version: 66.13
glider: 401
mission: 22
dive: 272
start: 7 31 117 11 50 36
data:
$ID,401
$MISSION,22
$DIVE,272
$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,32
$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
$GPS1,310717,112616,5947.4907,-17124.4434,5,1.0,50,8.2,0.3,93.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.7
$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,-0.281765,-0.189938
$KALMAN_X,35442.625000,-1858.963013,-637.419739,-88765.140625,122.844543
$KALMAN_Y,14993.931641,2010.433960,486.511169,42094.984375,84.773315
$MHEAD_RNG_PITCHd_Wd,227.8,2877,-11.3,-9.091,-14.98,6437
$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,-390.0,2369,1887,2506,4092,0.0,0.0,0,21,5.38,0.00,-4.12,0.000,20486,0.024,0.000,1844,1887,2960,2960,4095,0,0,0,0,0,0,26.22,25.30,26.24,10.35,51.18
$GC,23,-1.61,-390.0,1844,1887,2960,4095,0.1,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1887,2960,2960,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.45,51.10
$GC,67,-1.61,-390.0,1843,1887,2960,4095,0.4,-1.1,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1887,2960,2960,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.44,50.78
$GC,111,-1.61,-390.0,1843,1887,2961,4095,4.6,-10.4,13,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1887,2961,2961,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.45,50.47
$GC,155,-1.61,-390.0,1843,1887,2962,4095,10.2,-12.9,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1887,2962,2962,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,50.23
$GC,199,-1.61,-390.0,1843,1887,2963,4095,15.9,-13.5,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1887,2963,2963,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.46,50.35
$GC,243,-1.61,-390.0,1843,1887,2964,4095,21.3,-11.8,31,252,0.00,2.35,0.00,0.000,260,0.000,0.055,1844,2761,2964,2964,4094,0,0,0,0,0,0,26.51,26.18,26.52,10.45,49.60
$GC,295,-1.61,-390.0,1843,2761,2964,4094,27.0,-10.7,38,303,0.00,2.15,0.00,0.000,1030,0.000,0.031,1844,1915,2965,2965,4095,0,0,0,0,0,0,26.30,26.26,26.32,10.42,49.40
$GC,340,-1.61,-390.0,1843,1914,2966,4095,31.6,-10.5,44,350,0.00,2.38,0.00,0.000,516,0.000,0.070,1844,1036,2966,2966,4094,0,0,0,0,0,0,26.55,26.20,26.55,10.40,48.34
$GC,425,-1.61,-390.0,1843,1036,2968,4094,41.5,-11.1,56,434,0.00,2.10,0.00,0.000,1030,0.000,0.030,1844,1881,2968,2968,4095,0,0,0,0,0,0,26.37,26.34,26.39,10.37,47.28
$GC,470,-1.61,-390.0,1843,1881,2969,4095,46.5,-11.3,62,480,0.00,2.35,0.00,0.000,260,0.000,0.056,1844,2764,2969,2969,4094,0,0,0,0,0,0,26.59,26.26,26.60,10.36,46.88
$GC,529,-1.61,-390.0,1843,2764,2970,4094,52.9,-10.9,70,537,0.00,2.22,0.00,0.000,1030,0.000,0.031,1844,1887,2970,2970,4094,0,0,0,0,0,0,26.37,26.33,26.40,10.35,46.33
$GC,573,-1.61,-390.0,1843,1887,2970,4094,57.7,-10.4,76,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1887,2971,2971,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.34,45.62
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,602,-0.45,0.0,1843,2053,2971,4095,60.3,-10.7,79,637,3.90,0.05,22.83,1.270,10244,0.059,0.060,2206,2002,2501,2501,4094,0,0,0,0,0,0,26.34,25.38,24.72,10.34,45.58
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,640,1.61,390.0,2205,2002,2501,4094,62.6,0.0,83,676,6.95,0.00,22.62,1.251,11270,0.035,0.000,2864,2002,2045,2045,4094,0,0,0,0,0,0,25.82,25.99,24.24,10.24,44.80
$GC,713,1.61,390.0,2863,2002,2043,4094,57.7,10.5,92,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2002,2043,2043,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.13,44.25
$GC,759,1.61,390.0,2863,2002,2043,4094,52.1,12.0,98,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2002,2042,2042,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.13,44.05
$GC,805,1.61,390.0,2863,2002,2041,4094,46.5,12.2,104,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2002,2041,2041,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.12,44.09
$GC,851,1.61,390.0,2864,2001,2040,4095,41.0,12.0,110,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2002,2040,2040,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.12,44.29
$GC,896,1.61,390.0,2863,2001,2039,4094,35.4,12.3,116,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2002,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.11,44.88
$GC,940,1.61,390.0,2863,2002,2038,4094,30.2,11.3,122,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2002,2037,2037,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.12,44.84
$GC,984,1.61,390.0,2863,2002,2036,4095,25.4,10.9,128,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2002,2036,2036,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.13,45.35
$GC,1028,1.61,390.0,2863,2002,2035,4095,20.7,10.5,134,1038,0.00,2.25,0.00,0.000,516,0.000,0.067,2864,1178,2035,2035,4094,0,0,0,0,0,0,26.24,25.89,26.25,10.13,45.86
$GC,1099,1.61,390.0,2863,1177,2034,4094,12.9,10.4,144,1109,0.00,2.03,0.00,0.000,1030,0.000,0.029,2863,1990,2034,2034,4094,0,0,0,0,0,0,26.09,26.06,26.14,10.19,48.11
$GC,1146,1.61,390.0,2863,1990,2032,4094,8.4,10.0,150,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1991,2032,2032,4094,0,0,0,0,0,0,26.33,26.35,26.34,10.21,48.62
$GC,1192,1.61,390.0,2863,1990,2031,4094,3.6,10.5,156,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1991,2031,2031,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.21,49.37
$STATE,1208,end climb,FINISH_DEPTH_REACHED
$STATE,1208,begin subsurface finish
$FINISH1,1.5,1.024295,91
$GC,1214,0.14,90.9,2863,1994,2030,4094,1.5,10.8,158,1231,4.75,0.00,-3.25,0.000,20486,0.035,0.000,2408,1998,2398,2398,4095,0,0,0,0,0,0,26.14,25.64,26.20,10.22,49.33
$FINISH2,0.1
$STATE,1232,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1232,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,100613
$TT8_MAMPS,0.026215,0.244923
$HUMID,50.07
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.24,6.631
$10V_AH,10.23,8.380
$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,20.975,18.500,45.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,445.207,0.000,135.013,664.706,43.980,33.428,402.213,0.000,386.793,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,69.615,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.152,434.679,344.010,509.996,661.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330844
$DATA_FILE_SIZE,14235,160
$CAP_FILE_SIZE,31529,0
$CFSIZE,1024409600,1006141440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,112616,5947.491,-17124.443,5,1.0,50,8.2,0.3,93.0,8,3.0