version: 66.13
glider: 401
mission: 22
dive: 256
start: 7 31 117 5 11 12
data:
$ID,401
$MISSION,22
$DIVE,256
$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,46
$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
$GPS1,310717,050416,5946.3887,-17119.1934,5,0.9,16,8.2,0.0,195.5,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-40.7
$GPS2,310717,051005,5946.3789,-17119.2188,5,0.9,18,8.2,0.3,2.7,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.321934,0.108671
$KALMAN_X,33718.300781,-1583.779175,-438.006470,-82548.773438,-44.720001
$KALMAN_Y,11740.278320,2158.426025,523.635010,43107.593750,-114.997162
$MHEAD_RNG_PITCHd_Wd,280.5,7268,-11.3,-9.091,-14.98,6436
$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,-390.0,238,1874,2031,4092,0.0,0.0,0,21,11.10,0.00,0.00,0.000,2049,0.109,0.000,1152,1874,2031,2031,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.28,50.19
$GC,23,-1.61,-390.0,1152,1874,2031,4094,1.0,0.0,1,51,7.43,2.33,-8.50,0.000,18948,0.053,1.303,1838,1058,2961,2961,4095,0,0,0,0,0,0,25.95,24.87,26.01,10.28,50.03
$GC,145,-1.61,-390.0,1837,1057,2964,4095,11.2,-13.8,18,154,0.00,2.12,0.00,0.000,1030,0.000,0.029,1838,1904,2964,2964,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.48,49.17
$GC,192,-1.61,-390.0,1837,1904,2964,4094,17.2,-13.4,24,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1904,2965,2965,4095,0,0,0,0,0,0,26.18,26.19,26.19,10.49,48.50
$GC,237,-1.61,-390.0,1837,1905,2965,4095,22.9,-12.4,30,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1906,2966,2966,4095,0,0,0,0,0,0,26.22,26.24,26.24,10.46,47.83
$GC,283,-1.61,-390.0,1838,1907,2966,4095,28.1,-11.4,36,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1907,2967,2967,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.44,47.20
$GC,329,-1.61,-390.0,1838,1907,2967,4095,32.8,-9.8,42,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1908,2968,2968,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.41,46.88
$GC,373,-1.61,-390.0,1838,1908,2969,4095,37.2,-10.2,48,382,0.00,2.30,0.00,0.000,260,0.000,0.057,1839,2757,2969,2969,4094,0,0,0,0,0,0,26.34,26.01,26.34,10.39,45.78
$GC,418,-1.61,-390.0,1838,2757,2969,4094,42.1,-10.9,54,427,0.00,2.12,0.00,0.000,1030,0.000,0.030,1839,1924,2969,2969,4094,0,0,0,0,0,0,26.13,26.08,26.17,10.38,45.15
$GC,463,-1.61,-390.0,1838,1924,2970,4094,47.2,-11.2,60,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1924,2970,2970,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.37,44.60
$GC,507,-1.61,-390.0,1838,1924,2971,4094,52.4,-11.8,66,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1924,2971,2971,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.36,43.81
$GC,551,-1.61,-390.0,1838,1924,2972,4094,57.5,-12.1,72,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1924,2972,2972,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.36,44.52
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1838,2048,2972,4094,60.3,-11.4,75,617,4.00,0.05,23.10,1.277,10244,0.058,0.059,2204,2008,2500,2500,4094,0,0,0,0,0,0,26.16,25.20,24.55,10.35,43.62
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,620,1.61,390.0,2204,2008,2500,4094,62.6,0.0,79,656,7.00,0.00,22.80,1.259,11270,0.037,0.000,2863,2008,2044,2044,4094,0,0,0,0,0,0,25.66,25.83,24.10,10.25,43.50
$GC,693,1.61,390.0,2862,2008,2042,4094,57.3,11.5,88,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2008,2043,2043,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.14,42.91
$GC,736,1.61,390.0,2862,2008,2042,4094,51.4,12.3,94,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2008,2041,2041,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.14,42.83
$GC,781,1.61,390.0,2862,2008,2041,4094,46.1,12.1,100,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2008,2041,2041,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.13,42.99
$GC,825,1.61,390.0,2862,2008,2039,4094,40.8,12.1,106,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2008,2039,2039,4094,0,0,0,0,0,0,25.96,25.96,25.96,10.12,43.73
$GC,869,1.61,390.0,2862,2008,2038,4094,35.4,12.3,112,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2008,2038,2038,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.12,43.89
$GC,913,1.61,390.0,2862,2008,2037,4094,30.1,12.5,118,923,0.00,2.33,0.00,0.000,260,0.000,0.057,2863,2849,2037,2037,4094,0,0,0,0,0,0,26.09,25.78,26.10,10.12,44.64
$GC,978,1.61,390.0,2862,2848,2035,4094,22.3,11.7,127,987,0.00,2.15,0.00,0.000,1030,0.000,0.031,2863,2017,2035,2035,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.14,44.80
$GC,1023,1.61,390.0,2862,2016,2034,4094,17.8,9.6,133,1033,0.00,2.35,0.00,0.000,516,0.000,0.068,2863,1158,2034,2034,4094,0,0,0,0,0,0,26.20,25.86,26.22,10.16,46.02
$GC,1088,1.61,390.0,2862,1158,2033,4094,11.4,10.4,142,1097,0.00,2.05,0.00,0.000,1030,0.000,0.028,2862,1980,2033,2033,4094,0,0,0,0,0,0,26.06,26.02,26.07,10.20,47.40
$GC,1135,1.61,390.0,2862,1980,2031,4094,6.7,10.1,148,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1980,2031,2031,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.22,48.30
$GC,1180,1.61,390.0,2862,1983,2029,4094,2.3,9.6,154,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1984,2029,2029,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.23,48.50
$STATE,1197,end climb,FINISH_DEPTH_REACHED
$STATE,1197,begin subsurface finish
$FINISH1,0.3,1.024245,94
$GC,1202,0.14,94.4,2862,1986,2029,4094,0.3,10.4,156,1213,4.68,0.00,-3.28,0.000,20486,0.029,0.000,2409,1988,2397,2397,4094,0,0,0,0,0,0,26.12,25.25,26.16,10.24,48.81
$FINISH2,0.1
$STATE,1214,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,035013
$TT8_MAMPS,0.024717,0.26215
$HUMID,49.01
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.10,6.276
$10V_AH,10.21,7.982
$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,34.200,18.025,45.900,0.000,0.000,24.872,17.566,195.476,0.000,0.000,19.635,444.629,0.371,137.759,916.890,88.317,33.455,411.750,0.000,382.087,0.000,0.543,0.000
$DEVICE_MAMPS,109.395,1302.795,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.116,426.554,337.519,500.123,653.103,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,14315,157
$CAP_FILE_SIZE,35425,0
$CFSIZE,1024409600,1006911488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,051005,5946.379,-17119.219,5,0.9,18,8.2,0.3,2.7,10,4.8