version: 66.13
glider: 401
mission: 22
dive: 261
start: 7 31 117 7 11 8
data:
$ID,401
$MISSION,22
$DIVE,261
$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,26
$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
$GPS1,310717,062605,5946.4961,-17120.9238,6,1.0,19,8.2,0.4,47.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-3.4
$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,-0.338858,0.020345
$KALMAN_X,34255.562500,-1673.329224,-558.718689,-84514.125000,69.978455
$KALMAN_Y,11845.304688,1984.104736,376.663635,43542.003906,-11.811035
$MHEAD_RNG_PITCHd_Wd,265.2,5669,-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,-389.9,2408,1891,2400,4092,0.0,0.0,0,18,5.80,0.00,-1.90,0.000,20482,0.029,0.000,1843,1892,2610,2610,4094,0,0,0,0,0,0,26.22,28.83,26.26,10.32,50.00
$GC,20,-1.61,-389.9,1843,1892,2610,4094,0.1,0.0,1,31,0.00,2.45,-3.15,0.000,16900,0.000,1.321,1843,1040,2962,2962,4095,0,0,0,0,0,0,26.41,25.08,26.42,10.37,50.74
$GC,116,-1.61,-389.9,1842,1040,2963,4095,10.3,-13.5,17,122,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1905,2964,2964,4095,0,0,0,0,0,0,26.16,26.10,26.18,10.45,50.31
$GC,153,-1.61,-389.9,1842,1905,2964,4095,14.8,-11.9,23,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1906,2964,2964,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.44,49.88
$GC,189,-1.61,-389.9,1842,1905,2965,4095,19.4,-13.0,29,195,0.00,2.28,0.00,0.000,260,0.000,0.058,1843,2760,2965,2965,4095,0,0,0,0,0,0,26.39,26.07,26.40,10.45,49.60
$GC,226,-1.61,-389.9,1842,2760,2966,4095,23.6,-11.5,35,232,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1908,2966,2966,4095,0,0,0,0,0,0,26.22,26.14,26.24,10.44,49.96
$GC,263,-1.61,-389.9,1842,1908,2966,4095,27.7,-10.9,41,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,2967,2967,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.41,49.64
$GC,299,-1.61,-389.9,1842,1908,2967,4095,31.5,-10.2,47,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,2967,2967,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.40,48.77
$GC,336,-1.61,-390.0,1842,1908,2968,4094,34.7,-9.0,53,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,2967,2967,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,48.46
$GC,372,-1.61,-390.0,1842,1908,2968,4095,38.3,-9.6,59,378,0.00,2.28,0.00,0.000,260,0.000,0.054,1843,2760,2969,2969,4094,0,0,0,0,0,0,26.48,26.16,26.49,10.37,47.20
$GC,415,-1.61,-390.0,1842,2760,2969,4094,42.5,-10.2,66,421,0.00,2.15,0.00,0.000,1030,0.000,0.031,1843,1904,2969,2969,4094,0,0,0,0,0,0,26.30,26.22,26.33,10.36,46.53
$GC,452,-1.61,-390.0,1842,1904,2970,4094,46.4,-10.7,72,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2970,2970,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.35,46.61
$GC,488,-1.61,-390.0,1842,1904,2971,4095,50.3,-11.1,78,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1904,2971,2971,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.34,46.37
$GC,524,-1.61,-390.0,1842,1903,2970,4094,54.2,-10.8,84,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2971,2971,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.34,46.33
$GC,560,-1.61,-390.0,1842,1903,2972,4094,57.8,-10.4,90,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2972,2972,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.33,45.82
$STATE,582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,582,begin apogee
$GC,587,-0.45,0.0,1842,2049,2973,4095,60.2,-9.8,94,621,3.92,0.05,22.92,1.268,10244,0.059,0.058,2206,2005,2499,2499,4094,0,0,0,0,0,0,26.27,25.32,24.67,10.33,46.25
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.61,390.0,2205,2005,2499,4094,61.8,0.0,100,656,6.93,0.00,22.42,1.247,11270,0.036,0.000,2861,2005,2045,2045,4094,0,0,0,0,0,0,25.76,25.93,24.20,10.23,45.07
$GC,687,1.61,390.0,2860,2005,2044,4094,57.6,10.0,111,693,0.00,2.35,0.00,0.000,260,0.000,0.054,2861,2853,2044,2044,4094,0,0,0,0,0,0,25.61,25.32,25.63,10.12,44.52
$GC,736,1.61,390.0,2860,2853,2043,4094,51.7,12.9,119,742,0.00,2.12,0.00,0.000,1030,0.000,0.029,2861,2031,2043,2043,4094,0,0,0,0,0,0,25.61,25.53,25.63,10.12,44.40
$GC,773,1.61,390.0,2860,2031,2042,4094,47.2,11.6,125,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2031,2042,2042,4095,0,0,0,0,0,0,25.88,25.89,25.89,10.11,44.48
$GC,809,1.61,390.0,2860,2030,2041,4095,43.1,11.2,131,815,0.00,2.35,0.00,0.000,516,0.000,0.067,2861,1156,2042,2042,4094,0,0,0,0,0,0,25.95,25.63,25.96,10.11,44.76
$GC,846,1.61,390.0,2860,1155,2040,4094,38.6,12.1,137,852,0.00,2.05,0.00,0.000,1030,0.000,0.029,2861,1978,2040,2040,4094,0,0,0,0,0,0,25.84,25.78,25.86,10.10,44.99
$GC,883,1.61,390.0,2860,1979,2039,4094,34.3,11.5,143,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1979,2039,2039,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.10,45.98
$GC,919,1.61,390.0,2860,1979,2038,4094,30.1,11.7,149,925,0.00,2.45,0.00,0.000,260,0.000,0.059,2861,2883,2038,2038,4094,0,0,0,0,0,0,26.11,25.79,26.13,10.11,45.39
$GC,986,1.61,390.0,2860,2883,2036,4094,22.0,11.7,160,992,0.00,2.22,0.00,0.000,1030,0.000,0.031,2861,2011,2036,2036,4094,0,0,0,0,0,0,26.00,25.92,26.02,10.13,46.57
$GC,1023,1.61,390.0,2860,2011,2036,4094,18.5,9.2,166,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2035,2035,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.15,46.92
$GC,1059,1.67,431.5,2860,2011,2035,4094,15.4,8.4,172,1066,0.10,0.00,3.58,0.403,10246,0.075,0.000,2878,2011,1995,1995,4095,0,0,0,0,0,0,26.06,25.85,25.24,10.18,48.30
$GC,1097,1.67,431.5,2878,2011,1994,4095,11.8,9.5,178,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2011,1994,1994,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.18,49.40
$GC,1133,1.67,431.5,2878,2011,1993,4094,7.9,10.8,184,1139,0.00,2.30,0.00,0.000,516,0.000,0.067,2879,1156,1993,1993,4094,0,0,0,0,0,0,26.28,25.95,26.29,10.19,50.03
$STATE,1186,end climb,SURFACE_DEPTH_REACHED
$STATE,1186,begin surface coast
$FINISH,1.0,0.959930
$STATE,1193,end surface coast,CONTROL_FINISHED_OK
$STATE,1193,begin surface
$SM_CCo,1290,0.00,0.000,0,0,1991,437.89
$SM_GC,1.02,27.65,1.90,0.00,0.023,0.028,0.000,240,1900,1991,-6.61,-1.23,437.89,0,0,0,0,0,0,26.08,26.10,26.14
$IRIDIUM_FIX,5955.74,-17228.01,310717,050544
$TT8_MAMPS,0.025466,0.071155
$HUMID,51.77
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.20,6.378
$10V_AH,10.52,8.092
$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,44.400,31.800,48.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,443.897,412.678,162.946,290.478,41.454,33.415,374.975,0.000,289.546,0.000,0.541,0.000
$DEVICE_MAMPS,74.970,1321.155,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330988
$DATA_FILE_SIZE,14230,194
$CAP_FILE_SIZE,37890,0
$CFSIZE,1024409600,1006665728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,073327,5946.768,-17122.451,5,0.9,15,8.2,0.0,57.5,10,5.0