version: 66.13
glider: 401
mission: 22
dive: 303
start: 8 1 117 0 56 23
data:
$ID,401
$MISSION,22
$DIVE,303
$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,29
$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
$GPS1,010817,001025,5949.9727,-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,0.12
$_SM_ANGLEo,-0.9
$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,-0.334203,-0.062266
$KALMAN_X,38342.640625,-2145.668945,-688.586548,-100992.515625,225.134521
$KALMAN_Y,19050.742188,1904.555176,719.485718,42512.539062,134.670044
$MHEAD_RNG_PITCHd_Wd,251.3,66934,-11.3,-9.091,-14.97,6443
$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,7,-1.61,-390.0,2411,1890,2385,4092,0.0,0.0,0,20,5.82,0.00,-4.47,0.000,20482,0.025,0.000,1846,1890,2894,2894,4094,0,0,0,0,0,0,26.22,28.83,26.24,10.32,50.86
$GC,22,-1.61,-390.0,1845,1890,2894,4094,0.2,0.0,1,32,0.00,2.42,-0.55,0.000,16900,0.000,1.308,1846,1044,2959,2959,4094,0,0,0,0,0,0,26.41,25.06,26.33,10.43,50.00
$GC,81,-1.61,-390.0,1845,1043,2961,4094,5.7,-12.6,9,90,0.00,2.15,0.00,0.000,1030,0.000,0.031,1846,1898,2961,2961,4095,0,0,0,0,0,0,26.08,26.01,26.10,10.45,50.63
$GC,126,-1.61,-390.0,1845,1898,2962,4095,11.5,-12.8,15,134,0.00,2.35,0.00,0.000,260,0.000,0.059,1845,2764,2962,2962,4094,0,0,0,0,0,0,26.32,26.00,26.33,10.45,49.84
$GC,177,-1.61,-390.0,1845,2764,2962,4094,17.8,-11.5,22,186,0.00,2.17,0.00,0.000,1030,0.000,0.031,1846,1917,2963,2963,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.45,49.96
$GC,222,-1.61,-390.0,1845,1917,2964,4095,22.6,-10.4,28,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1917,2963,2963,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.45,50.07
$GC,267,-1.61,-390.0,1845,1917,2964,4095,27.1,-10.2,34,276,0.00,2.40,0.00,0.000,516,0.000,0.069,1845,1034,2964,2964,4094,0,0,0,0,0,0,26.41,26.06,26.43,10.42,49.17
$GC,346,-1.61,-390.0,1845,1033,2966,4094,35.9,-11.3,45,355,0.00,2.17,0.00,0.000,1030,0.000,0.030,1845,1910,2966,2966,4094,0,0,0,0,0,0,26.23,26.20,26.26,10.38,47.99
$GC,391,-1.61,-390.0,1845,1910,2967,4094,41.0,-10.8,51,400,0.00,2.28,0.00,0.000,260,0.000,0.057,1845,2758,2967,2967,4095,0,0,0,0,0,0,26.48,26.16,26.48,10.37,46.88
$GC,444,-1.61,-390.0,1845,2758,2968,4095,46.6,-10.7,58,453,0.00,2.15,0.00,0.000,1030,0.000,0.031,1845,1913,2969,2969,4095,0,0,0,0,0,0,26.26,26.23,26.31,10.35,45.70
$GC,489,-1.61,-390.0,1845,1913,2969,4095,51.7,-11.1,64,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1913,2969,2969,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.35,45.74
$GC,533,-1.61,-390.0,1845,1913,2970,4095,56.6,-11.1,70,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1913,2970,2970,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.34,45.35
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,568,-0.45,0.0,1845,2036,2971,4094,60.1,-10.9,74,604,3.92,0.00,22.95,1.264,10244,0.060,0.000,2204,2036,2501,2501,4094,0,0,0,0,0,0,26.27,25.32,24.65,10.34,45.03
$STATE,605,end apogee,CONTROL_FINISHED_OK
$STATE,605,begin climb
$GC,607,1.61,390.0,2204,2036,2501,4094,62.3,0.0,78,642,6.97,0.00,22.65,1.246,11270,0.036,0.000,2861,2036,2045,2045,4094,0,0,0,0,0,0,25.75,25.92,24.18,10.23,45.27
$GC,679,1.61,390.0,2860,2036,2044,4094,57.6,10.9,87,688,0.00,2.30,0.00,0.000,260,0.000,0.058,2861,2861,2043,2043,4094,0,0,0,0,0,0,25.66,25.37,25.67,10.13,44.56
$GC,730,1.61,390.0,2860,2861,2042,4094,51.0,12.7,94,740,0.00,2.20,0.00,0.000,1030,0.000,0.030,2861,2021,2042,2042,4094,0,0,0,0,0,0,25.61,25.56,25.63,10.13,43.89
$GC,777,1.61,390.0,2860,2020,2040,4094,45.6,12.1,100,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2021,2041,2041,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.12,44.32
$GC,821,1.61,390.0,2860,2020,2040,4094,40.1,11.9,106,831,0.00,2.38,0.00,0.000,516,0.000,0.067,2861,1154,2039,2039,4094,0,0,0,0,0,0,26.01,25.67,26.03,10.11,44.60
$GC,867,1.61,390.0,2860,1154,2039,4094,34.6,12.0,112,876,0.00,2.10,0.00,0.000,1030,0.000,0.029,2861,1988,2038,2038,4094,0,0,0,0,0,0,25.88,25.84,25.89,10.11,44.92
$GC,912,1.61,390.0,2860,1987,2037,4094,29.2,12.1,118,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2037,2037,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,44.80
$GC,956,1.61,390.0,2860,1987,2036,4094,24.3,10.7,124,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2036,2036,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,45.07
$GC,1000,1.61,390.0,2861,1987,2035,4094,19.5,11.2,130,1009,0.00,2.30,0.00,0.000,516,0.000,0.067,2861,1155,2035,2035,4094,0,0,0,0,0,0,26.23,25.89,26.25,10.15,46.14
$GC,1038,1.61,390.0,2859,1155,2034,4094,15.4,10.4,135,1047,0.00,2.12,0.00,0.000,1030,0.000,0.030,2861,2001,2034,2034,4094,0,0,0,0,0,0,26.04,26.02,26.04,10.18,47.79
$GC,1084,1.61,390.0,2860,2000,2033,4094,10.5,10.8,141,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2033,2033,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.19,48.34
$GC,1129,1.61,390.0,2860,2000,2032,4094,6.1,9.3,147,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2032,2032,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.21,49.37
$STATE,1171,end climb,SURFACE_DEPTH_REACHED
$STATE,1171,begin surface coast
$FINISH,0.1,1.000778
$STATE,1193,end surface coast,CONTROL_FINISHED_OK
$STATE,1193,begin surface
$SM_CCo,1289,0.00,0.000,0,0,2029,404.40
$SM_GC,1.05,27.45,0.28,0.00,0.024,0.057,0.000,240,1886,2029,-6.61,1.05,404.40,0,0,0,0,0,0,26.15,26.15,26.20
$IRIDIUM_FIX,5955.74,-17228.01,310717,224722
$TT8_MAMPS,0.025466,0.202979
$HUMID,50.31
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.18,7.347
$10V_AH,10.29,9.257
$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,44.175,32.275,45.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.863,60.460,151.810,654.994,41.856,33.415,410.009,0.000,236.260,0.000,0.543,0.000
$DEVICE_MAMPS,59.670,1308.150,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.104,423.850,0.000,497.508,648.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14283,156
$CAP_FILE_SIZE,33328,0
$CFSIZE,1024409600,1004601344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,011840,5950.215,-17134.623,3,0.8,14,8.1,0.5,60.9,11,4.9