version: 66.13
glider: 401
mission: 22
dive: 268
start: 7 31 117 10 11 50
data:
$ID,401
$MISSION,22
$DIVE,268
$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,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
$GPS1,310717,100445,5947.2861,-17124.2637,5,0.8,21,8.2,0.5,13.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-43.3
$GPS2,310717,101043,5947.3164,-17124.1895,5,0.8,23,8.2,0.3,71.3,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.302894,-0.154258
$KALMAN_X,34570.328125,-1973.137329,-814.269348,-87351.000000,107.784180
$KALMAN_Y,13878.949219,2017.948730,472.696594,42890.316406,63.070404
$MHEAD_RNG_PITCHd_Wd,234.8,2920,-11.3,-9.091,-14.97,6442
$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,-390.0,230,1923,2030,4092,0.0,0.0,0,21,11.02,0.00,0.00,0.000,2049,0.109,0.000,1139,1922,2031,2031,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.27,50.07
$GC,23,-1.61,-390.0,1138,1923,2030,4094,0.9,0.0,1,51,7.60,2.55,-8.45,0.000,18948,0.054,1.303,1837,1036,2960,2960,4095,0,0,0,0,0,0,25.96,24.88,26.02,10.29,49.33
$GC,88,-1.61,-390.0,1837,1036,2961,4095,2.3,-8.4,9,98,0.00,2.12,0.00,0.000,1030,0.000,0.028,1838,1886,2961,2961,4095,0,0,0,0,0,0,25.89,25.84,25.88,10.49,49.21
$GC,135,-1.61,-390.0,1837,1886,2962,4095,8.3,-13.1,15,144,0.00,2.33,0.00,0.000,260,0.000,0.053,1837,2748,2962,2962,4095,0,0,0,0,0,0,26.13,25.82,26.14,10.49,48.62
$GC,193,-1.61,-390.0,1837,2747,2963,4095,16.2,-13.4,23,202,0.00,2.15,0.00,0.000,1030,0.000,0.030,1837,1911,2964,2964,4094,0,0,0,0,0,0,25.97,25.94,26.00,10.49,48.30
$GC,239,-1.61,-390.0,1837,1910,2964,4094,21.9,-12.8,29,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2964,2964,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.48,48.46
$GC,285,-1.61,-390.0,1837,1910,2965,4095,27.0,-10.9,35,295,0.00,2.40,0.00,0.000,516,0.000,0.068,1837,1031,2965,2965,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.45,48.30
$GC,364,-1.61,-390.0,1837,1031,2967,4094,36.9,-12.2,46,374,0.00,2.22,0.00,0.000,1030,0.000,0.029,1837,1925,2967,2967,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.41,46.61
$GC,411,-1.61,-390.0,1837,1925,2968,4094,42.1,-10.9,52,421,0.00,2.22,0.00,0.000,260,0.000,0.056,1837,2755,2968,2968,4095,0,0,0,0,0,0,26.37,26.05,26.38,10.38,45.78
$GC,463,-1.61,-390.0,1837,2755,2969,4095,48.0,-11.3,59,472,0.00,2.10,0.00,0.000,1030,0.000,0.030,1837,1928,2969,2969,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.38,44.56
$GC,508,-1.61,-390.0,1837,1927,2970,4095,53.2,-11.2,65,518,0.00,2.42,0.00,0.000,516,0.000,0.068,1838,1031,2970,2970,4095,0,0,0,0,0,0,26.42,26.08,26.44,10.37,44.48
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,573,-0.45,0.0,1837,2014,2972,4095,60.2,-12.4,73,607,4.03,0.00,22.88,1.268,10244,0.060,0.000,2205,2015,2503,2503,4095,0,0,0,0,0,0,26.17,25.29,24.56,10.35,43.89
$STATE,608,end apogee,CONTROL_FINISHED_OK
$STATE,608,begin climb
$GC,610,1.61,390.0,2205,2014,2503,4095,63.2,0.0,77,645,6.97,0.00,22.80,1.249,11270,0.036,0.000,2861,2016,2045,2045,4094,0,0,0,0,0,0,25.67,25.84,24.12,10.26,44.21
$GC,683,1.61,390.0,2861,2015,2044,4094,58.2,10.6,86,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2016,2044,2044,4095,0,0,0,0,0,0,25.60,25.62,25.62,10.16,42.47
$GC,728,1.61,390.0,2861,2016,2043,4095,52.8,11.5,92,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2016,2043,2043,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.15,43.58
$GC,774,1.61,390.0,2860,2015,2041,4094,47.4,12.1,98,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2015,2042,2042,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.14,43.30
$GC,820,1.61,390.0,2861,2015,2040,4094,41.6,12.6,104,829,0.00,2.40,0.00,0.000,516,0.000,0.067,2861,1155,2039,2039,4095,0,0,0,0,0,0,25.98,25.64,25.99,10.13,43.50
$GC,878,1.61,390.0,2861,1154,2039,4095,34.3,12.2,112,887,0.00,2.17,0.00,0.000,1030,0.000,0.028,2861,2017,2038,2038,4094,0,0,0,0,0,0,25.86,25.83,25.88,10.13,44.48
$GC,924,1.61,390.0,2861,2017,2037,4094,29.5,10.5,118,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2017,2038,2038,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.13,44.56
$GC,968,1.61,390.0,2861,2017,2036,4094,24.6,10.7,124,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2017,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.14,44.72
$GC,1012,1.61,390.0,2861,2018,2035,4094,19.6,11.2,130,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2018,2035,2035,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.17,45.82
$GC,1056,1.61,390.0,2861,2018,2034,4095,14.9,10.5,136,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2018,2034,2034,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.20,47.24
$GC,1101,1.61,390.0,2860,2018,2033,4094,10.4,10.1,142,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2019,2033,2033,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.22,48.93
$GC,1145,1.61,390.0,2861,2018,2032,4094,5.8,10.4,148,1154,0.00,2.38,0.00,0.000,516,0.000,0.066,2861,1153,2031,2031,4094,0,0,0,0,0,0,26.33,25.99,26.34,10.22,48.74
$GC,1177,1.61,390.0,2860,1153,2031,4094,2.7,9.7,152,1186,0.00,2.15,0.00,0.000,1030,0.000,0.029,2862,2016,2031,2031,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.24,48.85
$STATE,1194,end climb,FINISH_DEPTH_REACHED
$STATE,1194,begin subsurface finish
$FINISH1,0.8,1.024291,91
$GC,1200,0.14,91.2,2861,2024,2030,4095,0.8,9.8,154,1211,4.68,0.00,-3.28,0.000,20486,0.028,0.000,2408,2024,2398,2398,4094,0,0,0,0,0,0,26.13,25.27,26.18,10.24,49.33
$FINISH2,0.1
$STATE,1211,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1212,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,084927
$TT8_MAMPS,0.026215,0.247919
$HUMID,49.88
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.12,6.547
$10V_AH,10.22,8.281
$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,34.300,32.125,45.675,0.000,0.000,25.050,17.913,202.596,0.000,0.000,24.696,446.987,0.972,139.883,917.336,89.265,33.456,412.584,0.000,376.859,0.000,0.543,0.000
$DEVICE_MAMPS,109.395,1302.795,1267.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.641,421.085,333.252,494.255,644.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,14393,155
$CAP_FILE_SIZE,36164,0
$CFSIZE,1024409600,1006321664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,101043,5947.316,-17124.189,5,0.8,23,8.2,0.3,71.3,10,5.0