version: 66.13
glider: 401
mission: 22
dive: 267
start: 7 31 117 9 41 59
data:
$ID,401
$MISSION,22
$DIVE,267
$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,47
$R_STBD_OVSHOOT,42
$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,-0.6
$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,-0.293567,-0.170620
$KALMAN_X,34581.558594,-1896.897339,-744.900085,-86941.453125,120.122192
$KALMAN_Y,13358.527344,1996.411255,444.235168,43082.117188,150.408112
$MHEAD_RNG_PITCHd_Wd,231.6,3316,-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,6,begin dive
$GC,8,-1.61,-390.0,2405,1864,2398,4092,0.0,0.0,0,18,5.65,0.00,-1.58,0.000,20482,0.027,0.000,1858,1864,2572,2572,4095,0,0,0,0,0,0,26.07,28.83,26.11,10.33,50.47
$GC,20,-1.61,-390.0,1857,1864,2571,4095,0.1,0.0,1,31,0.00,2.33,-3.53,0.000,16900,0.000,1.303,1857,1059,2962,2962,4094,0,0,0,0,0,0,26.27,24.96,26.27,10.37,49.72
$GC,74,-1.61,-390.0,1857,1059,2962,4094,3.2,-10.1,10,80,0.00,2.05,0.00,0.000,1030,0.000,0.030,1857,1891,2962,2962,4095,0,0,0,0,0,0,26.02,25.97,26.04,10.45,50.11
$GC,111,-1.61,-390.0,1857,1892,2963,4095,7.4,-11.7,16,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1892,2963,2963,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.46,49.60
$GC,147,-1.61,-390.0,1857,1892,2964,4094,11.8,-12.0,22,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1892,2964,2964,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.46,49.76
$GC,183,-1.61,-390.0,1857,1892,2964,4095,16.1,-11.8,28,189,0.00,2.30,0.00,0.000,260,0.000,0.055,1857,2756,2965,2965,4095,0,0,0,0,0,0,26.29,25.98,26.31,10.46,50.07
$GC,238,-1.61,-390.0,1857,2756,2966,4095,22.2,-9.9,37,244,0.00,2.10,0.00,0.000,1030,0.000,0.030,1858,1925,2966,2966,4095,0,0,0,0,0,0,26.15,26.07,26.17,10.45,49.01
$GC,275,-1.61,-390.0,1856,1925,2966,4095,25.8,-10.1,43,281,0.00,2.40,0.00,0.000,516,0.000,0.069,1857,1035,2967,2967,4095,0,0,0,0,0,0,26.36,26.01,26.37,10.43,49.17
$GC,342,-1.61,-390.0,1856,1034,2968,4095,33.7,-12.4,54,348,0.00,2.10,0.00,0.000,1030,0.000,0.030,1857,1891,2968,2968,4095,0,0,0,0,0,0,26.22,26.15,26.24,10.39,48.11
$GC,381,-1.61,-390.0,1857,1892,2969,4095,37.8,-10.6,60,387,0.00,2.30,0.00,0.000,260,0.000,0.056,1857,2760,2969,2969,4095,0,0,0,0,0,0,26.42,26.10,26.44,10.38,47.44
$GC,436,-1.61,-390.0,1856,2760,2970,4095,43.5,-10.1,69,442,0.00,2.17,0.00,0.000,1030,0.000,0.031,1857,1896,2970,2970,4095,0,0,0,0,0,0,26.26,26.17,26.28,10.36,46.33
$GC,473,-1.61,-390.0,1857,1896,2970,4095,47.3,-10.1,75,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1896,2970,2970,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.36,46.25
$GC,508,-1.61,-390.0,1856,1896,2971,4094,51.0,-10.4,81,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1896,2971,2971,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.35,45.86
$GC,545,-1.61,-390.0,1857,1896,2972,4095,54.8,-10.4,87,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1896,2972,2972,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,45.78
$GC,581,-1.61,-390.0,1856,1896,2973,4095,58.7,-10.4,93,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1896,2973,2973,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.34,45.62
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,602,-0.45,0.0,1857,2038,2973,4095,60.6,-10.6,96,635,3.78,0.00,23.00,1.264,10244,0.057,0.000,2206,2039,2500,2500,4095,0,0,0,0,0,0,26.24,25.29,24.63,10.34,45.31
$STATE,636,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,638,1.61,390.0,2205,2038,2500,4095,62.3,0.0,102,671,6.95,0.00,22.48,1.244,11270,0.036,0.000,2861,2039,2045,2045,4095,0,0,0,0,0,0,25.72,25.88,24.17,10.23,45.78
$GC,703,1.61,390.0,2862,2038,2043,4095,57.5,10.6,113,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2043,2043,4094,0,0,0,0,0,0,25.60,25.61,25.61,10.13,44.72
$GC,738,1.61,390.0,2861,2038,2043,4094,53.3,11.6,119,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2043,2043,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.12,44.92
$GC,774,1.61,390.0,2861,2038,2042,4094,49.0,11.9,125,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2042,2042,4095,0,0,0,0,0,0,25.84,25.86,25.85,10.12,44.68
$GC,810,1.61,390.0,2862,2038,2041,4095,44.6,11.9,131,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.12,44.32
$GC,847,1.61,390.0,2862,2038,2041,4094,40.2,12.0,137,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2038,2040,2040,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.12,44.95
$GC,883,1.61,390.0,2862,2038,2039,4094,35.8,12.1,143,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2039,2039,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,44.68
$GC,919,1.61,390.0,2863,2038,2038,4094,31.6,11.9,149,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.11,45.03
$GC,955,1.61,390.0,2862,2038,2037,4094,27.6,11.4,155,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2037,2037,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.12,45.43
$GC,991,1.61,390.0,2862,2038,2036,4094,23.5,11.3,161,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2036,2036,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.13,45.78
$GC,1027,1.61,390.0,2862,2038,2035,4094,19.4,11.9,167,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2035,2035,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.15,46.49
$GC,1063,1.61,390.0,2862,2038,2035,4095,15.5,10.5,173,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.17,47.59
$GC,1099,1.61,390.0,2861,2038,2034,4094,11.7,10.8,179,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2039,2034,2034,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,48.97
$GC,1135,1.61,390.0,2862,2039,2033,4094,8.0,10.1,185,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2033,2033,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,49.68
$GC,1171,1.61,390.0,2862,2038,2032,4094,4.4,10.2,191,1178,0.00,2.38,0.00,0.000,516,0.000,0.060,2863,1154,2031,2031,4094,0,0,0,0,0,0,26.34,26.01,26.34,10.21,50.15
$STATE,1195,end climb,SURFACE_DEPTH_REACHED
$STATE,1195,begin surface coast
$FINISH,0.1,0.959928
$STATE,1214,end surface coast,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$SM_CCo,1311,0.00,0.000,0,0,2030,404.40
$SM_GC,1.09,27.67,1.85,0.00,0.024,0.031,0.000,230,1896,2030,-6.65,-2.19,404.40,0,0,0,0,0,0,26.01,26.15,26.13
$IRIDIUM_FIX,5955.74,-17228.01,310717,073454
$TT8_MAMPS,0.025466,0.0749
$HUMID,51.22
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.17,6.515
$10V_AH,10.53,8.241
$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,44.050,22.650,45.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.235,415.549,168.009,296.813,43.335,33.417,387.232,0.000,295.285,0.000,0.541,0.000
$DEVICE_MAMPS,56.610,1302.795,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$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,330992
$DATA_FILE_SIZE,14238,198
$CAP_FILE_SIZE,37622,0
$CFSIZE,1024409600,1006370816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,100445,5947.286,-17124.264,5,0.8,21,8.2,0.5,13.8,10,4.9