version: 66.13
glider: 401
mission: 22
dive: 257
start: 7 31 117 5 33 29
data:
$ID,401
$MISSION,22
$DIVE,257
$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,27
$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
$GPS1,310717,051005,5946.3789,-17119.2188,5,0.9,18,8.2,0.3,2.7,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.8
$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,-0.333543,0.063885
$KALMAN_X,33923.898438,-1521.520874,-387.972870,-82891.695312,-40.688477
$KALMAN_Y,11727.916992,2094.947998,462.385986,43246.042969,-55.187561
$MHEAD_RNG_PITCHd_Wd,272.6,7268,-11.3,-9.091,-14.99,6428
$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,-390.0,2409,1892,2397,4092,0.0,0.0,0,18,5.80,0.00,-1.62,0.000,20482,0.026,0.000,1839,1893,2576,2576,4094,0,0,0,0,0,0,26.21,28.83,26.25,10.33,49.92
$GC,20,-1.61,-390.0,1839,1893,2576,4094,0.1,0.0,1,31,0.00,2.40,-3.47,0.000,16900,0.000,1.308,1839,1042,2961,2961,4094,0,0,0,0,0,0,26.39,25.07,26.40,10.37,49.60
$GC,146,-1.61,-390.0,1839,1042,2963,4094,12.7,-13.1,22,153,0.00,2.12,0.00,0.000,1030,0.000,0.030,1839,1904,2964,2964,4095,0,0,0,0,0,0,26.17,26.10,26.20,10.46,49.80
$GC,185,-1.61,-390.0,1839,1905,2964,4095,17.3,-12.2,28,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1905,2964,2964,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,49.33
$GC,221,-1.61,-390.0,1838,1905,2965,4095,21.8,-11.9,34,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2965,2965,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.45,49.33
$GC,257,-1.61,-390.0,1839,1907,2966,4094,25.8,-10.7,40,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2966,2966,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.43,48.77
$GC,293,-1.61,-390.0,1839,1908,2966,4095,29.7,-10.8,46,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2966,2966,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.40,48.30
$GC,329,-1.61,-390.0,1839,1909,2967,4094,33.4,-10.0,52,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1909,2967,2967,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.39,47.71
$GC,365,-1.61,-390.0,1839,1909,2968,4095,37.2,-10.3,58,371,0.00,2.25,0.00,0.000,260,0.000,0.055,1839,2759,2968,2968,4095,0,0,0,0,0,0,26.47,26.15,26.48,10.38,47.08
$GC,408,-1.61,-390.0,1839,2759,2969,4095,41.9,-11.1,65,414,0.00,2.12,0.00,0.000,1030,0.000,0.031,1839,1907,2969,2969,4095,0,0,0,0,0,0,26.29,26.22,26.32,10.37,45.98
$GC,445,-1.61,-390.0,1838,1907,2970,4095,46.0,-11.2,71,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1907,2970,2970,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.36,46.33
$GC,481,-1.61,-390.0,1838,1907,2970,4095,50.2,-11.4,77,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1907,2970,2970,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.35,45.74
$GC,517,-1.61,-390.0,1839,1907,2971,4094,54.3,-10.8,83,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1907,2971,2971,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.34,45.11
$GC,553,-1.61,-390.0,1838,1907,2972,4095,58.4,-11.1,89,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1907,2972,2972,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.34,45.27
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,575,-0.45,0.0,1839,2038,2972,4094,60.6,-11.6,92,608,3.97,0.00,22.92,1.273,10244,0.058,0.000,2206,2038,2500,2500,4094,0,0,0,0,0,0,26.27,25.32,24.65,10.34,44.88
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,611,1.61,390.0,2206,2038,2500,4094,62.4,0.0,98,644,6.95,0.00,22.48,1.249,11270,0.036,0.000,2862,2039,2045,2045,4094,0,0,0,0,0,0,25.75,25.91,24.17,10.23,44.72
$GC,675,1.61,390.0,2861,2038,2044,4094,57.8,9.9,109,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2044,2044,4094,0,0,0,0,0,0,25.61,25.63,25.62,10.13,44.44
$GC,711,1.61,390.0,2861,2038,2043,4094,53.4,11.9,115,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2044,2044,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.12,44.60
$GC,747,1.61,390.0,2861,2038,2042,4094,49.2,11.4,121,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2042,2042,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.12,44.44
$GC,783,1.61,390.0,2861,2038,2041,4094,45.0,11.2,127,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.12,44.72
$GC,820,1.61,390.0,2861,2038,2041,4094,40.6,12.3,133,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2039,2039,4094,0,0,0,0,0,0,25.98,26.01,26.00,10.12,44.88
$GC,856,1.61,390.0,2861,2038,2039,4094,36.2,12.2,139,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2039,2039,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,44.76
$GC,892,1.61,390.0,2861,2038,2039,4094,31.9,12.2,145,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.11,44.84
$GC,928,1.61,390.0,2861,2038,2037,4094,27.5,12.6,151,934,0.00,2.22,0.00,0.000,260,0.000,0.058,2862,2861,2037,2037,4095,0,0,0,0,0,0,26.14,25.82,26.15,10.12,44.92
$GC,983,1.61,390.0,2861,2860,2036,4095,21.2,11.4,160,989,0.00,2.15,0.00,0.000,1030,0.000,0.030,2862,2013,2036,2036,4094,0,0,0,0,0,0,26.01,25.93,26.03,10.13,46.02
$GC,1020,1.61,390.0,2861,2013,2035,4094,17.4,10.1,166,1026,0.00,2.30,0.00,0.000,516,0.000,0.069,2862,1150,2035,2035,4094,0,0,0,0,0,0,26.22,25.89,26.24,10.16,47.55
$GC,1082,1.61,390.0,2861,1150,2034,4094,11.1,10.3,176,1088,0.00,2.03,0.00,0.000,1030,0.000,0.028,2861,1973,2033,2033,4094,0,0,0,0,0,0,26.10,26.04,26.12,10.19,49.29
$GC,1121,1.61,390.0,2861,1973,2033,4094,7.3,9.7,182,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1974,2033,2033,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.21,49.96
$GC,1157,1.68,435.6,2861,1978,2031,4094,3.9,8.4,188,1164,0.10,0.00,3.60,0.352,10246,0.075,0.000,2880,1979,1989,1989,4094,0,0,0,0,0,0,26.14,25.95,25.41,10.21,49.52
$STATE,1176,end climb,FINISH_DEPTH_REACHED
$STATE,1176,begin subsurface finish
$FINISH1,1.9,1.025600,0
$GC,1182,0.00,0.0,2879,2035,1989,4094,1.9,9.8,191,1198,5.72,0.00,-4.30,0.000,20486,0.074,0.000,2369,2041,2504,2504,4094,0,0,0,0,0,0,26.01,25.63,26.06,10.21,50.66
$FINISH2,0.1
$STATE,1199,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1199,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,035013
$TT8_MAMPS,0.026964,0.088382
$HUMID,50.27
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.17,6.294
$10V_AH,10.52,7.993
$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,22.550,18.175,49.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.274,348.059,142.891,290.633,39.746,33.430,358.317,0.000,289.562,0.000,0.541,0.000
$DEVICE_MAMPS,74.970,1308.150,1272.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,330980
$DATA_FILE_SIZE,14182,194
$CAP_FILE_SIZE,35164,0
$CFSIZE,1024409600,1006862336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,051005,5946.379,-17119.219,5,0.9,18,8.2,0.3,2.7,10,4.8