version: 66.13
glider: 401
mission: 22
dive: 277
start: 7 31 117 13 59 50
data:
$ID,401
$MISSION,22
$DIVE,277
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,310717,135151,5947.1255,-17125.1543,8,1.1,31,8.2,0.4,123.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-46.2
$GPS2,310717,135843,5947.1069,-17125.0898,10,0.9,34,8.2,0.4,201.0,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338190,-0.031046
$KALMAN_X,36505.093750,-1765.975220,-511.484589,-90649.382812,127.647491
$KALMAN_Y,15550.827148,1844.065308,336.147552,41152.925781,-118.572571
$MHEAD_RNG_PITCHd_Wd,256.6,1996,-11.3,-9.091,-14.99,6428
$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,-390.0,230,1882,2030,4092,0.0,0.0,0,17,7.55,0.00,0.00,0.000,2049,0.113,0.000,848,1882,2030,2030,4095,0,0,0,0,0,0,26.23,28.83,28.83,10.28,49.29
$GC,19,-1.61,-390.0,847,1882,2030,4095,1.0,0.0,1,47,10.85,2.42,-8.45,0.000,18948,0.060,1.314,1835,1053,2960,2960,4095,0,0,0,0,0,0,25.96,24.87,26.00,10.28,49.25
$GC,84,-1.61,-390.0,1835,1052,2961,4095,2.5,-9.8,12,90,0.00,2.12,0.00,0.000,1030,0.000,0.028,1836,1910,2961,2961,4095,0,0,0,0,0,0,25.96,25.91,25.98,10.49,49.05
$GC,121,-1.61,-390.0,1835,1910,2961,4095,7.1,-12.5,18,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1910,2961,2961,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.49,48.42
$GC,157,-1.61,-390.0,1835,1910,2962,4095,11.9,-13.2,24,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1910,2962,2962,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.49,48.93
$GC,193,-1.61,-390.0,1835,1910,2963,4094,16.6,-13.0,30,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1910,2963,2963,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.49,48.74
$GC,229,-1.61,-390.0,1835,1910,2964,4095,21.3,-12.5,36,235,0.00,2.25,0.00,0.000,260,0.000,0.055,1835,2758,2964,2964,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.48,48.54
$GC,278,-1.61,-390.0,1835,2757,2964,4094,26.5,-10.3,44,284,0.00,2.12,0.00,0.000,1030,0.000,0.029,1836,1916,2965,2965,4094,0,0,0,0,0,0,26.13,26.05,26.15,10.44,48.03
$GC,315,-1.61,-390.0,1835,1916,2965,4094,30.3,-9.8,50,321,0.00,2.38,0.00,0.000,516,0.000,0.068,1836,1033,2966,2966,4094,0,0,0,0,0,0,26.34,26.00,26.36,10.43,46.65
$GC,370,-1.61,-390.0,1835,1033,2966,4094,36.4,-11.4,59,376,0.00,2.10,0.00,0.000,1030,0.000,0.028,1836,1885,2967,2967,4094,0,0,0,0,0,0,26.20,26.14,26.22,10.39,46.61
$GC,407,-1.61,-390.0,1836,1885,2968,4094,40.4,-10.7,65,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1886,2967,2967,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,46.18
$GC,443,-1.61,-390.0,1835,1885,2968,4095,44.3,-10.7,71,449,0.00,2.33,0.00,0.000,260,0.000,0.054,1836,2763,2968,2968,4095,0,0,0,0,0,0,26.42,26.10,26.43,10.38,44.92
$GC,492,-1.61,-390.0,1835,2763,2969,4095,49.6,-10.8,79,498,0.00,2.17,0.00,0.000,1030,0.000,0.030,1836,1898,2970,2970,4095,0,0,0,0,0,0,26.25,26.17,26.27,10.37,44.44
$GC,529,-1.61,-390.0,1835,1897,2970,4095,53.7,-10.9,85,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1897,2969,2969,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.36,44.36
$GC,565,-1.61,-390.0,1835,1897,2971,4094,57.8,-11.0,91,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1897,2970,2970,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.36,44.32
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1836,2040,2971,4095,60.5,-11.2,95,625,4.03,0.00,22.95,1.268,10244,0.058,0.000,2207,2040,2500,2500,4095,0,0,0,0,0,0,26.20,25.25,24.58,10.35,44.68
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,628,1.61,390.0,2206,2039,2500,4095,62.5,0.0,101,662,6.95,0.00,22.62,1.245,11270,0.036,0.000,2862,2040,2045,2045,4094,0,0,0,0,0,0,25.70,25.86,24.13,10.25,44.01
$GC,693,1.61,390.0,2862,2039,2044,4094,57.4,11.4,112,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2044,2044,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.15,43.14
$GC,729,1.61,390.0,2862,2039,2043,4094,53.0,12.5,118,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2043,2043,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.14,43.54
$GC,765,1.61,390.0,2862,2039,2042,4094,48.6,12.7,124,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2042,2042,4094,0,0,0,0,0,0,25.84,25.85,25.84,10.13,43.77
$GC,801,1.61,390.0,2862,2039,2041,4094,44.1,12.6,130,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2041,2041,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.14,44.21
$GC,837,1.61,390.0,2862,2040,2040,4094,39.8,12.4,136,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2040,2040,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.13,44.01
$GC,873,1.61,390.0,2862,2039,2039,4094,35.4,12.4,142,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2038,2038,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.12,44.09
$GC,909,1.61,390.0,2862,2039,2038,4094,31.1,11.8,148,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.12,44.60
$GC,945,1.61,390.0,2862,2040,2037,4094,26.9,11.4,154,951,0.00,2.42,0.00,0.000,516,0.000,0.066,2862,1153,2037,2037,4094,0,0,0,0,0,0,26.14,25.80,26.15,10.13,44.88
$GC,1007,1.61,390.0,2862,1152,2035,4094,20.0,10.8,164,1014,0.00,2.10,0.00,0.000,1030,0.000,0.028,2862,2001,2035,2035,4095,0,0,0,0,0,0,26.03,25.96,26.04,10.15,46.33
$GC,1046,1.64,407.3,2862,2000,2035,4095,16.5,8.8,170,1052,0.00,0.00,2.38,0.164,8198,0.000,0.000,2862,2001,2023,2023,4094,0,0,0,0,0,0,26.24,25.86,25.23,10.18,47.51
$GC,1083,1.64,407.3,2862,2000,2022,4094,12.8,9.6,176,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2001,2022,2022,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.19,48.03
$GC,1119,1.64,407.3,2862,2001,2022,4095,9.2,9.8,182,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2001,2022,2022,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.20,49.17
$GC,1155,1.64,407.3,2862,2002,2021,4095,5.5,10.3,188,1161,0.00,2.35,0.00,0.000,260,0.000,0.056,2862,2879,2021,2021,4094,0,0,0,0,0,0,26.32,26.00,26.33,10.22,49.68
$STATE,1191,end climb,FINISH_DEPTH_REACHED
$STATE,1191,begin subsurface finish
$FINISH1,1.5,1.025600,0
$GC,1199,0.00,0.0,2862,2017,2019,4094,1.5,10.8,194,1211,5.32,0.00,-4.15,0.000,20486,0.052,0.000,2360,2018,2507,2507,4094,0,0,0,0,0,0,26.13,25.25,26.15,10.22,49.72
$FINISH2,0.2
$STATE,1212,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1212,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,123724
$TT8_MAMPS,0.025466,0.077896
$HUMID,50.39
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.13,6.748
$10V_AH,10.56,8.496
$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,34.700,27.325,47.950,0.000,0.000,23.569,22.760,234.262,0.000,0.000,35.958,446.150,341.516,155.951,613.292,89.784,33.455,381.471,0.000,294.304,0.000,0.543,0.000
$DEVICE_MAMPS,113.220,1313.505,1267.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,329416
$DATA_FILE_SIZE,14318,196
$CAP_FILE_SIZE,41601,0
$CFSIZE,1024409600,1005879296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310717,135843,5947.107,-17125.090,10,0.9,34,8.2,0.4,201.0,10,5.0