version: 66.13
glider: 401
mission: 22
dive: 345
start: 8 1 117 19 0 15
data:
$ID,401
$MISSION,22
$DIVE,345
$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,35
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,65
$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
$GPS1,010817,181312,5952.3594,-17145.6836,7,0.8,15,8.0,0.0,232.3,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-2.9
$GPS2,010817,181312,5952.3594,-17145.6836,7,0.8,15,8.0,0.0,232.3,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.314542,0.127071
$KALMAN_X,44450.234375,-1884.948364,-577.498108,-117920.843750,27.122437
$KALMAN_Y,20766.544922,1408.515381,200.221283,46233.230469,-86.512283
$MHEAD_RNG_PITCHd_Wd,284.0,55979,-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,-389.2,2412,1901,2384,4092,0.0,0.0,0,21,5.75,0.00,-4.80,0.000,20482,0.025,0.000,1862,1902,2905,2905,4094,0,0,0,0,0,0,26.03,28.83,26.06,10.28,50.63
$GC,23,-1.61,-389.2,1862,1901,2905,4094,0.2,0.0,1,33,0.00,2.20,-0.45,0.000,16900,0.000,1.301,1862,1143,2956,2956,4095,0,0,0,0,0,0,26.25,24.89,26.15,10.39,51.14
$GC,147,-1.61,-389.2,1861,1142,2957,4095,6.6,-12.3,19,155,0.00,1.80,0.00,0.000,1030,0.000,0.029,1862,1864,2958,2958,4095,0,0,0,0,0,0,26.00,25.98,26.03,10.42,51.14
$GC,191,-1.61,-389.2,1861,1864,2958,4095,12.3,-12.6,25,201,0.00,2.12,0.00,0.000,260,0.000,0.054,1862,2651,2959,2959,4095,0,0,0,0,0,0,26.25,25.93,26.27,10.41,50.78
$GC,250,-1.61,-389.2,1861,2650,2960,4095,18.7,-10.3,33,259,0.00,1.92,0.00,0.000,1030,0.000,0.031,1862,1903,2960,2960,4095,0,0,0,0,0,0,26.06,26.06,26.10,10.38,50.03
$GC,296,-1.61,-389.2,1861,1903,2961,4095,23.3,-9.9,39,306,0.00,2.08,0.00,0.000,516,0.000,0.067,1862,1140,2960,2960,4095,0,0,0,0,0,0,26.33,25.99,26.34,10.37,50.07
$GC,341,-1.61,-389.2,1861,1140,2962,4095,28.1,-10.1,45,351,0.00,1.88,0.00,0.000,1030,0.000,0.031,1862,1892,2961,2961,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.35,48.89
$GC,386,-1.61,-389.2,1861,1892,2962,4094,32.6,-10.0,51,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1892,2963,2963,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.33,48.26
$GC,430,-1.61,-389.2,1861,1892,2963,4094,37.0,-10.1,57,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1892,2963,2963,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.32,47.28
$GC,473,-1.61,-389.2,1861,1891,2964,4095,41.3,-10.2,63,483,0.00,2.03,0.00,0.000,260,0.000,0.053,1862,2650,2964,2964,4095,0,0,0,0,0,0,26.43,26.11,26.44,10.32,46.61
$GC,518,-1.61,-389.2,1861,2649,2964,4095,45.8,-9.8,69,528,0.00,1.90,0.00,0.000,1030,0.000,0.031,1862,1905,2965,2965,4094,0,0,0,0,0,0,26.22,26.17,26.24,10.31,46.45
$GC,564,-1.61,-389.2,1861,1905,2966,4094,50.3,-10.4,75,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1905,2966,2966,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.31,46.45
$GC,608,-1.61,-389.2,1861,1905,2966,4095,54.6,-9.5,81,617,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1905,2966,2966,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.30,46.22
$GC,652,-1.61,-389.2,1861,1905,2967,4094,59.0,-9.9,87,661,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1905,2967,2967,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.30,45.74
$STATE,669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,669,begin apogee
$GC,674,-0.45,0.0,1861,2047,2968,4095,60.6,-9.0,89,710,3.75,0.00,22.83,1.283,10244,0.059,0.000,2204,2048,2502,2502,4094,0,0,0,0,0,0,26.23,25.26,24.56,10.30,46.10
$STATE,711,end apogee,CONTROL_FINISHED_OK
$STATE,711,begin climb
$GC,712,1.61,389.2,2204,2047,2501,4094,63.1,0.0,93,749,6.97,0.05,22.60,1.266,11270,0.034,0.118,2864,2003,2050,2050,4094,0,0,0,0,0,0,25.71,25.71,24.10,10.20,45.74
$GC,787,1.61,389.2,2863,2003,2050,4094,58.3,10.5,102,796,0.00,2.08,0.00,0.000,260,0.000,0.053,2864,2749,2049,2049,4094,0,0,0,0,0,0,25.63,25.34,25.63,10.10,45.11
$GC,845,1.61,389.2,2863,2748,2048,4094,51.0,12.1,110,854,0.00,1.85,0.00,0.000,1030,0.000,0.030,2864,2041,2047,2047,4094,0,0,0,0,0,0,25.60,25.56,25.61,10.09,45.58
$GC,890,1.61,389.2,2863,2041,2047,4094,45.6,11.7,116,899,0.00,2.12,0.00,0.000,516,0.000,0.066,2864,1261,2046,2046,4094,0,0,0,0,0,0,25.91,25.59,25.92,10.09,45.39
$GC,954,1.61,389.2,2863,1261,2045,4094,37.7,12.3,125,964,0.00,1.80,0.00,0.000,1030,0.000,0.028,2864,1981,2045,2045,4094,0,0,0,0,0,0,25.82,25.78,25.84,10.08,45.43
$GC,1001,1.61,389.2,2863,1981,2044,4094,32.3,11.7,131,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1981,2044,2044,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.08,45.55
$GC,1046,1.61,389.2,2864,1981,2042,4094,26.8,11.7,137,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1981,2042,2042,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.07,46.37
$GC,1090,1.61,389.2,2863,1981,2041,4094,21.5,11.9,143,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1982,2041,2041,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.08,46.14
$GC,1134,1.61,389.2,2863,1981,2040,4094,16.8,10.3,149,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1981,2040,2040,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.10,46.49
$GC,1179,1.61,389.2,2863,1983,2038,4094,12.0,11.0,155,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1983,2039,2039,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.11,46.96
$GC,1223,1.61,389.2,2863,1984,2038,4095,7.8,9.3,161,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1984,2038,2038,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.13,48.18
$GC,1268,1.62,392.7,2863,1984,2037,4095,3.8,9.0,167,1277,0.00,2.15,0.00,0.000,260,0.000,0.057,2864,2774,2037,2037,4094,0,0,0,0,0,0,26.32,26.01,26.34,10.15,48.97
$STATE,1285,end climb,SURFACE_DEPTH_REACHED
$STATE,1285,begin surface coast
$FINISH,0.2,1.001489
$STATE,1306,end surface coast,CONTROL_FINISHED_OK
$STATE,1306,begin surface
$SM_CCo,1405,0.00,0.000,0,0,2035,400.11
$SM_GC,0.96,27.62,2.30,0.00,0.025,0.033,0.000,241,1886,2035,-6.61,0.91,400.11,0,0,0,0,0,0,26.11,26.09,26.15
$IRIDIUM_FIX,5955.74,-17228.01,010817,165037
$TT8_MAMPS,0.025466,0.207473
$HUMID,50.39
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,24.10,8.360
$10V_AH,10.26,10.626
$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,44.100,30.750,45.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.130,60.543,162.739,723.397,44.967,33.419,441.781,0.000,258.890,0.000,0.539,0.000
$DEVICE_MAMPS,58.905,1301.265,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.383,467.262,0.000,548.608,716.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330960
$DATA_FILE_SIZE,17807,172
$CAP_FILE_SIZE,35369,0
$CFSIZE,1024409600,1002520576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,192429,5952.600,-17147.904,5,0.8,15,8.0,0.5,292.3,9,4.7