version: 66.13
glider: 401
mission: 22
dive: 301
start: 8 1 117 0 11 33
data:
$ID,401
$MISSION,22
$DIVE,301
$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,49
$R_STBD_OVSHOOT,26
$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
$GPS1,010817,000320,5949.9351,-17134.8164,3,0.8,38,8.1,0.0,79.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-43.8
$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,-0.332960,-0.062707
$KALMAN_X,37837.121094,-2276.238770,-859.697083,-100183.640625,247.885437
$KALMAN_Y,18874.113281,1889.822876,729.232544,42679.207031,129.370178
$MHEAD_RNG_PITCHd_Wd,251.2,66934,-11.3,-9.091,-15.02,6392
$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,-388.0,240,1876,2030,4092,0.0,0.0,0,21,11.10,0.00,0.00,0.000,2049,0.103,0.000,1163,1873,2030,2030,4095,0,0,0,0,0,0,26.20,28.83,28.83,10.30,49.37
$GC,23,-1.61,-388.0,1163,1873,2030,4095,0.9,0.0,1,51,7.20,2.33,-8.45,0.000,18948,0.043,1.301,1838,1067,2957,2957,4094,0,0,0,0,0,0,25.94,24.82,25.99,10.31,49.68
$GC,88,-1.61,-388.0,1838,1068,2957,4094,2.9,-9.8,9,97,0.00,2.10,0.00,0.000,1030,0.000,0.027,1838,1898,2958,2958,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.50,48.93
$GC,133,-1.61,-388.0,1838,1899,2958,4094,9.0,-13.6,15,142,0.00,2.33,0.00,0.000,260,0.000,0.055,1838,2762,2959,2959,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.51,48.26
$GC,197,-1.61,-388.0,1837,2762,2960,4094,17.6,-12.7,24,207,0.00,2.10,0.00,0.000,1030,0.000,0.029,1838,1942,2960,2960,4095,0,0,0,0,0,0,25.96,25.92,25.98,10.50,47.51
$GC,242,-1.61,-388.0,1838,1942,2961,4095,22.4,-10.2,30,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1942,2961,2961,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.49,47.40
$GC,287,-1.61,-388.0,1838,1942,2962,4094,27.4,-11.5,36,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,2962,2962,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.46,46.92
$GC,331,-1.61,-388.0,1838,1942,2963,4094,32.6,-11.6,42,341,0.00,2.45,0.00,0.000,516,0.000,0.067,1838,1041,2963,2963,4095,0,0,0,0,0,0,26.30,25.94,26.32,10.43,46.22
$GC,416,-1.61,-388.0,1837,1040,2965,4095,42.5,-11.5,54,425,0.00,2.20,0.00,0.000,1030,0.000,0.029,1838,1928,2965,2965,4095,0,0,0,0,0,0,26.15,26.11,26.15,10.39,45.55
$GC,462,-1.61,-388.0,1838,1927,2966,4095,47.4,-10.6,60,471,0.00,2.20,0.00,0.000,260,0.000,0.055,1838,2748,2966,2966,4095,0,0,0,0,0,0,26.39,26.08,26.41,10.38,44.44
$GC,513,-1.61,-388.0,1838,2748,2966,4095,53.0,-11.1,67,522,0.00,2.10,0.00,0.000,1030,0.000,0.030,1838,1923,2967,2967,4094,0,0,0,0,0,0,26.20,26.15,26.21,10.38,43.54
$GC,560,-1.61,-388.0,1838,1923,2968,4094,57.8,-11.0,73,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1924,2968,2968,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.37,43.38
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,582,begin apogee
$GC,587,-0.45,0.0,1838,2042,2969,4095,60.4,-9.9,76,622,4.00,0.00,22.92,1.265,10244,0.060,0.000,2204,2042,2500,2500,4095,0,0,0,0,0,0,26.17,25.21,24.55,10.37,43.46
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,625,1.61,388.0,2204,2042,2500,4095,62.6,0.0,80,660,7.00,0.00,22.55,1.243,11270,0.037,0.000,2861,2042,2047,2047,4094,0,0,0,0,0,0,25.67,25.84,24.12,10.27,43.10
$GC,697,1.61,388.0,2861,2042,2046,4094,57.6,11.0,89,707,0.00,2.25,0.00,0.000,260,0.000,0.056,2861,2851,2046,2046,4094,0,0,0,0,0,0,25.62,25.32,25.63,10.16,42.95
$GC,755,1.61,388.0,2861,2851,2045,4094,50.1,13.2,97,765,0.00,2.20,0.00,0.000,1030,0.000,0.029,2862,2010,2045,2045,4094,0,0,0,0,0,0,25.62,25.55,25.63,10.15,43.38
$GC,801,1.61,388.0,2861,2009,2043,4094,44.5,12.3,103,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2010,2043,2043,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.15,43.22
$GC,845,1.61,388.0,2861,2009,2042,4094,39.2,11.9,109,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2010,2042,2042,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.14,43.58
$GC,889,1.61,388.0,2861,2009,2041,4094,34.2,11.2,115,899,0.00,2.35,0.00,0.000,516,0.000,0.067,2861,1153,2041,2041,4094,0,0,0,0,0,0,26.08,25.73,26.08,10.13,43.58
$GC,941,1.61,388.0,2861,1153,2040,4094,28.4,11.0,122,951,0.00,2.08,0.00,0.000,1030,0.000,0.028,2862,1982,2040,2040,4094,0,0,0,0,0,0,25.94,25.91,25.95,10.14,44.05
$GC,986,1.61,388.0,2861,1982,2039,4094,23.2,11.1,128,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2039,2039,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.15,44.32
$GC,1031,1.61,388.0,2861,1982,2037,4094,18.7,9.7,134,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2038,2038,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.18,45.78
$GC,1077,1.61,388.0,2860,1984,2036,4094,14.4,9.7,140,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1984,2037,2037,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.21,47.24
$GC,1121,1.71,455.6,2861,1984,2036,4094,10.5,8.0,146,1132,0.17,0.00,4.72,0.480,10246,0.055,0.000,2885,1985,1967,1967,4094,0,0,0,0,0,0,26.10,25.89,25.30,10.22,48.18
$GC,1169,1.71,455.6,2884,1985,1967,4094,6.3,9.5,152,1177,0.00,2.30,0.00,0.000,516,0.000,0.068,2886,1150,1967,1967,4094,0,0,0,0,0,0,26.29,25.96,26.30,10.22,48.74
$STATE,1211,end climb,FINISH_DEPTH_REACHED
$STATE,1211,begin subsurface finish
$FINISH1,1.6,1.024128,103
$GC,1219,0.15,102.6,2886,2020,1965,4094,1.6,10.6,158,1238,4.90,0.00,-3.70,0.000,20486,0.030,0.000,2414,2027,2388,2388,4095,0,0,0,0,0,0,26.07,25.60,26.14,10.23,49.05
$FINISH2,0.1
$STATE,1239,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1239,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,224722
$TT8_MAMPS,0.025466,0.223202
$HUMID,49.37
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.12,7.313
$10V_AH,10.28,9.198
$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,34.375,31.400,50.200,0.000,0.000,26.048,17.931,268.096,0.000,0.000,19.653,450.971,0.000,142.768,1000.677,93.649,33.478,422.586,0.000,243.678,0.000,0.543,0.000
$DEVICE_MAMPS,102.510,1301.265,1265.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.426,434.708,0.000,509.731,665.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,14305,160
$CAP_FILE_SIZE,37849,0
$CFSIZE,1024409600,1004699648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010817,001025,5949.973,-17134.652,10,0.8,18,8.1,0.5,68.2,10,5.0