version: 66.13
glider: 401
mission: 22
dive: 271
start: 7 31 117 11 27 23
data:
$ID,401
$MISSION,22
$DIVE,271
$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,42
$R_STBD_OVSHOOT,25
$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
$GPS1,310717,111907,5947.4644,-17124.5625,5,1.0,50,8.2,0.3,107.0,8,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-45.0
$GPS2,310717,112616,5947.4907,-17124.4434,5,1.0,50,8.2,0.3,93.0,8,3.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.302965,-0.153930
$KALMAN_X,35263.785156,-1935.568115,-734.473694,-88407.046875,170.691162
$KALMAN_Y,14811.423828,2015.352783,487.006317,42269.191406,51.104126
$MHEAD_RNG_PITCHd_Wd,234.9,2877,-11.3,-9.091,-14.98,6438
$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,-390.0,230,1874,2029,4092,0.0,0.0,0,17,7.60,0.00,0.00,0.000,2049,0.115,0.000,850,1875,2029,2029,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.29,49.48
$GC,19,-1.61,-390.0,850,1874,2029,4094,1.0,0.0,1,47,10.85,2.35,-8.45,0.000,19204,0.060,1.307,1838,1058,2961,2961,4095,0,0,0,0,0,0,25.96,24.89,26.01,10.29,48.70
$GC,78,-1.61,-390.0,1837,1057,2961,4095,2.7,-9.3,11,84,0.00,2.10,0.00,0.000,1030,0.000,0.028,1838,1910,2961,2961,4095,0,0,0,0,0,0,25.97,25.91,25.98,10.49,49.05
$GC,115,-1.61,-390.0,1837,1910,2962,4095,7.2,-12.1,17,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1911,2962,2962,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.49,48.85
$GC,151,-1.61,-390.0,1837,1910,2962,4095,12.0,-13.1,23,157,0.00,2.25,0.00,0.000,260,0.000,0.056,1838,2754,2963,2963,4095,0,0,0,0,0,0,26.22,25.90,26.23,10.50,48.54
$GC,230,-1.61,-390.0,1837,2753,2964,4095,21.7,-10.4,36,236,0.00,2.12,0.00,0.000,1030,0.000,0.029,1838,1912,2964,2964,4094,0,0,0,0,0,0,26.10,26.03,26.13,10.48,48.11
$GC,269,-1.61,-390.0,1837,1912,2965,4094,25.0,-8.5,42,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1913,2965,2965,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.46,47.48
$GC,305,-1.61,-390.0,1837,1912,2966,4095,28.4,-8.7,48,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2966,2966,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,47.36
$GC,342,-1.61,-390.0,1837,1912,2966,4095,31.7,-9.2,54,348,0.00,2.25,0.00,0.000,260,0.000,0.050,1838,2755,2966,2966,4094,0,0,0,0,0,0,26.37,26.06,26.39,10.42,46.41
$GC,451,-1.61,-390.0,1837,2755,2968,4094,41.8,-9.3,72,457,0.00,2.17,0.00,0.000,1030,0.000,0.029,1838,1884,2968,2968,4095,0,0,0,0,0,0,26.25,26.17,26.27,10.38,44.95
$GC,488,-1.61,-390.0,1837,1884,2968,4095,45.2,-9.1,78,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1884,2969,2969,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.38,44.80
$GC,524,-1.61,-390.0,1837,1884,2969,4094,48.3,-9.0,84,530,0.00,2.33,0.00,0.000,260,0.000,0.051,1838,2758,2969,2969,4094,0,0,0,0,0,0,26.47,26.15,26.48,10.37,44.09
$GC,627,-1.61,-390.0,1837,2758,2971,4094,57.9,-9.3,101,633,0.00,2.15,0.00,0.000,1030,0.000,0.030,1838,1897,2971,2971,4094,0,0,0,0,0,0,26.33,26.25,26.35,10.36,44.36
$STATE,650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,650,begin apogee
$GC,655,-0.45,0.0,1838,2044,2971,4095,60.2,-9.6,105,688,3.97,0.00,22.80,1.261,10244,0.058,0.000,2205,2044,2500,2500,4094,0,0,0,0,0,0,26.24,25.29,24.65,10.35,44.72
$STATE,689,end apogee,CONTROL_FINISHED_OK
$STATE,689,begin climb
$GC,691,1.61,390.0,2205,2044,2500,4094,61.9,0.0,111,724,6.93,0.00,22.45,1.236,11270,0.034,0.000,2862,2044,2044,2044,4094,0,0,0,0,0,0,25.72,25.89,24.18,10.25,44.09
$GC,756,1.61,391.2,2860,2044,2044,4094,57.7,9.1,122,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2045,2045,4094,0,0,0,0,0,0,25.61,25.63,25.63,10.15,43.77
$GC,792,1.61,391.2,2861,2043,2044,4094,54.0,10.3,128,798,0.00,2.47,0.00,0.000,516,0.000,0.064,2861,1153,2043,2043,4094,0,0,0,0,0,0,25.75,25.43,25.76,10.14,43.73
$GC,834,1.61,391.2,2861,1152,2042,4094,49.0,12.1,135,841,0.00,2.05,0.00,0.000,1030,0.000,0.027,2862,1975,2042,2042,4094,0,0,0,0,0,0,25.70,25.64,25.72,10.14,44.21
$GC,871,1.61,391.2,2861,1975,2041,4094,44.6,11.8,141,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1975,2041,2041,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.13,44.01
$GC,907,1.61,391.2,2861,1975,2041,4094,40.2,11.8,147,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1975,2040,2040,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.13,45.11
$GC,943,1.61,391.2,2861,1975,2039,4094,35.9,12.1,153,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1975,2039,2039,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.13,44.48
$GC,980,1.61,391.2,2861,1975,2038,4094,31.7,11.2,159,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1975,2039,2039,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.13,45.31
$GC,1016,1.61,391.2,2861,1975,2037,4094,27.6,11.4,165,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1975,2038,2038,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.13,45.35
$GC,1052,1.61,391.2,2861,1975,2037,4094,23.6,10.9,171,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1976,2036,2036,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.14,45.66
$GC,1088,1.61,391.2,2861,1976,2036,4094,20.1,9.2,177,1094,0.00,2.25,0.00,0.000,516,0.000,0.067,2861,1152,2035,2035,4095,0,0,0,0,0,0,26.23,25.89,26.25,10.15,46.25
$GC,1151,1.61,391.2,2861,1151,2034,4095,12.8,11.4,187,1157,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,2004,2034,2034,4094,0,0,0,0,0,0,26.10,26.03,26.12,10.20,49.01
$GC,1189,1.61,391.2,2861,2004,2033,4094,8.8,10.5,193,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2004,2033,2033,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.22,49.17
$GC,1225,1.61,391.2,2861,2004,2032,4094,4.9,10.2,199,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2005,2031,2031,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.22,49.60
$STATE,1254,end climb,FINISH_DEPTH_REACHED
$STATE,1254,begin subsurface finish
$FINISH1,1.7,1.025600,0
$GC,1259,0.00,0.0,2861,2004,2031,4094,1.7,10.6,204,1271,5.53,0.00,-3.83,0.000,20486,0.076,0.000,2370,2011,2506,2506,4094,0,0,0,0,0,0,26.06,25.27,26.10,10.23,50.03
$FINISH2,0.4
$STATE,1272,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1272,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,100613
$TT8_MAMPS,0.025466,0.080892
$HUMID,50.74
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.18,6.615
$10V_AH,10.57,8.344
$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,34.875,26.875,45.250,0.000,0.000,26.326,21.076,236.675,0.000,0.000,52.057,464.510,378.797,148.692,644.782,87.737,33.456,376.900,0.000,308.410,0.000,0.542,0.000
$DEVICE_MAMPS,114.750,1307.385,1260.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,329356
$DATA_FILE_SIZE,14299,206
$CAP_FILE_SIZE,40698,0
$CFSIZE,1024409600,1006174208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,112616,5947.491,-17124.443,5,1.0,50,8.2,0.3,93.0,8,3.0