version: 66.13
glider: 401
mission: 22
dive: 250
start: 7 31 117 2 41 54
data:
$ID,401
$MISSION,22
$DIVE,250
$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,34
$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
$GPS1,310717,023455,5946.3486,-17117.0977,8,0.7,37,8.2,0.3,213.1,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-40.4
$GPS2,310717,024047,5946.3350,-17117.0449,6,0.7,20,8.2,0.3,92.8,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.326545,0.092859
$KALMAN_X,33238.433594,-1597.843750,-418.595123,-80030.101562,158.141052
$KALMAN_Y,11704.028320,2376.375244,779.636597,42587.664062,-107.251831
$MHEAD_RNG_PITCHd_Wd,277.7,9295,-11.3,-9.091,-14.99,6422
$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,-389.9,239,1883,2030,4093,0.0,0.0,0,20,10.05,0.00,0.00,0.000,2049,0.110,0.000,1066,1884,2030,2030,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.28,49.96
$GC,22,-1.61,-389.9,1066,1883,2030,4094,0.9,0.0,1,49,8.48,2.38,-8.48,0.000,18948,0.058,1.304,1836,1053,2959,2959,4094,0,0,0,0,0,0,25.93,24.88,25.99,10.28,49.84
$GC,176,-1.61,-389.9,1835,1052,2962,4094,15.2,-13.6,23,184,0.00,2.12,0.00,0.000,1030,0.000,0.028,1836,1902,2963,2963,4094,0,0,0,0,0,0,25.98,25.95,26.00,10.49,49.52
$GC,220,-1.61,-389.9,1836,1902,2964,4094,21.0,-13.1,29,230,0.00,2.30,0.00,0.000,260,0.000,0.056,1836,2756,2964,2964,4095,0,0,0,0,0,0,26.23,25.91,26.25,10.48,48.18
$GC,259,-1.61,-389.9,1836,2756,2964,4095,25.0,-10.3,34,268,0.00,2.05,0.00,0.000,1030,0.000,0.029,1836,1953,2964,2964,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.43,48.18
$GC,306,-1.61,-389.9,1836,1953,2965,4095,29.6,-10.3,40,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1953,2965,2965,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.40,47.48
$GC,351,-1.61,-389.9,1836,1953,2967,4095,34.5,-10.8,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1953,2966,2966,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.38,46.18
$GC,397,-1.61,-389.9,1836,1953,2967,4094,39.5,-11.1,52,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1953,2967,2967,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.38,44.84
$GC,443,-1.61,-389.9,1835,1953,2968,4094,44.6,-11.2,58,452,0.00,2.45,0.00,0.000,516,0.000,0.067,1836,1049,2968,2968,4095,0,0,0,0,0,0,26.39,26.06,26.40,10.37,45.23
$GC,495,-1.61,-389.9,1836,1048,2969,4095,50.9,-12.1,65,504,0.00,2.20,0.00,0.000,1030,0.000,0.029,1837,1934,2969,2969,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.35,43.93
$GC,540,-1.61,-389.9,1836,1935,2970,4094,56.3,-12.0,71,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,2970,2970,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.35,43.77
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1836,2044,2971,4095,60.4,-10.7,76,616,4.05,0.00,22.98,1.278,10244,0.060,0.000,2206,2045,2500,2500,4095,0,0,0,0,0,0,26.17,25.20,24.54,10.34,44.29
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,619,1.61,389.9,2206,2044,2501,4095,62.7,0.0,80,654,6.97,0.00,22.52,1.258,11270,0.036,0.000,2861,2044,2049,2049,4095,0,0,0,0,0,0,25.66,25.82,24.10,10.25,43.46
$GC,692,1.61,389.9,2861,2044,2048,4095,57.5,11.3,89,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2048,2048,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.14,42.59
$GC,737,1.61,389.9,2861,2044,2047,4094,51.6,12.8,95,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2046,2046,4095,0,0,0,0,0,0,25.75,25.77,25.76,10.13,43.50
$GC,783,1.61,389.9,2861,2044,2045,4095,46.1,11.8,101,793,0.00,2.45,0.00,0.000,516,0.000,0.065,2862,1165,2045,2045,4094,0,0,0,0,0,0,25.86,25.53,25.88,10.13,43.38
$GC,862,1.61,389.9,2861,1164,2043,4094,36.9,11.5,112,872,0.00,2.10,0.00,0.000,1030,0.000,0.028,2861,1997,2043,2043,4094,0,0,0,0,0,0,25.83,25.78,25.82,10.12,43.42
$GC,909,1.61,389.9,2861,1997,2042,4094,31.7,11.3,118,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1998,2042,2042,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,44.25
$GC,952,1.61,389.9,2861,1997,2041,4094,26.6,11.2,124,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1998,2041,2041,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.11,44.21
$GC,997,1.61,389.9,2861,1998,2040,4094,21.9,10.5,130,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1998,2040,2040,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.12,44.48
$GC,1041,1.61,389.9,2861,1998,2039,4095,17.1,10.2,136,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1999,2039,2039,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.17,45.90
$GC,1085,1.61,389.9,2861,1999,2038,4094,13.0,9.4,142,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1999,2038,2038,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.19,47.40
$GC,1129,1.61,389.9,2861,1999,2037,4094,8.6,10.1,148,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1999,2037,2037,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.20,48.18
$GC,1174,1.61,389.9,2861,1999,2036,4094,4.2,9.9,154,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2000,2035,2035,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.22,48.81
$STATE,1198,end climb,FINISH_DEPTH_REACHED
$STATE,1198,begin subsurface finish
$FINISH1,1.8,1.024261,93
$GC,1204,0.14,93.3,2861,1999,2034,4094,1.8,9.2,157,1221,5.05,0.00,-3.15,0.000,20486,0.076,0.000,2411,2002,2396,2396,4095,0,0,0,0,0,0,26.03,25.61,26.13,10.22,48.97
$FINISH2,0.2
$STATE,1222,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1222,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,011843
$TT8_MAMPS,0.026215,0.253162
$HUMID,49.56
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.10,6.140
$10V_AH,10.20,7.836
$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,34.600,18.250,45.500,0.000,0.000,22.229,17.480,203.355,0.000,0.000,21.241,447.511,0.389,137.476,922.956,90.510,33.454,407.151,0.000,386.152,0.000,0.543,0.000
$DEVICE_MAMPS,110.160,1304.325,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.587,431.917,341.867,506.664,657.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,14320,159
$CAP_FILE_SIZE,34708,0
$CFSIZE,1024409600,1007206400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,024047,5946.335,-17117.045,6,0.7,20,8.2,0.3,92.8,11,5.0