version: 66.13
glider: 401
mission: 22
dive: 278
start: 7 31 117 14 22 3
data:
$ID,401
$MISSION,22
$DIVE,278
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,310717,135843,5947.1069,-17125.0898,10,0.9,34,8.2,0.4,201.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.8
$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,-0.328424,-0.083940
$KALMAN_X,36708.957031,-1679.393921,-424.121887,-91038.273438,87.397003
$KALMAN_Y,15635.373047,1799.048096,300.556946,41140.117188,-61.802078
$MHEAD_RNG_PITCHd_Wd,247.5,1996,-11.3,-9.091,-15.01,6399
$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,-388.5,2359,1892,2507,4092,0.0,0.0,0,20,5.18,0.00,-4.07,0.000,20486,0.028,0.000,1856,1892,2958,2958,4094,0,0,0,0,0,0,26.21,25.29,26.22,10.35,50.66
$GC,23,-1.61,-388.5,1856,1892,2958,4094,0.1,0.0,1,31,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1892,2958,2958,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.45,50.55
$GC,67,-1.61,-390.0,1856,1891,2958,4095,1.6,-6.2,7,77,0.00,2.35,0.00,0.000,516,0.000,0.073,1856,1036,2958,2958,4094,0,0,0,0,0,0,26.41,26.06,26.42,10.45,50.98
$GC,138,-1.61,-390.0,1856,1036,2960,4094,10.4,-13.6,17,148,0.00,2.17,0.00,0.000,1030,0.000,0.031,1857,1907,2960,2960,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.46,50.31
$GC,185,-1.61,-390.0,1856,1908,2961,4095,16.4,-12.8,23,194,0.00,2.28,0.00,0.000,260,0.000,0.058,1856,2758,2961,2961,4095,0,0,0,0,0,0,26.46,26.13,26.48,10.46,50.11
$GC,256,-1.61,-390.0,1855,2758,2962,4095,24.7,-10.3,33,265,0.00,2.17,0.00,0.000,1030,0.000,0.031,1857,1906,2962,2962,4095,0,0,0,0,0,0,26.29,26.22,26.31,10.43,49.44
$GC,303,-1.61,-390.0,1856,1905,2963,4095,29.1,-9.8,39,312,0.00,2.38,0.00,0.000,516,0.000,0.070,1857,1030,2963,2963,4095,0,0,0,0,0,0,26.51,26.17,26.53,10.40,48.89
$GC,374,-1.61,-390.0,1856,1030,2964,4095,36.6,-10.7,49,382,0.00,2.17,0.00,0.000,1030,0.000,0.030,1856,1907,2965,2965,4094,0,0,0,0,0,0,26.33,26.29,26.35,10.37,47.28
$GC,419,-1.61,-390.0,1856,1907,2966,4094,41.2,-10.3,55,429,0.00,2.25,0.00,0.000,260,0.000,0.056,1857,2750,2965,2965,4095,0,0,0,0,0,0,26.56,26.23,26.57,10.36,46.69
$GC,471,-1.61,-390.0,1856,2750,2966,4095,46.8,-10.4,62,479,0.00,2.17,0.00,0.000,1030,0.000,0.031,1857,1895,2966,2966,4095,0,0,0,0,0,0,26.34,26.31,26.36,10.35,45.98
$GC,515,-1.61,-390.0,1856,1894,2967,4095,51.3,-10.4,68,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1895,2968,2968,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.35,45.55
$GC,561,-1.61,-390.0,1856,1894,2969,4094,56.0,-10.7,74,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,1895,2968,2968,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.35,45.23
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,602,-0.45,0.0,1856,2037,2969,4095,60.3,-10.7,79,638,3.80,0.00,22.85,1.277,10244,0.057,0.000,2206,2037,2500,2500,4094,0,0,0,0,0,0,26.33,25.37,24.70,10.33,45.31
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.61,390.0,2205,2037,2500,4094,62.6,0.0,83,677,6.95,0.00,22.60,1.255,11270,0.036,0.000,2863,2037,2044,2044,4094,0,0,0,0,0,0,25.81,25.98,24.22,10.23,44.76
$GC,714,1.61,390.0,2862,2037,2043,4094,57.4,11.1,92,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2037,2043,2043,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.13,44.56
$GC,760,1.61,390.0,2863,2037,2042,4094,52.0,12.0,98,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2037,2041,2041,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.12,44.88
$GC,806,1.61,390.0,2863,2037,2041,4094,46.4,11.8,104,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2037,2041,2041,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.12,44.95
$GC,851,1.61,390.0,2863,2037,2040,4094,40.9,12.1,110,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2037,2040,2040,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.11,44.44
$GC,897,1.61,390.0,2863,2037,2038,4094,35.4,12.0,116,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2037,2038,2038,4095,0,0,0,0,0,0,26.09,26.10,26.10,10.11,45.07
$GC,943,1.61,390.0,2863,2037,2037,4095,29.9,12.1,122,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2037,2037,2037,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.11,45.03
$GC,989,1.61,390.0,2863,2037,2036,4094,24.6,10.9,128,998,0.00,2.45,0.00,0.000,516,0.000,0.067,2864,1152,2036,2036,4094,0,0,0,0,0,0,26.20,25.86,26.20,10.12,44.95
$GC,1040,1.61,390.0,2863,1151,2035,4094,18.5,11.6,135,1050,0.00,2.10,0.00,0.000,1030,0.000,0.029,2864,1989,2035,2035,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.15,45.66
$GC,1086,1.61,390.0,2863,1989,2034,4094,13.9,10.1,141,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2034,2034,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,48.03
$GC,1130,1.61,390.0,2863,1988,2033,4094,9.7,9.4,147,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1992,2032,2032,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.20,48.50
$GC,1176,1.61,390.0,2863,1993,2031,4095,5.3,10.2,153,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1993,2031,2031,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.21,49.25
$STATE,1205,end climb,FINISH_DEPTH_REACHED
$STATE,1205,begin subsurface finish
$FINISH1,1.8,1.024313,90
$GC,1211,0.13,89.7,2864,1993,2030,4094,1.8,10.9,157,1222,5.10,0.00,-3.25,0.000,20486,0.077,0.000,2410,1997,2402,2402,4094,0,0,0,0,0,0,26.08,25.27,26.16,10.22,49.40
$FINISH2,0.5
$STATE,1223,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1223,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,123724
$TT8_MAMPS,0.025466,0.23968
$HUMID,49.76
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.22,6.765
$10V_AH,10.23,8.531
$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,21.025,23.100,45.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.551,0.389,128.185,661.317,42.993,33.427,391.112,0.000,382.694,0.000,0.543,0.000
$DEVICE_MAMPS,77.265,72.675,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.094,429.242,339.675,503.549,658.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330904
$DATA_FILE_SIZE,14216,158
$CAP_FILE_SIZE,30843,0
$CFSIZE,1024409600,1005846528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,135843,5947.107,-17125.090,10,0.9,34,8.2,0.4,201.0,10,5.0