version: 66.13
glider: 401
mission: 22
dive: 258
start: 7 31 117 5 55 29
data:
$ID,401
$MISSION,22
$DIVE,258
$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,23
$R_STBD_OVSHOOT,44
$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,0.15
$_SM_ANGLEo,-1.7
$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,-0.335757,0.049988
$KALMAN_X,34341.007812,-1539.646484,-411.086273,-83266.000000,93.656433
$KALMAN_Y,11702.783203,2065.429688,436.610199,43326.375000,-44.806244
$MHEAD_RNG_PITCHd_Wd,270.3,7268,-11.3,-9.091,-14.99,6421
$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,7,-1.61,-389.8,2369,1894,2504,4092,0.0,0.0,0,20,5.30,0.00,-4.12,0.000,20486,0.030,0.000,1862,1894,2958,2958,4094,0,0,0,0,0,0,26.09,25.22,26.11,10.34,51.02
$GC,22,-1.61,-389.8,1862,1894,2959,4094,0.1,0.0,1,31,0.00,2.35,0.00,0.000,516,0.000,0.072,1862,1040,2959,2959,4095,0,0,0,0,0,0,26.28,25.97,26.29,10.44,51.06
$GC,145,-1.61,-389.8,1861,1039,2962,4095,10.9,-13.6,19,153,0.00,2.12,0.00,0.000,1030,0.000,0.030,1862,1890,2961,2961,4095,0,0,0,0,0,0,26.17,26.13,26.19,10.45,50.47
$GC,191,-1.61,-389.8,1861,1891,2962,4095,16.3,-12.2,25,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1891,2962,2962,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.45,50.55
$GC,236,-1.61,-389.8,1861,1891,2963,4095,21.5,-11.5,31,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1892,2964,2964,4094,0,0,0,0,0,0,26.43,26.45,26.45,10.45,50.00
$GC,283,-1.61,-389.8,1861,1893,2964,4094,26.3,-9.5,37,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1893,2964,2964,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.41,49.76
$GC,329,-1.61,-390.0,1861,1893,2965,4094,30.4,-9.1,43,337,0.00,2.30,0.00,0.000,260,0.000,0.055,1862,2753,2965,2965,4095,0,0,0,0,0,0,26.48,26.16,26.49,10.38,48.66
$GC,380,-1.61,-390.0,1861,2752,2966,4095,35.1,-9.3,50,389,0.00,2.15,0.00,0.000,1030,0.000,0.031,1862,1907,2966,2966,4095,0,0,0,0,0,0,26.27,26.24,26.29,10.37,48.14
$GC,425,-1.61,-390.0,1861,1907,2966,4095,39.4,-9.6,56,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1907,2967,2967,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,47.36
$GC,469,-1.61,-390.0,1861,1907,2967,4095,43.9,-10.1,62,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1908,2968,2968,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.35,46.14
$GC,515,-1.61,-390.0,1861,1907,2968,4095,48.5,-10.6,68,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1907,2969,2969,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.34,46.29
$GC,561,-1.61,-390.0,1861,1907,2969,4095,53.5,-10.8,74,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1908,2969,2969,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.33,45.31
$GC,606,-1.61,-390.0,1861,1907,2970,4095,58.4,-9.9,80,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1907,2970,2970,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.32,45.11
$STATE,621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,622,begin apogee
$GC,627,-0.45,0.0,1861,2040,2970,4094,60.2,-10.6,82,662,3.72,0.00,22.88,1.272,10244,0.059,0.000,2204,2040,2501,2501,4094,0,0,0,0,0,0,26.30,25.34,24.68,10.32,45.07
$STATE,663,end apogee,CONTROL_FINISHED_OK
$STATE,663,begin climb
$GC,665,1.61,390.0,2203,2039,2501,4094,62.7,0.0,86,700,6.97,0.00,22.62,1.249,11270,0.037,0.000,2862,2040,2045,2045,4094,0,0,0,0,0,0,25.78,25.95,24.22,10.23,44.99
$GC,738,1.61,390.0,2862,2039,2044,4094,57.7,9.3,95,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2044,2044,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.12,44.52
$GC,784,1.61,390.0,2861,2040,2043,4094,52.7,11.2,101,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2043,2043,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.12,44.29
$GC,829,1.61,390.0,2861,2039,2042,4094,47.4,11.6,107,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.11,44.09
$GC,875,1.61,390.0,2861,2039,2041,4094,42.0,12.0,113,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2041,2041,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.11,44.84
$GC,918,1.61,390.0,2862,2039,2039,4094,36.5,12.2,119,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2039,2039,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.10,44.44
$GC,962,1.61,390.0,2861,2039,2038,4094,31.3,12.5,125,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2038,2038,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.10,44.95
$GC,1006,1.61,390.0,2861,2039,2037,4095,25.7,12.3,131,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2038,2038,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,45.31
$GC,1051,1.61,390.0,2861,2039,2036,4094,20.9,10.4,137,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2036,2036,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.12,46.02
$GC,1094,1.61,390.0,2862,2039,2035,4094,16.7,9.7,143,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2034,2034,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.17,46.57
$GC,1137,1.61,390.0,2862,2039,2034,4094,12.5,9.9,149,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2034,2034,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.18,48.42
$GC,1181,1.61,390.0,2862,2039,2033,4095,8.0,10.0,155,1191,0.00,2.45,0.00,0.000,516,0.000,0.068,2862,1150,2033,2033,4094,0,0,0,0,0,0,26.32,25.97,26.34,10.20,48.70
$STATE,1244,end climb,SURFACE_DEPTH_REACHED
$STATE,1244,begin surface coast
$FINISH,0.4,1.024277
$STATE,1265,end surface coast,CONTROL_FINISHED_OK
$STATE,1265,begin surface
$SM_CCo,1363,0.00,0.000,0,0,2030,404.40
$SM_GC,0.96,27.55,1.83,0.00,0.022,0.031,0.000,232,1885,2030,-6.65,-2.55,404.40,0,0,0,0,0,0,26.03,26.17,26.14
$IRIDIUM_FIX,5955.74,-17228.01,310717,035013
$TT8_MAMPS,0.025466,0.252413
$HUMID,50.03
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.22,6.310
$10V_AH,10.21,8.030
$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,43.550,13.850,45.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,468.082,61.140,156.437,692.353,46.979,33.418,420.529,0.000,401.834,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,71.910,1272.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.364,453.727,359.004,532.021,689.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330980
$DATA_FILE_SIZE,14304,167
$CAP_FILE_SIZE,32912,0
$CFSIZE,1024409600,1006813184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,245.06,0x2138e4,0,24
$GPS,310717,061931,5946.492,-17120.896,5,0.9,45,8.2,0.8,289.6,10,5.0