version: 66.13
glider: 401
mission: 22
dive: 262
start: 7 31 117 7 40 41
data:
$ID,401
$MISSION,22
$DIVE,262
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,310717,073327,5946.7681,-17122.4512,5,0.9,15,8.2,0.0,57.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-44.8
$GPS2,310717,073934,5946.7808,-17122.4434,6,0.9,19,8.2,0.0,340.5,10,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.337814,-0.034227
$KALMAN_X,33683.886719,-1830.784180,-719.089111,-85037.734375,-71.031982
$KALMAN_Y,12250.842773,2005.007935,404.988220,43605.968750,10.582489
$MHEAD_RNG_PITCHd_Wd,256.0,4258,-11.3,-9.091,-14.99,6425
$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,-390.0,240,1922,1991,4092,0.0,0.0,0,20,10.18,0.00,0.00,0.000,2049,0.111,0.000,1076,1919,1991,1991,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.27,50.39
$GC,22,-1.61,-390.0,1075,1919,1991,4094,1.0,0.0,1,50,8.25,2.58,-8.80,0.000,18948,0.049,1.310,1837,1038,2961,2961,4094,0,0,0,0,0,0,25.94,24.86,26.01,10.27,49.84
$GC,119,-1.61,-390.0,1837,1038,2962,4094,7.7,-14.0,14,129,0.00,2.17,0.00,0.000,1030,0.000,0.029,1837,1904,2962,2962,4095,0,0,0,0,0,0,25.89,25.86,25.92,10.49,49.09
$GC,166,-1.61,-390.0,1837,1905,2963,4095,13.8,-13.1,20,174,0.00,2.30,0.00,0.000,260,0.000,0.057,1838,2757,2963,2963,4094,0,0,0,0,0,0,26.17,25.85,26.18,10.50,48.81
$GC,211,-1.61,-390.0,1837,2757,2964,4094,20.0,-13.5,26,221,0.00,2.17,0.00,0.000,1030,0.000,0.030,1838,1911,2964,2964,4094,0,0,0,0,0,0,25.99,25.95,26.01,10.49,48.18
$GC,258,-1.61,-390.0,1837,1910,2965,4094,25.6,-11.6,32,268,0.00,2.40,0.00,0.000,516,0.000,0.068,1837,1031,2966,2966,4095,0,0,0,0,0,0,26.26,25.91,26.27,10.46,48.14
$GC,305,-1.61,-390.0,1837,1031,2966,4095,30.9,-11.8,38,314,0.00,2.15,0.00,0.000,1030,0.000,0.029,1838,1891,2966,2966,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.43,47.16
$GC,352,-1.61,-390.0,1837,1891,2967,4094,36.0,-10.9,44,360,0.00,2.33,0.00,0.000,260,0.000,0.055,1838,2762,2967,2967,4095,0,0,0,0,0,0,26.32,26.01,26.34,10.41,46.69
$GC,430,-1.61,-390.0,1837,2762,2969,4095,44.5,-10.9,55,439,0.00,2.17,0.00,0.000,1030,0.000,0.031,1838,1911,2969,2969,4094,0,0,0,0,0,0,26.15,26.11,26.17,10.38,44.84
$GC,477,-1.61,-390.0,1837,1911,2970,4094,49.9,-11.9,61,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1911,2970,2970,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.37,44.76
$GC,522,-1.61,-390.0,1837,1910,2970,4094,54.9,-11.1,67,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1911,2971,2971,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,44.09
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,572,-0.45,0.0,1837,2053,2972,4094,60.2,-11.7,73,607,4.03,0.08,23.10,1.271,10244,0.060,0.053,2206,2002,2500,2500,4094,0,0,0,0,0,0,26.17,25.22,24.54,10.35,43.81
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,610,1.61,390.0,2205,2001,2499,4094,62.8,0.0,77,647,6.90,2.35,22.65,1.255,10500,0.036,0.054,2860,2857,2045,2045,4094,0,0,0,0,0,0,25.64,25.54,24.10,10.26,43.46
$GC,690,1.61,390.0,2859,2856,2043,4094,56.8,11.8,87,699,0.00,2.17,0.00,0.000,1030,0.000,0.029,2860,2031,2043,2043,4094,0,0,0,0,0,0,25.41,25.38,25.43,10.15,43.10
$GC,735,1.61,390.0,2859,2030,2042,4094,51.5,11.9,93,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2031,2042,2042,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.14,42.95
$GC,779,1.61,390.0,2859,2030,2041,4094,46.3,11.5,99,789,0.00,2.42,0.00,0.000,516,0.000,0.067,2860,1151,2041,2041,4094,0,0,0,0,0,0,25.89,25.56,25.89,10.13,43.97
$GC,831,1.61,390.0,2859,1151,2040,4094,40.3,11.8,106,841,0.00,2.12,0.00,0.000,1030,0.000,0.028,2860,1993,2040,2040,4094,0,0,0,0,0,0,25.78,25.74,25.80,10.13,43.89
$GC,877,1.61,390.0,2859,1993,2039,4094,34.9,12.0,112,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1993,2038,2038,4094,0,0,0,0,0,0,26.05,26.07,26.06,10.13,43.77
$GC,920,1.61,390.0,2859,1993,2037,4094,29.7,12.2,118,929,0.00,2.42,0.00,0.000,260,0.000,0.058,2860,2882,2037,2037,4094,0,0,0,0,0,0,26.11,25.79,26.12,10.14,43.93
$GC,991,1.61,390.0,2859,2882,2035,4094,21.3,11.2,128,1001,0.00,2.22,0.00,0.000,1030,0.000,0.030,2860,2018,2035,2035,4094,0,0,0,0,0,0,25.96,25.92,26.00,10.16,45.39
$GC,1038,1.63,401.9,2859,2017,2034,4094,17.0,8.9,134,1048,0.00,2.35,0.00,0.000,516,0.000,0.067,2860,1152,2034,2034,4094,0,0,0,0,0,0,26.23,25.89,26.24,10.19,46.29
$GC,1077,1.63,401.9,2859,1151,2034,4094,13.2,9.5,139,1086,0.00,2.12,0.00,0.000,1030,0.000,0.029,2860,2001,2034,2034,4094,0,0,0,0,0,0,26.06,26.02,26.07,10.21,47.91
$GC,1123,1.63,401.9,2859,2000,2032,4094,8.7,10.3,145,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2001,2032,2032,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.23,48.18
$GC,1169,1.63,401.9,2859,2000,2031,4094,4.0,10.2,151,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2000,2031,2031,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.23,49.48
$STATE,1185,end climb,FINISH_DEPTH_REACHED
$STATE,1186,begin subsurface finish
$FINISH1,1.8,1.024294,91
$GC,1191,0.14,91.0,2860,2001,2030,4094,1.8,10.6,153,1202,5.07,0.00,-3.17,0.000,20486,0.080,0.000,2412,2008,2400,2400,4094,0,0,0,0,0,0,26.02,25.25,26.13,10.24,49.80
$FINISH2,0.6
$STATE,1203,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1203,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,062115
$TT8_MAMPS,0.025466,0.238182
$HUMID,49.44
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.10,6.411
$10V_AH,10.23,8.131
$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,34.425,36.850,45.750,0.000,0.000,24.627,21.436,210.371,0.000,0.000,20.425,451.114,0.000,134.339,921.708,87.932,33.454,400.689,0.000,375.186,0.000,0.542,0.000
$DEVICE_MAMPS,110.925,1309.680,1271.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.075,418.388,331.072,490.743,639.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,14336,154
$CAP_FILE_SIZE,36699,0
$CFSIZE,1024409600,1006616576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,073934,5946.781,-17122.443,6,0.9,19,8.2,0.0,340.5,10,4.6