version: 66.13
glider: 401
mission: 22
dive: 280
start: 7 31 117 15 14 57
data:
$ID,401
$MISSION,22
$DIVE,280
$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,30
$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
$GPS1,310717,150726,5946.8428,-17126.1309,2,0.9,38,8.2,0.4,270.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-45.0
$GPS2,310717,151349,5946.8076,-17126.1289,9,0.9,12,8.2,0.0,212.4,9,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.284520,0.185680
$KALMAN_X,36737.074219,-1740.919434,-489.837952,-91904.750000,24.598999
$KALMAN_Y,15567.061523,1679.418091,192.222916,40892.347656,-141.482864
$MHEAD_RNG_PITCHd_Wd,294.9,76106,-11.3,-9.091,-14.98,6434
$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,-390.0,239,1903,2030,4092,0.0,0.0,0,21,11.07,0.00,0.00,0.000,2049,0.104,0.000,1159,1898,2030,2030,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.28,50.19
$GC,23,-1.61,-390.0,1159,1898,2030,4094,0.9,0.0,1,50,7.38,2.42,-8.55,0.000,18948,0.054,1.296,1838,1045,2959,2959,4095,0,0,0,0,0,0,25.94,24.85,26.01,10.28,49.40
$GC,111,-1.61,-390.0,1837,1045,2961,4095,6.4,-12.8,13,121,0.00,2.15,0.00,0.000,1030,0.000,0.029,1838,1899,2961,2961,4095,0,0,0,0,0,0,25.89,25.86,25.91,10.48,49.29
$GC,158,-1.61,-390.0,1837,1899,2962,4095,12.6,-14.0,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1900,2962,2962,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.49,48.54
$GC,204,-1.61,-390.0,1837,1900,2963,4094,19.0,-13.5,25,213,0.00,2.30,0.00,0.000,260,0.000,0.057,1838,2752,2963,2963,4095,0,0,0,0,0,0,26.20,25.89,26.21,10.49,48.85
$GC,262,-1.61,-390.0,1837,2752,2964,4095,25.5,-10.5,33,272,0.00,2.15,0.00,0.000,1030,0.000,0.030,1838,1915,2964,2964,4095,0,0,0,0,0,0,26.02,25.99,26.06,10.45,47.71
$GC,309,-1.61,-390.0,1838,1914,2965,4095,30.0,-10.0,39,318,0.00,2.40,0.00,0.000,516,0.000,0.069,1838,1034,2965,2965,4094,0,0,0,0,0,0,26.30,25.96,26.31,10.42,47.04
$GC,355,-1.61,-390.0,1837,1034,2966,4094,35.4,-12.0,45,364,0.00,2.10,0.00,0.000,1030,0.000,0.028,1838,1875,2966,2966,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.39,46.37
$GC,401,-1.61,-390.0,1838,1875,2967,4094,40.4,-11.0,51,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1875,2967,2967,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.38,45.27
$GC,447,-1.61,-390.0,1838,1875,2968,4094,45.7,-11.4,57,457,0.00,2.38,0.00,0.000,260,0.000,0.054,1838,2761,2968,2968,4094,0,0,0,0,0,0,26.39,26.07,26.40,10.38,44.60
$GC,479,-1.61,-390.0,1838,2761,2969,4094,49.6,-11.2,61,489,0.00,2.22,0.00,0.000,1030,0.000,0.031,1838,1890,2969,2969,4095,0,0,0,0,0,0,26.18,26.17,26.20,10.37,44.80
$GC,525,-1.61,-390.0,1837,1889,2969,4095,54.7,-11.2,67,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1889,2969,2969,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.37,44.01
$GC,569,-1.61,-390.0,1838,1889,2970,4095,59.8,-11.4,73,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1890,2970,2970,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.36,43.69
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,590,-0.45,0.0,1838,2046,2970,4095,61.9,-11.2,75,626,3.97,0.00,22.90,1.287,10244,0.058,0.000,2202,2046,2502,2502,4094,0,0,0,0,0,0,26.18,25.22,24.57,10.36,43.62
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,629,1.61,390.0,2202,2046,2502,4094,64.1,0.0,79,665,7.03,0.00,22.80,1.261,11270,0.035,0.000,2863,2046,2045,2045,4094,0,0,0,0,0,0,25.67,25.84,24.10,10.25,43.46
$GC,702,1.61,390.0,2862,2046,2044,4094,58.7,11.3,88,712,0.00,2.25,0.00,0.000,260,0.000,0.056,2863,2854,2044,2044,4094,0,0,0,0,0,0,25.60,25.31,25.62,10.15,42.83
$GC,749,1.61,390.0,2863,2853,2043,4094,52.8,13.1,94,758,0.00,2.20,0.00,0.000,1030,0.000,0.029,2863,2015,2043,2043,4094,0,0,0,0,0,0,25.56,25.51,25.58,10.14,43.03
$GC,795,1.61,390.0,2862,2014,2041,4094,47.1,12.0,100,805,0.00,2.38,0.00,0.000,516,0.000,0.067,2863,1157,2041,2041,4094,0,0,0,0,0,0,25.89,25.56,25.90,10.14,43.42
$GC,867,1.61,390.0,2862,1156,2040,4094,38.1,12.2,110,876,0.00,2.05,0.00,0.000,1030,0.000,0.028,2863,1971,2039,2039,4094,0,0,0,0,0,0,25.82,25.78,25.83,10.13,44.25
$GC,913,1.61,390.0,2862,1971,2039,4094,32.6,12.1,116,923,0.00,2.50,0.00,0.000,260,0.000,0.059,2863,2883,2038,2038,4094,0,0,0,0,0,0,26.09,25.77,26.10,10.12,43.85
$GC,952,1.61,390.0,2862,2883,2037,4094,27.7,12.4,121,961,0.00,2.30,0.00,0.000,1030,0.000,0.031,2863,1996,2037,2037,4094,0,0,0,0,0,0,25.90,25.86,25.93,10.12,44.52
$GC,998,1.61,390.0,2862,1995,2036,4094,22.7,10.6,127,1008,0.00,2.33,0.00,0.000,516,0.000,0.068,2863,1149,2036,2036,4094,0,0,0,0,0,0,26.18,25.84,26.20,10.13,44.88
$GC,1063,1.61,390.0,2862,1149,2034,4094,15.6,10.0,136,1073,0.00,2.15,0.00,0.000,1030,0.000,0.029,2863,2006,2034,2034,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.18,46.81
$GC,1109,1.62,394.6,2862,2004,2034,4094,11.4,9.0,142,1118,0.00,2.38,0.00,0.000,260,0.000,0.060,2863,2877,2033,2033,4094,0,0,0,0,0,0,26.28,25.96,26.29,10.20,47.79
$GC,1173,1.62,394.6,2862,2877,2031,4094,4.4,10.8,151,1182,0.00,2.25,0.00,0.000,1030,0.000,0.031,2863,2001,2031,2031,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.22,48.77
$STATE,1197,end climb,FINISH_DEPTH_REACHED
$STATE,1197,begin subsurface finish
$FINISH1,1.6,1.024283,92
$GC,1203,0.14,91.8,2863,2000,2030,4095,1.6,11.0,154,1222,5.00,2.38,-3.28,0.000,20996,0.068,1.308,2410,1159,2401,2401,4095,0,0,0,0,0,0,26.10,24.98,26.15,10.23,49.44
$FINISH2,0.3
$STATE,1223,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1223,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,135321
$TT8_MAMPS,0.025466,0.247919
$HUMID,49.40
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.10,6.817
$10V_AH,10.22,8.582
$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,34.450,43.600,45.700,0.000,0.000,24.401,20.625,235.674,0.000,0.000,14.549,451.981,1.010,141.544,936.945,100.910,33.452,420.182,0.000,379.694,0.000,0.543,0.000
$DEVICE_MAMPS,104.040,1308.150,1286.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.303,423.812,335.365,496.978,649.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,14326,156
$CAP_FILE_SIZE,38330,0
$CFSIZE,1024409600,1005731840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310717,151349,5946.808,-17126.129,9,0.9,12,8.2,0.0,212.4,9,4.9