version: 66.13
glider: 401
mission: 22
dive: 266
start: 7 31 117 9 18 35
data:
$ID,401
$MISSION,22
$DIVE,266
$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,28
$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
$GPS1,310717,085439,5947.1094,-17123.5781,5,0.8,16,8.2,0.0,38.5,10,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.5
$GPS2,310717,085439,5947.1094,-17123.5781,5,0.8,16,8.2,0.0,38.5,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.301924,-0.155436
$KALMAN_X,34217.839844,-1883.050049,-741.274841,-86596.835938,10.406128
$KALMAN_Y,13161.248047,2003.006470,444.149078,43272.175781,96.613556
$MHEAD_RNG_PITCHd_Wd,234.6,3316,-11.3,-9.091,-14.99,6427
$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,-390.0,2368,1888,2508,4092,0.0,0.0,0,20,5.38,0.00,-4.10,0.000,20486,0.026,0.000,1846,1888,2961,2961,4094,0,0,0,0,0,0,26.12,25.22,26.15,10.36,50.43
$GC,23,-1.61,-390.0,1846,1887,2961,4094,0.2,0.0,1,32,0.00,2.38,0.00,0.000,516,0.000,0.076,1846,1036,2961,2961,4095,0,0,0,0,0,0,26.27,25.94,26.28,10.46,51.14
$GC,159,-1.61,-390.0,1845,1036,2963,4095,7.1,-12.4,21,168,0.00,2.15,0.00,0.000,1030,0.000,0.030,1845,1901,2962,2962,4095,0,0,0,0,0,0,26.17,26.14,26.17,10.47,50.07
$GC,205,-1.61,-390.0,1845,1901,2963,4095,13.0,-13.3,27,215,0.00,2.30,0.00,0.000,260,0.000,0.057,1845,2755,2964,2964,4094,0,0,0,0,0,0,26.42,26.10,26.43,10.47,49.80
$GC,257,-1.61,-390.0,1845,2755,2964,4094,19.7,-12.1,34,266,0.00,2.17,0.00,0.000,1030,0.000,0.031,1845,1902,2964,2964,4094,0,0,0,0,0,0,26.22,26.17,26.25,10.47,49.56
$GC,302,-1.61,-390.0,1845,1901,2965,4094,24.3,-9.9,40,312,0.00,2.35,0.00,0.000,516,0.000,0.070,1845,1035,2965,2965,4095,0,0,0,0,0,0,26.46,26.11,26.48,10.45,48.85
$GC,354,-1.61,-390.0,1845,1035,2966,4095,30.1,-11.6,47,363,0.00,2.10,0.00,0.000,1030,0.000,0.029,1845,1879,2966,2966,4094,0,0,0,0,0,0,26.30,26.24,26.29,10.42,48.58
$GC,400,-1.61,-390.0,1845,1879,2967,4094,35.0,-10.9,53,408,0.00,2.38,0.00,0.000,260,0.000,0.057,1845,2767,2968,2968,4095,0,0,0,0,0,0,26.51,26.19,26.52,10.40,47.91
$GC,483,-1.61,-390.0,1845,2766,2969,4095,43.8,-10.5,65,493,0.00,2.17,0.00,0.000,1030,0.000,0.031,1845,1911,2969,2969,4094,0,0,0,0,0,0,26.31,26.27,26.33,10.37,45.70
$GC,529,-1.61,-390.0,1845,1910,2970,4094,48.7,-10.9,71,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,2971,2971,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.36,45.31
$GC,572,-1.61,-390.0,1845,1910,2970,4094,53.4,-10.9,77,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,2971,2971,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.35,45.03
$GC,618,-1.61,-390.0,1845,1911,2971,4095,58.2,-11.0,83,627,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,2971,2971,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.35,44.64
$STATE,634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,634,begin apogee
$GC,640,-0.45,0.0,1845,2049,2972,4095,60.4,-10.9,85,676,3.90,0.05,22.88,1.268,10244,0.059,0.060,2204,2008,2501,2501,4093,0,0,0,0,0,0,26.31,25.35,24.68,10.34,44.76
$STATE,677,end apogee,CONTROL_FINISHED_OK
$STATE,677,begin climb
$GC,679,1.61,390.0,2204,2008,2501,4093,62.8,0.0,89,715,6.97,0.00,22.65,1.248,11270,0.035,0.000,2864,2008,2045,2045,4094,0,0,0,0,0,0,25.79,25.96,24.22,10.24,44.21
$GC,752,1.61,390.0,2863,2008,2044,4094,57.6,11.1,98,761,0.00,2.35,0.00,0.000,260,0.000,0.055,2864,2853,2043,2043,4095,0,0,0,0,0,0,25.68,25.37,25.69,10.14,43.81
$GC,791,1.61,390.0,2863,2852,2043,4095,52.6,12.9,103,800,0.00,2.15,0.00,0.000,1030,0.000,0.030,2863,2029,2043,2043,4095,0,0,0,0,0,0,25.58,25.56,25.62,10.14,43.38
$GC,837,1.61,390.0,2863,2029,2042,4095,47.1,12.0,109,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2029,2041,2041,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.13,43.89
$GC,883,1.61,390.0,2863,2029,2041,4094,41.6,12.1,115,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2030,2041,2041,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.13,43.81
$GC,926,1.61,390.0,2863,2029,2040,4094,36.1,12.2,121,936,0.00,2.40,0.00,0.000,516,0.000,0.067,2864,1154,2039,2039,4094,0,0,0,0,0,0,26.07,25.73,26.08,10.12,44.32
$GC,965,1.61,390.0,2863,1154,2038,4094,31.6,11.6,126,974,0.00,2.08,0.00,0.000,1030,0.000,0.028,2864,1983,2038,2038,4094,0,0,0,0,0,0,25.92,25.89,25.93,10.12,44.52
$GC,1012,1.61,390.0,2863,1982,2038,4094,27.0,9.9,132,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1983,2037,2037,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.13,45.27
$GC,1058,1.61,390.0,2863,1982,2036,4095,22.0,10.5,138,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1983,2036,2036,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,45.19
$GC,1103,1.61,390.0,2863,1984,2035,4094,16.9,10.5,144,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1985,2035,2035,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.18,46.81
$GC,1149,1.61,390.0,2863,1985,2034,4094,12.1,10.6,150,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1985,2034,2034,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.20,48.30
$GC,1193,1.70,449.2,2863,1985,2033,4094,8.3,8.1,156,1202,0.15,0.00,4.30,0.438,10246,0.058,0.000,2886,1987,1974,1974,4094,0,0,0,0,0,0,26.13,25.93,25.37,10.21,49.25
$GC,1239,1.70,449.2,2885,1986,1973,4094,4.0,9.5,162,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1987,1973,1973,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.21,49.29
$STATE,1255,end climb,FINISH_DEPTH_REACHED
$STATE,1256,begin subsurface finish
$FINISH1,1.9,1.024289,91
$GC,1262,0.14,91.4,2885,2044,1972,4094,1.9,10.0,164,1281,5.20,0.00,-3.72,0.000,20486,0.057,0.000,2405,2045,2398,2398,4094,0,0,0,0,0,0,26.10,25.61,26.15,10.21,49.29
$FINISH2,0.3
$STATE,1282,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1282,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,073454
$TT8_MAMPS,0.026215,0.244923
$HUMID,49.56
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.22,6.498
$10V_AH,10.23,8.230
$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,21.600,29.225,49.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,466.850,0.000,136.998,692.174,44.659,33.427,410.084,0.000,401.273,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,108.630,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.299,450.987,356.893,529.384,689.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330992
$DATA_FILE_SIZE,14335,166
$CAP_FILE_SIZE,33362,0
$CFSIZE,1024409600,1006419968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,085439,5947.109,-17123.578,5,0.8,16,8.2,0.0,38.5,10,4.8