version: 66.13
glider: 401
mission: 22
dive: 260
start: 7 31 117 6 48 54
data:
$ID,401
$MISSION,22
$DIVE,260
$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,34
$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
$GPS1,310717,062605,5946.4961,-17120.9238,6,1.0,19,8.2,0.4,47.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-1.5
$GPS2,310717,062605,5946.4961,-17120.9238,6,1.0,19,8.2,0.4,47.1,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.337900,0.034017
$KALMAN_X,33816.550781,-1641.355347,-526.171265,-84141.781250,-84.501465
$KALMAN_Y,11848.097656,2007.377319,392.614288,43500.035156,-23.751007
$MHEAD_RNG_PITCHd_Wd,267.5,5669,-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,-390.0,2370,1884,2508,4092,0.0,0.0,0,20,5.28,0.00,-4.10,0.000,20486,0.028,0.000,1862,1884,2961,2961,4094,0,0,0,0,0,0,26.17,25.29,26.20,10.36,50.59
$GC,23,-1.61,-390.0,1862,1884,2962,4094,0.1,0.0,1,31,0.00,2.33,0.00,0.000,516,0.000,0.075,1862,1044,2962,2962,4095,0,0,0,0,0,0,26.34,26.02,26.36,10.45,50.39
$GC,125,-1.61,-390.0,1862,1043,2964,4095,12.3,-12.8,16,135,0.00,2.12,0.00,0.000,1030,0.000,0.030,1862,1897,2964,2964,4095,0,0,0,0,0,0,26.22,26.17,26.22,10.46,50.07
$GC,172,-1.61,-390.0,1861,1897,2965,4095,17.7,-12.6,22,181,0.00,2.33,0.00,0.000,260,0.000,0.058,1862,2762,2965,2965,4095,0,0,0,0,0,0,26.46,26.13,26.46,10.46,50.43
$GC,210,-1.61,-390.0,1861,2761,2966,4095,22.5,-11.5,27,220,0.00,2.15,0.00,0.000,1030,0.000,0.031,1862,1918,2966,2966,4094,0,0,0,0,0,0,26.23,26.18,26.25,10.45,50.07
$GC,257,-1.61,-390.0,1861,1918,2966,4094,27.1,-9.7,33,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1918,2967,2967,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.42,49.64
$GC,300,-1.61,-390.0,1862,1918,2966,4095,31.5,-9.4,39,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1919,2968,2968,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.39,48.81
$GC,345,-1.61,-390.0,1862,1918,2968,4095,35.8,-9.9,45,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1918,2968,2968,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,47.67
$GC,389,-1.61,-390.0,1861,1918,2969,4095,40.3,-9.6,51,398,0.00,2.28,0.00,0.000,260,0.000,0.054,1862,2761,2969,2969,4095,0,0,0,0,0,0,26.54,26.22,26.55,10.37,46.69
$GC,427,-1.61,-390.0,1862,2761,2970,4095,44.2,-10.0,56,437,0.00,2.17,0.00,0.000,1030,0.000,0.031,1862,1904,2970,2970,4095,0,0,0,0,0,0,26.32,26.29,26.34,10.36,46.14
$GC,474,-1.61,-390.0,1862,1904,2971,4095,49.1,-11.3,62,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1904,2971,2971,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.35,45.58
$GC,518,-1.61,-390.0,1862,1904,2971,4094,54.0,-10.8,68,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1904,2972,2972,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.35,45.07
$GC,562,-1.61,-390.0,1861,1904,2973,4094,58.8,-11.1,74,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1904,2972,2972,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.33,45.31
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,583,-0.45,0.0,1861,2044,2973,4095,60.5,-10.6,76,619,3.72,0.05,22.98,1.274,10244,0.057,0.066,2205,2006,2500,2500,4095,0,0,0,0,0,0,26.32,25.36,24.69,10.34,45.51
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.61,390.0,2205,2006,2500,4095,62.8,0.0,80,658,6.95,0.00,22.62,1.256,11270,0.037,0.000,2862,2006,2044,2044,4094,0,0,0,0,0,0,25.80,25.97,24.22,10.23,44.88
$GC,696,1.61,390.0,2862,2005,2043,4094,58.0,10.2,89,705,0.00,2.38,0.00,0.000,260,0.000,0.057,2863,2852,2043,2043,4094,0,0,0,0,0,0,25.68,25.40,25.69,10.13,44.32
$GC,742,1.61,390.0,2862,2852,2042,4094,52.5,12.1,95,751,0.00,2.15,0.00,0.000,1030,0.000,0.030,2862,2031,2042,2042,4094,0,0,0,0,0,0,25.62,25.56,25.66,10.12,44.17
$GC,788,1.61,390.0,2861,2031,2041,4094,47.0,11.9,101,797,0.00,2.40,0.00,0.000,516,0.000,0.067,2863,1162,2041,2041,4094,0,0,0,0,0,0,25.93,25.60,25.94,10.12,44.17
$GC,834,1.61,390.0,2862,1161,2040,4094,41.5,12.3,107,843,0.00,2.08,0.00,0.000,1030,0.000,0.028,2863,1983,2039,2039,4094,0,0,0,0,0,0,25.80,25.77,25.81,10.11,44.17
$GC,881,1.61,390.0,2862,1982,2039,4094,35.7,11.8,113,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1983,2038,2038,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,44.25
$GC,924,1.61,390.0,2862,1983,2037,4094,30.4,11.6,119,933,0.00,2.45,0.00,0.000,260,0.000,0.059,2863,2879,2037,2037,4094,0,0,0,0,0,0,26.13,25.82,26.15,10.10,44.64
$GC,989,1.61,390.0,2862,2878,2036,4094,22.8,12.2,128,997,0.00,2.22,0.00,0.000,1030,0.000,0.031,2863,2016,2035,2035,4094,0,0,0,0,0,0,25.98,25.94,25.98,10.13,45.23
$GC,1033,1.61,390.0,2862,2016,2034,4094,18.2,9.9,134,1042,0.00,2.35,0.00,0.000,516,0.000,0.069,2862,1157,2034,2034,4094,0,0,0,0,0,0,26.24,25.91,26.25,10.16,46.96
$GC,1079,1.61,390.0,2862,1156,2034,4094,13.7,10.3,140,1089,0.00,2.10,0.00,0.000,1030,0.000,0.031,2863,1994,2033,2033,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.19,48.14
$GC,1126,1.61,390.0,2862,1994,2032,4094,8.9,10.4,146,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1994,2032,2032,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,48.77
$GC,1169,1.61,390.0,2862,2000,2031,4094,4.3,10.1,152,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2001,2031,2031,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.21,49.13
$STATE,1194,end climb,FINISH_DEPTH_REACHED
$STATE,1194,begin subsurface finish
$FINISH1,1.8,1.024288,91
$GC,1199,0.14,91.4,2862,2000,2030,4095,1.8,10.1,155,1210,5.03,0.00,-3.28,0.000,20486,0.069,0.000,2409,2001,2400,2400,4094,0,0,0,0,0,0,26.10,25.25,26.16,10.22,49.37
$FINISH2,0.4
$STATE,1211,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1211,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,050544
$TT8_MAMPS,0.026215,0.242676
$HUMID,50.07
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.22,6.360
$10V_AH,10.23,8.081
$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,20.975,32.075,45.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,445.655,0.000,131.980,647.149,43.919,33.426,392.692,0.000,377.696,0.000,0.542,0.000
$DEVICE_MAMPS,68.850,74.970,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.503,423.805,335.373,497.114,644.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330988
$DATA_FILE_SIZE,14302,156
$CAP_FILE_SIZE,32890,0
$CFSIZE,1024409600,1006714880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,062605,5946.496,-17120.924,6,1.0,19,8.2,0.4,47.1,10,5.0