version: 66.13
glider: 401
mission: 22
dive: 253
start: 7 31 117 3 56 42
data:
$ID,401
$MISSION,22
$DIVE,253
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,310717,034846,5946.3608,-17117.8867,5,0.8,35,8.2,0.0,177.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-39.9
$GPS2,310717,035535,5946.3433,-17117.8770,21,0.9,33,8.2,0.3,81.9,9,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.320156,0.113355
$KALMAN_X,33637.250000,-1549.947388,-380.748749,-81294.687500,55.545837
$KALMAN_Y,11739.411133,2271.888428,646.383423,42806.843750,-127.872131
$MHEAD_RNG_PITCHd_Wd,281.3,8520,-11.3,-9.091,-14.99,6429
$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,-390.0,230,1901,2008,4092,0.0,0.0,0,17,7.65,0.00,0.00,0.000,2049,0.106,0.000,864,1899,2007,2007,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.28,48.89
$GC,19,-1.61,-390.0,863,1899,2007,4094,0.8,0.0,1,47,10.57,2.50,-8.60,0.000,18948,0.055,1.307,1839,1033,2959,2959,4094,0,0,0,0,0,0,25.96,24.85,25.98,10.28,49.05
$GC,168,-1.61,-390.0,1839,1033,2962,4094,14.0,-13.1,26,174,0.00,2.17,0.00,0.000,1030,0.000,0.028,1839,1910,2962,2962,4094,0,0,0,0,0,0,26.03,25.96,26.04,10.49,48.85
$GC,205,-1.61,-390.0,1839,1910,2963,4094,18.6,-12.2,32,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1910,2963,2963,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.49,47.87
$GC,241,-1.61,-390.0,1838,1910,2964,4095,23.1,-12.6,38,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1911,2964,2964,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.46,47.51
$GC,278,-1.61,-390.0,1839,1912,2964,4095,27.1,-11.0,44,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1912,2964,2964,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.43,47.00
$GC,314,-1.61,-390.0,1839,1913,2965,4095,30.6,-9.9,50,320,0.00,2.25,0.00,0.000,260,0.000,0.054,1840,2759,2965,2965,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.41,47.08
$GC,351,-1.61,-390.0,1839,2759,2965,4095,34.4,-10.6,56,357,0.00,2.22,0.00,0.000,1030,0.000,0.030,1840,1879,2966,2966,4094,0,0,0,0,0,0,26.15,26.07,26.17,10.39,45.78
$GC,388,-1.61,-390.0,1839,1879,2966,4094,38.3,-11.0,62,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1879,2966,2966,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,45.35
$GC,424,-1.61,-390.0,1839,1879,2967,4095,42.4,-11.3,68,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1879,2967,2967,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.38,44.52
$GC,460,-1.61,-390.0,1839,1879,2967,4094,46.3,-11.2,74,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1879,2968,2968,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.37,44.21
$GC,496,-1.61,-390.0,1839,1879,2968,4095,50.3,-11.3,80,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1879,2968,2968,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,44.01
$GC,532,-1.61,-390.0,1839,1879,2969,4095,54.3,-11.1,86,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1879,2970,2970,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,43.77
$GC,568,-1.61,-390.0,1839,1879,2969,4095,58.5,-11.3,92,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1879,2970,2970,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.35,44.13
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,590,-0.45,0.0,1839,2041,2970,4094,60.6,-11.9,95,622,3.97,0.00,22.88,1.272,10244,0.060,0.000,2206,2042,2500,2500,4095,0,0,0,0,0,0,26.19,25.24,24.58,10.35,44.01
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,625,1.61,390.0,2206,2042,2500,4095,62.5,0.0,101,659,6.95,0.00,22.55,1.252,11270,0.037,0.000,2860,2042,2045,2045,4094,0,0,0,0,0,0,25.67,25.84,24.10,10.25,43.66
$GC,690,1.61,390.0,2860,2041,2044,4094,57.6,11.1,112,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2044,2044,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.15,43.14
$GC,726,1.61,390.0,2859,2041,2043,4094,53.3,12.1,118,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2043,2043,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.14,43.26
$GC,762,1.61,390.0,2859,2041,2042,4094,48.9,12.5,124,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2041,2041,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.13,43.42
$GC,798,1.61,390.0,2859,2041,2041,4094,44.2,13.0,130,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2041,2041,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.13,43.54
$GC,834,1.61,390.0,2859,2042,2040,4094,39.9,12.2,136,840,0.00,2.45,0.00,0.000,516,0.000,0.065,2860,1153,2039,2039,4094,0,0,0,0,0,0,25.96,25.63,25.97,10.12,44.21
$GC,889,1.61,390.0,2859,1153,2038,4094,33.1,12.5,145,895,0.00,2.10,0.00,0.000,1030,0.000,0.028,2860,1995,2038,2038,4094,0,0,0,0,0,0,25.86,25.81,25.89,10.12,44.99
$GC,926,1.61,390.0,2859,1996,2038,4094,28.6,12.4,151,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1996,2037,2037,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.12,44.92
$GC,962,1.61,390.0,2860,1996,2037,4094,24.4,12.1,157,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1996,2036,2036,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.12,44.88
$GC,998,1.61,390.0,2859,1996,2035,4094,20.2,11.2,163,1004,0.00,2.40,0.00,0.000,260,0.000,0.057,2860,2886,2035,2035,4095,0,0,0,0,0,0,26.17,25.86,26.19,10.13,45.15
$GC,1047,1.61,390.0,2860,2886,2034,4095,15.3,10.0,171,1053,0.00,2.22,0.00,0.000,1030,0.000,0.030,2860,2010,2034,2034,4094,0,0,0,0,0,0,26.03,25.95,26.06,10.17,47.12
$GC,1084,1.64,408.6,2859,2009,2034,4094,11.9,8.8,177,1092,0.00,2.33,2.38,0.157,8708,0.000,0.067,2860,1153,2022,2022,4095,0,0,0,0,0,0,26.25,25.90,25.28,10.19,47.71
$GC,1177,1.72,459.3,2859,1153,2020,4095,3.2,8.3,192,1190,0.25,2.05,4.25,0.405,11270,0.044,0.030,2890,1996,1963,1963,4094,0,0,0,0,0,0,26.09,26.06,25.39,10.21,49.96
$STATE,1194,end climb,FINISH_DEPTH_REACHED
$STATE,1194,begin subsurface finish
$FINISH1,1.0,1.025600,0
$GC,1200,0.00,0.0,2889,1999,1962,4094,1.0,10.4,195,1217,5.45,2.38,-4.47,0.000,20996,0.033,1.302,2358,1153,2506,2506,4094,0,0,0,0,0,0,26.08,24.95,26.10,10.21,49.88
$FINISH2,0.5
$STATE,1218,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1218,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,310717,023621
$TT8_MAMPS,0.025466,0.073402
$HUMID,50.47
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.10,6.211
$10V_AH,10.55,7.897
$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,34.850,25.425,52.050,0.000,0.000,20.808,19.170,242.550,0.000,0.000,35.028,442.298,350.151,155.980,614.516,87.533,33.456,379.854,0.000,296.729,0.000,0.543,0.000
$DEVICE_MAMPS,106.335,1306.620,1272.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329412
$DATA_FILE_SIZE,14230,198
$CAP_FILE_SIZE,40187,0
$CFSIZE,1024409600,1007058944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,035535,5946.343,-17117.877,21,0.9,33,8.2,0.3,81.9,9,5.0