89
$GC,1300,1.82,529.7,2920,1985,1881,4095,9.6,11.6,210,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1985,1881,1881,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.16,49.68
$GC,1336,1.82,529.7,2921,1985,1879,4094,5.3,11.6,216,1342,0.00,2.22,0.00,0.000,516,0.000,0.064,2920,1161,1879,1879,4095,0,0,0,0,0,0,26.30,25.96,26.31,10.17,50.98
$STATE,1366,end climb,FINISH_DEPTH_REACHED
$STATE,1366,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1374,0.00,0.0,2921,2012,1878,4094,1.7,11.9,221,1390,5.97,0.00,-5.05,0.000,20486,0.053,0.000,2359,2020,2506,2506,4095,0,0,0,0,0,0,26.12,25.63,26.14,10.18,51.22
$FINISH2,0.7
$STATE,1391,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1391,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,000332
$TT8_MAMPS,0.025466,0.083139
$HUMID,51.37
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.14,6.074
$10V_AH,10.55,7.750
$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,35.575,39.525,57.850,0.000,0.000,25.114,17.007,209.855,0.000,0.000,20.183,501.928,422.528,159.541,604.801,87.316,33.459,397.951,0.000,333.677,0.000,0.542,0.000
$DEVICE_MAMPS,107.100,1311.210,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329460
$DATA_FILE_SIZE,17735,224
$CAP_FILE_SIZE,43823,0
$CFSIZE,1024409600,1007337472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,012313,5946.271,-17116.725,5,0.8,18,8.2,0.0,97.1,11,4.6