version: 66.13
glider: 401
mission: 22
dive: 269
start: 7 31 117 10 34 4
data:
$ID,401
$MISSION,22
$DIVE,269
$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,30
$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
$GPS1,310717,101043,5947.3164,-17124.1895,5,0.8,23,8.2,0.3,71.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.1
$GPS2,310717,101043,5947.3164,-17124.1895,5,0.8,23,8.2,0.3,71.3,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.287734,-0.180481
$KALMAN_X,34754.929688,-1908.330444,-726.892273,-87698.968750,77.600403
$KALMAN_Y,14053.819336,2017.187378,479.215820,42713.312500,91.767151
$MHEAD_RNG_PITCHd_Wd,229.7,2920,-11.3,-9.091,-14.98,6430
$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,-390.0,2407,1892,2398,4092,0.0,0.0,0,18,5.78,0.00,-1.45,0.000,20482,0.028,0.000,1844,1893,2558,2558,4094,0,0,0,0,0,0,26.21,28.83,26.25,10.34,49.48
$GC,20,-1.61,-390.0,1843,1893,2558,4094,0.1,0.0,1,26,0.00,0.00,-3.62,0.000,16390,0.000,0.000,1842,1893,2959,2959,4094,0,0,0,0,0,0,26.41,25.34,26.41,10.37,49.48
$GC,57,-1.61,-390.0,1843,1893,2960,4094,2.7,-10.4,7,62,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,2960,2960,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.46,49.72
$GC,93,-1.61,-390.0,1842,1893,2961,4095,6.8,-11.8,13,98,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2961,2961,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.45,49.52
$GC,129,-1.61,-390.0,1843,1893,2962,4095,11.6,-13.2,19,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1892,2962,2962,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,49.33
$GC,165,-1.61,-390.0,1843,1893,2962,4095,16.3,-13.0,25,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2963,2963,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.46,49.44
$GC,201,-1.61,-390.0,1843,1893,2964,4094,20.8,-12.1,31,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2963,2963,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.46,48.85
$GC,237,-1.61,-390.0,1843,1892,2964,4095,24.6,-10.4,37,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2964,2964,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.44,48.97
$GC,273,-1.61,-390.0,1843,1893,2965,4094,28.6,-10.8,43,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,2965,2965,4095,0,0,0,0,0,0,26.52,26.54,26.53,10.42,48.58
$GC,309,-1.61,-390.0,1843,1893,2965,4095,32.8,-11.4,49,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2966,2966,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.40,48.54
$GC,346,-1.61,-390.0,1842,1893,2966,4095,36.8,-10.9,55,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2966,2966,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.39,47.36
$GC,382,-1.61,-390.0,1843,1893,2967,4094,40.6,-10.5,61,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2967,2967,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.37,47.16
$GC,418,-1.61,-390.0,1843,1893,2968,4095,44.3,-9.9,67,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1893,2968,2968,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.37,46.18
$GC,454,-1.61,-390.0,1843,1893,2969,4095,48.1,-10.2,73,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2968,2968,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.36,45.98
$GC,490,-1.61,-390.0,1843,1893,2969,4095,51.8,-10.1,79,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2969,2969,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.35,45.66
$GC,526,-1.61,-390.0,1843,1893,2969,4094,55.9,-11.2,85,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1893,2970,2970,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.35,45.27
$STATE,560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,560,begin apogee
$GC,566,-0.45,0.0,1843,2040,2971,4094,60.0,-11.9,91,598,3.92,0.00,22.85,1.266,10244,0.059,0.000,2206,2041,2499,2499,4094,0,0,0,0,0,0,26.34,25.70,24.72,10.34,45.62
$STATE,599,end apogee,CONTROL_FINISHED_OK
$STATE,599,begin climb
$GC,601,1.61,390.0,2206,2040,2499,4094,62.1,0.0,97,634,6.93,0.00,22.40,1.239,11270,0.036,0.000,2862,2040,2045,2045,4095,0,0,0,0,0,0,25.80,25.98,24.25,10.24,44.95
$GC,665,1.61,390.0,2862,2040,2044,4095,57.0,10.5,108,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2044,2044,4094,0,0,0,0,0,0,25.66,25.68,25.67,10.14,43.93
$GC,701,1.61,390.0,2861,2040,2043,4094,52.6,12.2,114,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2043,2043,4095,0,0,0,0,0,0,25.79,25.81,25.80,10.13,43.81
$GC,737,1.61,390.0,2862,2040,2042,4095,48.2,12.1,120,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2041,2042,2042,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.13,44.36
$GC,773,1.61,390.0,2862,2040,2041,4094,43.9,11.6,126,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2041,2041,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.12,44.84
$GC,810,1.61,390.0,2862,2040,2041,4094,39.5,12.1,132,816,0.00,2.42,0.00,0.000,516,0.000,0.067,2861,1159,2040,2040,4094,0,0,0,0,0,0,26.03,25.69,26.03,10.12,44.64
$GC,858,1.61,390.0,2862,1159,2039,4094,33.4,12.3,140,865,0.00,2.08,0.00,0.000,1030,0.000,0.028,2862,1994,2039,2039,4094,0,0,0,0,0,0,25.91,25.85,25.94,10.11,44.92
$GC,896,1.61,390.0,2862,1994,2038,4094,29.4,10.7,146,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1994,2038,2038,4094,0,0,0,0,0,0,26.15,26.15,26.15,10.12,44.99
$GC,932,1.61,390.0,2862,1994,2037,4094,25.4,11.1,152,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1994,2037,2037,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.13,45.82
$GC,968,1.61,390.0,2861,1994,2036,4094,21.3,10.9,158,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1994,2036,2036,4095,0,0,0,0,0,0,26.22,26.23,26.22,10.14,46.18
$GC,1004,1.61,390.0,2861,1996,2035,4095,17.3,11.3,164,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1996,2035,2035,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.17,47.51
$GC,1040,1.61,390.0,2862,1995,2034,4094,13.7,10.2,170,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1996,2034,2034,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,48.74
$GC,1076,1.61,390.0,2862,1995,2034,4094,10.0,10.6,176,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1996,2033,2033,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,49.84
$GC,1112,1.61,390.0,2862,1996,2033,4094,6.3,10.5,182,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1996,2033,2033,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.22,49.25
$GC,1148,1.61,390.0,2862,1996,2031,4094,2.5,10.7,188,1154,0.00,2.30,0.00,0.000,516,0.000,0.072,2862,1157,2031,2031,4094,0,0,0,0,0,0,26.36,26.01,26.37,10.22,49.84
$STATE,1159,end climb,FINISH_DEPTH_REACHED
$STATE,1159,begin subsurface finish
$FINISH1,1.3,1.025600,0
$GC,1166,0.00,0.0,2862,2020,2031,4094,1.3,9.7,190,1184,5.22,2.47,-4.10,0.000,20996,0.040,1.312,2358,1156,2508,2508,4094,0,0,0,0,0,0,26.15,25.01,26.19,10.22,49.88
$FINISH2,0.4
$STATE,1185,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1185,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,084927
$TT8_MAMPS,0.025466,0.073402
$HUMID,50.35
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.25,6.564
$10V_AH,10.53,8.291
$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,21.850,12.100,45.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.521,331.933,148.480,290.382,42.540,33.428,368.351,0.000,288.129,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1311.975,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,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,330920
$DATA_FILE_SIZE,14256,193
$CAP_FILE_SIZE,35498,0
$CFSIZE,1024409600,1006272512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310717,101043,5947.316,-17124.189,5,0.8,23,8.2,0.3,71.3,10,5.0