version: 66.13
glider: 401
mission: 22
dive: 263
start: 7 31 117 8 2 47
data:
$ID,401
$MISSION,22
$DIVE,263
$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,29
$R_STBD_OVSHOOT,19
$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
$GPS1,310717,073934,5946.7808,-17122.4434,6,0.9,19,8.2,0.0,340.5,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-4.2
$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,-0.333014,-0.065566
$KALMAN_X,33903.003906,-1778.348145,-661.250244,-85394.578125,-54.781555
$KALMAN_Y,12332.640625,1979.676147,392.976471,43568.324219,52.463531
$MHEAD_RNG_PITCHd_Wd,250.7,4258,-11.3,-9.091,-14.99,6419
$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,-389.7,2411,1886,2400,4092,0.0,0.0,0,18,5.80,0.00,-1.98,0.000,20482,0.024,0.000,1843,1887,2617,2617,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.33,49.44
$GC,20,-1.61,-389.7,1842,1887,2617,4094,0.2,0.0,1,31,0.00,2.42,-3.08,0.000,16900,0.000,1.317,1842,1041,2958,2958,4094,0,0,0,0,0,0,26.39,25.06,26.40,10.38,49.88
$GC,122,-1.61,-389.7,1842,1041,2960,4094,7.8,-13.6,18,128,0.00,2.15,0.00,0.000,1030,0.000,0.030,1842,1909,2960,2960,4095,0,0,0,0,0,0,26.16,26.10,26.17,10.46,49.80
$GC,159,-1.61,-389.7,1842,1910,2961,4095,12.7,-12.8,24,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1910,2961,2961,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.47,49.44
$GC,195,-1.61,-389.7,1842,1910,2962,4094,17.5,-13.6,30,201,0.00,2.28,0.00,0.000,260,0.000,0.057,1842,2763,2962,2962,4095,0,0,0,0,0,0,26.38,26.06,26.39,10.47,49.05
$GC,232,-1.61,-389.7,1842,2762,2963,4095,22.1,-12.3,36,238,0.00,2.15,0.00,0.000,1030,0.000,0.031,1842,1911,2962,2962,4095,0,0,0,0,0,0,26.21,26.13,26.23,10.46,49.72
$GC,269,-1.61,-389.7,1842,1911,2964,4095,26.3,-10.7,42,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2964,2964,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.44,49.21
$GC,305,-1.61,-389.7,1842,1910,2964,4094,30.3,-11.0,48,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2964,2964,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.42,49.13
$GC,341,-1.61,-389.7,1842,1911,2965,4095,34.4,-11.3,54,347,0.00,2.28,0.00,0.000,260,0.000,0.055,1842,2761,2965,2965,4094,0,0,0,0,0,0,26.46,26.14,26.47,10.38,48.11
$GC,390,-1.61,-389.7,1842,2761,2966,4094,39.8,-10.8,62,396,0.00,2.15,0.00,0.000,1030,0.000,0.031,1842,1906,2966,2966,4094,0,0,0,0,0,0,26.29,26.21,26.31,10.38,46.77
$GC,427,-1.61,-389.7,1842,1905,2966,4094,43.8,-10.8,68,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,2966,2966,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.37,46.06
$GC,463,-1.61,-389.7,1842,1906,2968,4094,47.8,-10.8,74,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,2968,2968,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.35,45.94
$GC,499,-1.61,-389.7,1842,1905,2969,4095,51.7,-10.6,80,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1906,2968,2968,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.35,45.51
$GC,536,-1.61,-389.7,1842,1905,2969,4094,55.6,-10.8,86,541,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2969,2969,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.35,45.82
$GC,572,-1.61,-389.7,1842,1906,2969,4094,59.5,-11.2,92,577,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1905,2970,2970,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.34,45.27
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1842,2043,2970,4095,60.8,-10.7,94,620,3.92,0.00,22.83,1.274,10244,0.059,0.000,2205,2044,2499,2499,4095,0,0,0,0,0,0,26.27,25.31,24.64,10.34,45.15
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.61,389.7,2205,2043,2499,4095,62.8,0.0,100,662,6.90,2.20,22.50,1.251,10500,0.035,0.058,2865,2852,2045,2045,4094,0,0,0,0,0,0,25.70,25.63,24.19,10.24,44.76
$GC,693,1.61,389.7,2865,2851,2044,4094,57.2,11.8,112,699,0.00,2.17,0.00,0.000,1030,0.000,0.029,2865,2016,2045,2045,4094,0,0,0,0,0,0,25.46,25.39,25.48,10.13,43.93
$GC,730,1.61,389.7,2865,2016,2044,4094,53.0,11.5,118,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2016,2044,2044,4094,0,0,0,0,0,0,25.77,25.78,25.77,10.13,44.21
$GC,766,1.61,389.7,2864,2016,2043,4094,48.9,11.4,124,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2016,2043,2043,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.13,43.97
$GC,802,1.61,389.7,2865,2016,2042,4094,44.7,11.5,130,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2016,2042,2042,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.12,44.29
$GC,838,1.61,389.7,2865,2016,2041,4094,40.4,11.6,136,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2016,2041,2041,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.12,44.32
$GC,874,1.61,389.7,2865,2016,2041,4094,36.1,11.7,142,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2016,2041,2041,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.11,44.99
$GC,910,1.61,389.7,2865,2016,2039,4094,32.1,10.7,148,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2016,2039,2039,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.11,45.11
$GC,946,1.61,389.7,2865,2016,2038,4094,28.0,11.6,154,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2016,2038,2038,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.11,45.07
$GC,982,1.61,389.7,2865,2016,2038,4094,23.9,11.1,160,988,0.00,2.28,0.00,0.000,260,0.000,0.057,2866,2857,2037,2037,4094,0,0,0,0,0,0,26.19,25.87,26.20,10.13,45.86
$GC,1019,1.61,389.7,2865,2856,2037,4094,19.7,11.3,166,1025,0.00,2.12,0.00,0.000,1030,0.000,0.031,2866,2013,2036,2036,4094,0,0,0,0,0,0,26.03,25.95,26.06,10.16,46.45
$GC,1056,1.61,389.7,2865,2012,2035,4094,15.9,10.2,172,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2013,2036,2036,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.18,47.99
$GC,1092,1.61,389.7,2865,2012,2035,4094,12.4,9.6,178,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2013,2034,2034,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.19,48.81
$GC,1128,1.61,389.7,2865,2012,2034,4095,8.5,10.6,184,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2013,2034,2034,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,49.44
$GC,1164,1.61,389.7,2865,2012,2033,4094,4.8,9.5,190,1170,0.00,2.30,0.00,0.000,516,0.000,0.068,2866,1154,2033,2033,4094,0,0,0,0,0,0,26.33,25.99,26.34,10.21,49.88
$STATE,1194,end climb,FINISH_DEPTH_REACHED
$STATE,1194,begin subsurface finish
$FINISH1,1.4,1.025600,0
$GC,1202,0.00,0.0,2865,2005,2032,4095,1.4,11.1,195,1214,5.35,0.00,-4.18,0.000,20486,0.053,0.000,2364,2014,2508,2508,4094,0,0,0,0,0,0,26.12,25.27,26.15,10.22,50.07
$FINISH2,0.1
$STATE,1215,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1215,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,062115
$TT8_MAMPS,0.025466,0.072653
$HUMID,50.63
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.19,6.428
$10V_AH,10.53,8.142
$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,21.975,27.200,45.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.275,344.747,151.880,295.804,41.649,33.427,373.231,0.000,293.832,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,1316.565,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330936
$DATA_FILE_SIZE,14262,197
$CAP_FILE_SIZE,36807,0
$CFSIZE,1024409600,1006567424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,073934,5946.781,-17122.443,6,0.9,19,8.2,0.0,340.5,10,4.6