version: 66.13
glider: 401
mission: 22
dive: 302
start: 8 1 117 0 34 15
data:
$ID,401
$MISSION,22
$DIVE,302
$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,24
$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
$GPS1,010817,001025,5949.9727,-17134.6523,10,0.8,18,8.1,0.5,68.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.0
$GPS2,010817,001025,5949.9727,-17134.6523,10,0.8,18,8.1,0.5,68.2,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.335207,-0.052166
$KALMAN_X,38024.257812,-2183.134033,-737.699341,-100587.156250,176.580383
$KALMAN_Y,18980.423828,1896.105957,719.997253,42590.367188,133.461243
$MHEAD_RNG_PITCHd_Wd,253.1,66934,-11.3,-9.091,-15.00,6411
$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,-389.2,2414,1893,2388,4092,0.0,0.0,0,21,5.93,0.00,-5.00,0.000,20482,0.028,0.000,1845,1893,2942,2942,4094,0,0,0,0,0,0,26.07,28.83,26.09,10.35,49.60
$GC,23,-1.61,-389.2,1845,1893,2942,4094,0.1,0.0,1,33,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1845,1893,2956,2956,4094,0,0,0,0,0,0,26.26,25.48,25.98,10.46,49.92
$GC,68,-1.61,-389.2,1844,1893,2956,4094,3.4,-10.1,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1893,2957,2957,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.47,49.80
$GC,112,-1.61,-389.2,1844,1893,2957,4094,9.3,-14.0,13,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1893,2957,2957,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.47,49.21
$GC,157,-1.61,-389.2,1844,1893,2959,4094,15.8,-14.6,19,165,0.00,2.35,0.00,0.000,260,0.000,0.054,1845,2755,2959,2959,4095,0,0,0,0,0,0,26.24,25.92,26.25,10.47,49.64
$GC,207,-1.61,-389.2,1844,2755,2960,4095,22.1,-11.7,26,216,0.00,2.20,0.00,0.000,1030,0.000,0.031,1845,1900,2960,2960,4094,0,0,0,0,0,0,26.06,26.01,26.07,10.46,49.56
$GC,254,-1.61,-389.2,1844,1899,2961,4094,27.0,-10.6,32,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2961,2961,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.43,48.85
$GC,300,-1.61,-389.2,1844,1900,2962,4095,31.9,-10.4,38,309,0.00,2.35,0.00,0.000,516,0.000,0.069,1845,1034,2962,2962,4094,0,0,0,0,0,0,26.35,26.01,26.36,10.40,47.59
$GC,371,-1.61,-389.2,1844,1033,2963,4094,39.8,-11.1,48,381,0.00,2.10,0.00,0.000,1030,0.000,0.028,1845,1876,2964,2964,4094,0,0,0,0,0,0,26.22,26.17,26.21,10.38,46.25
$GC,418,-1.61,-389.2,1844,1876,2964,4094,44.7,-10.5,54,427,0.00,2.38,0.00,0.000,260,0.000,0.055,1844,2763,2964,2964,4094,0,0,0,0,0,0,26.42,26.10,26.44,10.37,46.22
$GC,464,-1.61,-389.2,1844,2763,2965,4094,49.7,-10.6,60,474,0.00,2.22,0.00,0.000,1030,0.000,0.031,1844,1891,2965,2965,4094,0,0,0,0,0,0,26.22,26.18,26.25,10.36,45.03
$GC,511,-1.61,-389.2,1844,1891,2966,4094,54.7,-11.0,66,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1891,2966,2966,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.35,44.84
$GC,556,-1.61,-389.2,1844,1890,2966,4094,59.4,-10.8,72,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1891,2967,2967,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.34,44.72
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,578,-0.45,0.0,1844,2041,2968,4094,61.7,-11.4,74,613,3.92,0.00,22.92,1.274,10244,0.060,0.000,2206,2042,2499,2499,4094,0,0,0,0,0,0,26.21,25.26,24.58,10.34,44.80
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.61,389.2,2205,2041,2499,4094,63.9,0.0,78,652,6.97,0.00,22.62,1.251,11270,0.035,0.000,2863,2042,2045,2045,4094,0,0,0,0,0,0,25.70,25.86,24.14,10.24,44.13
$GC,689,1.61,389.2,2862,2042,2045,4094,58.7,10.5,87,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2042,2045,2045,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.14,43.58
$GC,735,1.61,389.2,2862,2042,2044,4094,53.2,12.2,93,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2044,2044,4094,0,0,0,0,0,0,25.80,25.81,25.81,10.13,43.46
$GC,781,1.61,389.2,2862,2042,2042,4094,47.6,11.9,99,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2042,2042,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.13,43.58
$GC,827,1.61,389.2,2862,2042,2041,4094,42.0,11.8,105,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2042,2040,2040,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.12,44.40
$GC,872,1.61,389.2,2862,2042,2040,4094,36.5,12.0,111,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2040,2040,4095,0,0,0,0,0,0,26.07,26.08,26.08,10.12,44.52
$GC,918,1.61,389.2,2861,2042,2039,4095,30.9,12.5,117,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2038,2038,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.12,44.56
$GC,964,1.61,389.2,2862,2042,2037,4094,25.3,11.5,123,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2038,2038,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.12,45.39
$GC,1007,1.61,389.2,2862,2042,2036,4095,20.7,10.1,129,1017,0.00,2.45,0.00,0.000,516,0.000,0.067,2863,1154,2036,2036,4094,0,0,0,0,0,0,26.22,25.86,26.24,10.15,45.11
$GC,1065,1.61,389.2,2862,1154,2034,4094,14.2,11.8,137,1075,0.00,2.10,0.00,0.000,1030,0.000,0.029,2863,1994,2035,2035,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.19,47.59
$GC,1112,1.61,389.2,2862,1994,2034,4094,9.4,10.6,143,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1994,2034,2034,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.20,48.62
$GC,1158,1.61,389.2,2862,1994,2032,4094,4.8,9.9,149,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1994,2032,2032,4093,0,0,0,0,0,0,26.34,26.36,26.35,10.22,49.72
$STATE,1187,end climb,FINISH_DEPTH_REACHED
$STATE,1187,begin subsurface finish
$FINISH1,1.4,1.024127,103
$GC,1193,0.15,102.7,2863,1998,2031,4094,1.4,10.1,153,1204,4.62,0.00,-2.92,0.000,20486,0.027,0.000,2412,1998,2385,2385,4094,0,0,0,0,0,0,26.15,25.26,26.20,10.22,49.52
$FINISH2,0.1
$STATE,1205,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1205,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,224722
$TT8_MAMPS,0.025466,0.253911
$HUMID,50.15
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.14,7.330
$10V_AH,10.23,9.232
$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,21.450,18.800,45.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.536,0.395,132.779,643.612,44.213,33.428,397.024,0.000,373.269,0.000,0.543,0.000
$DEVICE_MAMPS,59.670,68.850,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.158,418.426,331.147,491.184,640.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14472,154
$CAP_FILE_SIZE,30942,0
$CFSIZE,1024409600,1004666880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,001025,5949.973,-17134.652,10,0.8,18,8.1,0.5,68.2,10,5.0