version: 66.13
glider: 401
mission: 22
dive: 248
start: 7 31 117 1 49 33
data:
$ID,401
$MISSION,22
$DIVE,248
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,310717,012313,5946.2710,-17116.7246,5,0.8,18,8.2,0.0,97.1,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-0.9
$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,-0.339210,0.017753
$KALMAN_X,32698.302734,-1607.869141,-431.574921,-79170.039062,151.107819
$KALMAN_Y,11544.985352,2403.633545,824.661560,42557.585938,-3.713562
$MHEAD_RNG_PITCHd_Wd,264.8,9600,-11.3,-9.091,-14.98,6431
$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,-390.0,2359,1892,2507,4092,0.0,0.0,0,20,5.18,0.00,-2.30,0.000,20486,0.029,0.000,1860,1893,2964,2964,4094,0,0,0,0,0,0,26.13,25.22,26.15,10.34,52.48
$GC,23,-1.61,-390.0,1859,1892,2965,4094,3.3,0.0,1,32,0.00,2.38,0.00,0.000,260,0.000,0.055,1859,2765,2964,2964,4094,0,0,0,0,0,0,26.25,25.98,26.25,10.44,51.69
$GC,87,-1.61,-390.0,1859,2765,2965,4094,10.5,-11.4,10,96,0.00,2.20,0.00,0.000,1030,0.000,0.031,1860,1910,2966,2966,4095,0,0,0,0,0,0,26.09,26.07,26.11,10.43,51.22
$GC,132,-1.61,-390.0,1859,1909,2966,4095,15.9,-12.4,16,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1909,2967,2967,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.44,51.69
$GC,177,-1.61,-390.0,1859,1909,2967,4094,21.1,-11.3,22,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1910,2968,2968,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.42,51.02
$GC,221,-1.61,-390.0,1858,1909,2968,4095,25.7,-10.5,28,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1909,2968,2968,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.39,50.00
$GC,268,-1.61,-390.0,1859,1909,2969,4094,30.2,-9.9,34,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1910,2969,2969,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,49.56
$GC,313,-1.61,-390.0,1859,1909,2970,4095,34.7,-10.0,40,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1909,2970,2970,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,48.30
$GC,359,-1.61,-390.0,1859,1909,2971,4095,39.4,-9.9,46,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1910,2971,2971,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.34,47.08
$GC,405,-1.61,-390.0,1859,1909,2971,4095,44.0,-10.3,52,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1909,2972,2972,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.33,46.61
$GC,450,-1.61,-390.0,1859,1909,2973,4094,48.8,-10.6,58,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1910,2973,2973,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.33,46.18
$GC,496,-1.61,-390.0,1859,1909,2973,4095,53.5,-10.4,64,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1909,2974,2974,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.32,46.18
$GC,542,-1.61,-390.0,1859,1909,2974,4094,58.2,-10.1,70,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1909,2974,2974,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.32,46.14
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,564,-0.45,0.0,1859,2047,2975,4095,60.2,-10.2,72,600,3.78,0.08,23.12,1.273,10244,0.059,0.047,2205,1998,2499,2499,4095,0,0,0,0,0,0,26.27,25.32,24.64,10.31,45.55
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,603,1.61,390.0,2205,1998,2499,4095,62.4,0.0,76,639,6.97,0.00,22.58,1.252,11270,0.035,0.000,2861,1998,2045,2045,4094,0,0,0,0,0,0,25.75,25.91,24.18,10.21,45.03
$GC,676,1.61,390.0,2861,1998,2044,4094,57.5,10.3,85,686,0.00,2.40,0.00,0.000,260,0.000,0.057,2861,2852,2043,2043,4094,0,0,0,0,0,0,25.64,25.34,25.65,10.11,44.44
$GC,723,1.61,390.0,2861,2852,2042,4094,51.8,12.8,91,732,0.00,2.12,0.00,0.000,1030,0.000,0.031,2861,2041,2042,2042,4094,0,0,0,0,0,0,25.58,25.55,25.60,10.10,44.52
$GC,769,1.61,390.0,2861,2041,2041,4094,46.3,11.6,97,779,0.00,2.45,0.00,0.000,516,0.000,0.069,2861,1158,2041,2041,4094,0,0,0,0,0,0,25.90,25.58,25.91,10.09,44.60
$GC,821,1.61,390.0,2861,1158,2040,4094,40.0,11.7,104,830,0.00,2.08,0.00,0.000,1030,0.000,0.030,2861,1979,2040,2040,4094,0,0,0,0,0,0,25.78,25.75,25.80,10.09,45.11
$GC,866,1.61,390.0,2861,1978,2039,4094,34.8,11.6,110,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1979,2038,2038,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.09,45.74
$GC,910,1.61,390.0,2861,1979,2038,4094,29.7,10.9,116,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1979,2038,2038,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.09,45.03
$GC,956,1.61,390.0,2861,1979,2037,4094,24.7,11.6,122,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1979,2036,2036,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.09,45.47
$GC,1002,1.61,390.0,2861,1978,2035,4094,19.8,10.4,128,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1980,2036,2036,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.10,45.66
$GC,1048,1.61,390.0,2861,1981,2034,4094,15.4,9.3,134,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1981,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.15,47.24
$GC,1094,1.61,390.0,2861,1981,2033,4094,11.0,9.4,140,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1981,2034,2034,4094,0,0,0,0,0,0,26.28,26.30,26.30,10.17,48.58
$GC,1140,1.61,390.0,2861,1981,2032,4094,6.5,10.1,146,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1981,2032,2032,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.18,49.33
$GC,1183,1.62,394.3,2861,1982,2031,4095,2.3,9.0,152,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2031,2031,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.20,49.52
$STATE,1199,end climb,FINISH_DEPTH_REACHED
$STATE,1199,begin subsurface finish
$FINISH1,0.5,1.024240,95
$GC,1205,0.14,94.7,2861,2043,2031,4094,0.5,9.3,154,1216,4.80,0.00,-3.25,0.000,20486,0.047,0.000,2410,2039,2396,2396,4095,0,0,0,0,0,0,26.13,25.25,26.17,10.21,49.92
$FINISH2,0.3
$STATE,1217,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1217,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,000332
$TT8_MAMPS,0.026215,0.245672
$HUMID,50.86
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.18,6.091
$10V_AH,10.22,7.784
$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,20.725,14.350,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.576,0.000,134.753,649.712,44.877,33.426,405.119,0.000,375.354,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,139.995,1272.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.864,421.061,333.280,494.458,645.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330996
$DATA_FILE_SIZE,14403,155
$CAP_FILE_SIZE,31582,0
$CFSIZE,1024409600,1007321088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,012313,5946.271,-17116.725,5,0.8,18,8.2,0.0,97.1,11,4.6