version: 66.13
glider: 401
mission: 22
dive: 259
start: 7 31 117 6 27 12
data:
$ID,401
$MISSION,22
$DIVE,259
$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,35
$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
$GPS1,310717,061931,5946.4922,-17120.8965,5,0.9,45,8.2,0.8,289.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-42.5
$GPS2,310717,062605,5946.4961,-17120.9238,6,1.0,19,8.2,0.4,47.1,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.331431,0.073538
$KALMAN_X,33603.316406,-1693.705688,-571.983459,-83799.367188,-101.962463
$KALMAN_Y,11841.317383,2060.998779,436.019073,43406.386719,-75.360901
$MHEAD_RNG_PITCHd_Wd,274.3,5669,-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,-389.9,231,1912,2030,4092,0.0,0.0,0,17,7.65,0.00,0.00,0.000,2049,0.109,0.000,862,1913,2030,2030,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.29,48.77
$GC,20,-1.61,-389.9,862,1912,2030,4094,1.0,0.0,1,47,10.65,2.50,-8.00,0.000,18948,0.060,1.300,1833,1033,2961,2961,4094,0,0,0,0,0,0,25.91,24.86,25.96,10.29,48.74
$GC,139,-1.61,-389.9,1833,1033,2963,4094,12.5,-13.7,21,145,0.00,2.12,0.00,0.000,1030,0.000,0.028,1834,1900,2963,2963,4094,0,0,0,0,0,0,25.99,25.93,26.01,10.49,48.74
$GC,176,-1.61,-389.9,1833,1899,2964,4094,17.4,-12.5,27,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1900,2964,2964,4094,0,0,0,0,0,0,26.21,26.23,26.22,10.50,47.91
$GC,212,-1.61,-389.9,1833,1900,2964,4094,21.7,-11.7,33,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1901,2965,2965,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.48,47.87
$GC,248,-1.61,-389.9,1833,1903,2966,4095,25.7,-10.6,39,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1902,2966,2966,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.46,47.67
$GC,284,-1.61,-389.9,1833,1903,2965,4095,29.6,-10.5,45,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1904,2966,2966,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.43,47.00
$GC,320,-1.61,-389.9,1833,1903,2967,4094,33.3,-10.1,51,326,0.00,2.25,0.00,0.000,260,0.000,0.053,1834,2756,2967,2967,4094,0,0,0,0,0,0,26.33,26.02,26.34,10.40,46.88
$GC,357,-1.61,-389.9,1833,2757,2968,4094,37.3,-10.6,57,364,0.00,2.15,0.00,0.000,1030,0.000,0.029,1834,1902,2968,2968,4094,0,0,0,0,0,0,26.17,26.09,26.19,10.39,45.58
$GC,396,-1.61,-389.9,1833,1902,2968,4094,41.2,-9.9,63,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1902,2969,2969,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.38,45.23
$GC,432,-1.61,-389.9,1833,1902,2969,4094,45.4,-10.7,69,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1902,2969,2969,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,44.92
$GC,468,-1.61,-389.9,1833,1902,2970,4094,49.4,-11.1,75,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1902,2970,2970,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.37,44.32
$GC,504,-1.61,-389.9,1833,1902,2971,4095,53.4,-10.9,81,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1902,2971,2971,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.36,43.89
$GC,540,-1.61,-389.9,1833,1902,2971,4094,57.6,-11.9,87,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1902,2971,2971,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.36,43.81
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,568,-0.45,0.0,1833,2038,2972,4094,60.3,-11.3,91,600,4.03,0.00,23.02,1.268,10244,0.058,0.000,2205,2038,2499,2499,4094,0,0,0,0,0,0,26.19,25.23,24.57,10.36,43.73
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,603,1.61,389.9,2204,2038,2499,4094,62.1,0.0,97,637,6.97,0.00,22.52,1.242,11270,0.036,0.000,2863,2040,2045,2045,4094,0,0,0,0,0,0,25.67,25.83,24.10,10.25,43.69
$GC,668,1.61,389.9,2862,2039,2043,4094,57.4,9.9,108,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2044,2044,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.14,42.87
$GC,704,1.61,389.9,2862,2039,2043,4094,53.2,11.6,114,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2043,2043,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.15,43.38
$GC,740,1.61,389.9,2861,2040,2042,4094,48.9,11.8,120,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2042,2042,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.14,43.03
$GC,776,1.61,389.9,2862,2039,2041,4094,44.5,12.0,126,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2041,2041,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.13,43.69
$GC,812,1.61,389.9,2862,2039,2040,4094,40.3,11.4,132,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2040,2040,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.13,44.52
$GC,848,1.61,389.9,2862,2039,2039,4094,36.0,11.6,138,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2039,2039,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.12,44.44
$GC,884,1.61,389.9,2862,2039,2038,4094,31.7,12.1,144,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2038,2038,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.12,44.92
$GC,921,1.61,389.9,2862,2040,2037,4094,27.4,12.2,150,927,0.00,2.20,0.00,0.000,260,0.000,0.057,2863,2857,2037,2037,4094,0,0,0,0,0,0,26.13,25.82,26.13,10.12,44.25
$GC,975,1.61,389.9,2862,2856,2035,4094,20.9,11.6,159,982,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,2022,2036,2036,4094,0,0,0,0,0,0,26.00,25.92,26.02,10.15,45.62
$GC,1013,1.61,389.9,2862,2021,2034,4094,17.2,10.2,165,1019,0.00,2.33,0.00,0.000,516,0.000,0.067,2863,1157,2034,2034,4094,0,0,0,0,0,0,26.22,25.88,26.22,10.18,46.29
$GC,1061,1.61,389.9,2862,1156,2034,4094,12.3,10.1,173,1068,0.00,2.05,0.00,0.000,1030,0.000,0.028,2863,1989,2034,2034,4094,0,0,0,0,0,0,26.08,26.02,26.10,10.20,48.11
$GC,1099,1.61,389.9,2862,1988,2033,4094,8.5,10.3,179,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2032,2032,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.22,49.21
$GC,1134,1.61,389.9,2862,1989,2031,4094,4.8,9.8,185,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2031,2031,4095,0,0,0,0,0,0,26.31,26.33,26.32,10.22,49.48
$STATE,1163,end climb,FINISH_DEPTH_REACHED
$STATE,1163,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1168,0.00,0.0,2862,1993,2031,4094,1.7,10.7,190,1180,5.53,0.00,-3.83,0.000,20486,0.077,0.000,2371,1992,2508,2508,4094,0,0,0,0,0,0,26.03,25.25,26.09,10.23,49.92
$FINISH2,0.4
$STATE,1181,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1181,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,050544
$TT8_MAMPS,0.025466,0.084637
$HUMID,50.15
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.10,6.344
$10V_AH,10.56,8.046
$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,34.825,17.975,45.550,0.000,0.000,37.939,18.016,220.904,0.000,0.000,20.360,432.657,336.319,150.712,590.179,88.609,33.454,371.934,0.000,288.463,0.000,0.543,0.000
$DEVICE_MAMPS,108.630,1299.735,1267.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,329428
$DATA_FILE_SIZE,14240,192
$CAP_FILE_SIZE,39328,0
$CFSIZE,1024409600,1006764032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,062605,5946.496,-17120.924,6,1.0,19,8.2,0.4,47.1,10,5.0