version: 66.13
glider: 401
mission: 22
dive: 312
start: 8 1 117 4 53 45
data:
$ID,401
$MISSION,22
$DIVE,312
$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,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
$GPS1,010817,040249,5950.2549,-17134.8887,10,0.8,36,8.1,0.5,189.1,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.8
$GPS2,010817,040249,5950.2549,-17134.8887,10,0.8,36,8.1,0.5,189.1,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.318182,0.119620
$KALMAN_X,40924.757812,-1719.328613,-268.684174,-104645.546875,164.309692
$KALMAN_Y,19380.382812,1763.410278,480.188232,43086.214844,-97.586853
$MHEAD_RNG_PITCHd_Wd,282.5,66598,-11.3,-9.091,-14.97,6442
$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,-390.0,2418,1909,2385,4092,0.0,0.0,0,21,5.95,0.00,-4.50,0.000,20482,0.030,0.000,1847,1909,2884,2884,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.32,50.55
$GC,23,-1.61,-390.0,1847,1909,2884,4094,0.1,0.0,1,33,0.00,2.50,-0.62,0.000,16900,0.000,1.295,1847,1038,2955,2955,4094,0,0,0,0,0,0,26.27,24.94,26.21,10.43,50.82
$GC,103,-1.61,-390.0,1846,1038,2956,4094,6.1,-10.6,12,111,0.00,2.17,0.00,0.000,1030,0.000,0.031,1847,1900,2956,2956,4095,0,0,0,0,0,0,25.98,25.96,26.03,10.45,50.63
$GC,148,-1.61,-390.0,1846,1899,2957,4095,11.9,-13.7,18,157,0.00,2.33,0.00,0.000,260,0.000,0.060,1847,2762,2957,2957,4095,0,0,0,0,0,0,26.25,25.92,26.25,10.46,50.27
$GC,199,-1.61,-390.0,1846,2762,2958,4095,18.4,-10.9,25,209,0.00,2.20,0.00,0.000,1030,0.000,0.031,1847,1906,2958,2958,4094,0,0,0,0,0,0,26.06,26.01,26.06,10.45,50.00
$GC,245,-1.61,-390.0,1846,1906,2959,4094,23.0,-10.2,31,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2959,2959,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.42,50.11
$GC,290,-1.61,-390.0,1846,1906,2960,4094,27.7,-10.1,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2960,2960,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.40,49.01
$GC,334,-1.61,-390.0,1846,1906,2961,4094,32.1,-9.9,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2961,2961,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,47.99
$GC,380,-1.61,-390.0,1846,1906,2962,4095,36.4,-9.9,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2962,2962,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.37,47.04
$GC,425,-1.61,-390.0,1846,1906,2962,4095,41.1,-10.1,55,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2962,2962,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.35,46.41
$GC,471,-1.61,-390.0,1846,1906,2963,4094,45.7,-10.3,61,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2964,2964,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.35,45.98
$GC,517,-1.61,-390.0,1847,1907,2964,4095,50.6,-10.8,67,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2964,2964,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.34,45.82
$GC,563,-1.61,-390.0,1846,1906,2965,4094,55.4,-10.3,73,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1906,2966,2966,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.34,45.31
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,607,begin apogee
$GC,613,-0.45,0.0,1847,2040,2966,4095,60.6,-11.0,79,648,3.92,0.00,22.77,1.272,10244,0.060,0.000,2205,2040,2501,2501,4095,0,0,0,0,0,0,26.24,25.28,24.60,10.33,45.47
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,651,1.61,390.0,2205,2039,2501,4095,63.1,0.0,83,687,6.97,0.00,22.58,1.248,11270,0.036,0.000,2861,2040,2047,2047,4094,0,0,0,0,0,0,25.73,25.90,24.15,10.23,44.60
$GC,724,1.61,390.0,2861,2039,2046,4094,57.9,10.9,92,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2046,2046,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.12,44.01
$GC,770,1.61,390.0,2861,2039,2045,4094,52.5,11.9,98,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2045,2045,4095,0,0,0,0,0,0,25.80,25.82,25.82,10.12,44.25
$GC,816,1.61,390.0,2861,2040,2043,4095,47.0,12.0,104,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2043,2043,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.11,44.52
$GC,862,1.61,390.0,2861,2039,2042,4094,41.4,12.2,110,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2041,2041,4095,0,0,0,0,0,0,26.00,26.02,26.01,10.11,44.92
$GC,907,1.61,390.0,2861,2039,2041,4095,35.9,12.0,116,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2041,2041,4095,0,0,0,0,0,0,26.07,26.09,26.08,10.11,44.72
$GC,953,1.61,390.0,2861,2039,2040,4095,30.1,12.7,122,963,0.00,2.45,0.00,0.000,516,0.000,0.066,2862,1154,2040,2040,4094,0,0,0,0,0,0,26.13,25.79,26.14,10.10,45.58
$GC,1018,1.61,390.0,2861,1154,2037,4094,22.5,11.0,131,1028,0.00,2.10,0.00,0.000,1030,0.000,0.030,2861,1993,2038,2038,4094,0,0,0,0,0,0,25.99,25.98,26.03,10.12,45.82
$GC,1063,1.61,390.0,2861,1992,2037,4094,17.7,10.8,137,1072,0.00,2.40,0.00,0.000,260,0.000,0.060,2862,2874,2037,2037,4094,0,0,0,0,0,0,26.25,25.93,26.25,10.14,46.14
$GC,1127,1.61,390.0,2861,2874,2035,4094,10.8,10.2,146,1136,0.00,2.17,0.00,0.000,1030,0.000,0.031,2862,2027,2035,2035,4094,0,0,0,0,0,0,26.08,26.03,26.09,10.18,48.14
$GC,1173,1.70,450.7,2861,2027,2034,4094,6.8,8.1,152,1183,0.17,0.00,4.40,0.439,10758,0.054,0.000,2885,2027,1973,1973,4094,0,0,0,0,0,0,26.10,25.92,25.36,10.20,48.74
$GC,1220,1.70,450.7,2884,2027,1972,4094,2.6,9.6,158,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2027,1972,1972,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.20,49.56
$STATE,1236,end climb,SURFACE_DEPTH_REACHED
$STATE,1236,begin surface coast
$FINISH,0.2,1.015731
$STATE,1258,end surface coast,CONTROL_FINISHED_OK
$STATE,1258,begin surface
$SM_CCo,1355,0.00,0.000,0,0,1971,455.06
$SM_GC,1.08,27.90,0.32,0.00,0.025,0.049,0.000,230,1889,1971,-6.65,0.87,455.06,0,0,0,0,0,0,26.01,26.11,26.11
$IRIDIUM_FIX,5955.74,-17228.01,010817,023750
$TT8_MAMPS,0.026215,0.256158
$HUMID,50.66
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.15,7.566
$10V_AH,10.23,9.564
$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,44.925,19.150,49.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,469.357,60.964,156.455,682.405,46.909,33.418,423.683,0.000,394.114,0.000,0.543,0.000
$DEVICE_MAMPS,60.435,1295.145,1272.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.609,442.845,350.480,519.837,679.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,14346,163
$CAP_FILE_SIZE,33286,0
$CFSIZE,1024409600,1004158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,051713,5950.257,-17135.854,3,1.1,19,8.1,0.4,207.0,9,4.8