version: 66.13
glider: 401
mission: 22
dive: 308
start: 8 1 117 3 6 31
data:
$ID,401
$MISSION,22
$DIVE,308
$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,46
$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
$GPS1,010817,024257,5950.3262,-17134.4590,10,0.9,14,8.1,0.0,83.4,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.6
$GPS2,010817,024257,5950.3262,-17134.4590,10,0.9,14,8.1,0.0,83.4,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.333280,0.066264
$KALMAN_X,39989.328125,-1852.933228,-367.816986,-103068.671875,169.513275
$KALMAN_Y,19702.638672,1898.397949,648.909241,42591.679688,-24.610535
$MHEAD_RNG_PITCHd_Wd,273.1,66955,-11.3,-9.091,-14.98,6437
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.61,-390.0,2413,1888,2384,4092,0.0,0.0,0,19,5.82,0.00,-3.70,0.000,20482,0.027,0.000,1843,1889,2788,2788,4095,0,0,0,0,0,0,26.22,28.83,26.25,10.34,49.60
$GC,22,-1.61,-390.0,1843,1889,2789,4095,0.2,0.0,1,31,0.00,2.40,-1.50,0.000,16900,0.000,1.307,1843,1042,2959,2959,4095,0,0,0,0,0,0,26.41,25.07,26.40,10.42,49.72
$GC,93,-1.61,-390.0,1842,1042,2960,4095,7.5,-13.0,11,102,0.00,2.10,0.00,0.000,1030,0.000,0.030,1843,1881,2961,2961,4095,0,0,0,0,0,0,26.10,26.06,26.12,10.46,49.72
$GC,140,-1.61,-390.0,1842,1881,2962,4095,13.7,-14.2,17,149,0.00,2.38,0.00,0.000,260,0.000,0.058,1843,2760,2961,2961,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.47,49.40
$GC,198,-1.61,-390.0,1842,2760,2963,4095,20.7,-11.1,25,207,0.00,2.10,0.00,0.000,1030,0.000,0.031,1843,1937,2964,2964,4095,0,0,0,0,0,0,26.16,26.13,26.19,10.45,49.44
$GC,245,-1.61,-390.0,1842,1936,2964,4095,25.4,-10.3,31,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1937,2964,2964,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.43,48.89
$GC,290,-1.61,-390.0,1842,1937,2965,4095,30.3,-10.7,37,300,0.00,2.45,0.00,0.000,516,0.000,0.069,1843,1034,2965,2965,4095,0,0,0,0,0,0,26.44,26.10,26.46,10.40,48.46
$GC,342,-1.61,-390.0,1842,1034,2965,4095,36.0,-11.1,44,350,0.00,2.20,0.00,0.000,1030,0.000,0.030,1843,1921,2966,2966,4094,0,0,0,0,0,0,26.26,26.21,26.25,10.38,46.92
$GC,386,-1.61,-390.0,1842,1921,2967,4094,40.6,-10.3,50,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1921,2967,2967,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.37,46.37
$GC,432,-1.61,-390.0,1842,1921,2968,4094,45.2,-10.5,56,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1921,2968,2968,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.36,45.90
$GC,478,-1.61,-390.0,1842,1921,2969,4095,50.2,-11.1,62,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1921,2969,2969,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.36,45.35
$GC,524,-1.61,-390.0,1842,1921,2970,4094,55.3,-11.0,68,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1921,2971,2971,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.35,44.92
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,571,-0.45,0.0,1842,2038,2972,4095,60.5,-11.7,74,605,3.92,0.00,22.98,1.268,10244,0.059,0.000,2206,2039,2500,2500,4094,0,0,0,0,0,0,26.28,25.31,24.63,10.34,44.56
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,608,1.61,390.0,2206,2038,2500,4094,62.7,0.0,78,644,6.95,0.00,22.62,1.245,11270,0.035,0.000,2861,2039,2045,2045,4094,0,0,0,0,0,0,25.76,25.93,24.19,10.24,44.25
$GC,682,1.61,390.0,2861,2039,2045,4094,57.5,11.2,87,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2045,2045,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.14,43.89
$GC,727,1.61,390.0,2861,2039,2043,4094,52.0,12.1,93,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2039,2043,2043,4094,0,0,0,0,0,0,25.82,25.84,25.84,10.13,43.66
$GC,773,1.61,390.0,2861,2039,2042,4094,46.5,12.1,99,783,0.00,2.47,0.00,0.000,516,0.000,0.066,2862,1153,2042,2042,4094,0,0,0,0,0,0,25.93,25.59,25.94,10.12,44.32
$GC,838,1.61,390.0,2861,1152,2041,4094,38.3,12.4,108,847,0.00,2.12,0.00,0.000,1030,0.000,0.028,2862,1994,2040,2040,4094,0,0,0,0,0,0,25.89,25.80,25.85,10.12,44.56
$GC,883,1.61,390.0,2861,1994,2039,4094,33.1,11.5,114,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2039,2039,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.11,44.99
$GC,927,1.61,390.0,2860,1994,2038,4094,27.9,11.5,120,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1994,2038,2038,4095,0,0,0,0,0,0,26.16,26.17,26.17,10.12,44.99
$GC,971,1.61,390.0,2861,1994,2037,4095,22.9,11.8,126,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1994,2037,2037,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,45.31
$GC,1015,1.61,390.0,2861,1994,2036,4094,17.6,11.8,132,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1995,2035,2035,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.15,46.02
$GC,1059,1.61,390.0,2861,1995,2034,4094,12.9,10.1,138,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1996,2034,2034,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.18,47.51
$GC,1103,1.61,390.0,2861,1995,2034,4094,8.8,9.4,144,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1996,2034,2034,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.20,48.54
$GC,1147,1.61,390.0,2861,1997,2033,4094,4.6,9.7,150,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2032,2032,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.22,48.85
$STATE,1176,end climb,FINISH_DEPTH_REACHED
$STATE,1176,begin subsurface finish
$FINISH1,1.5,1.024109,104
$GC,1182,0.16,103.9,2861,1996,2032,4094,1.5,9.9,154,1193,4.88,0.00,-3.10,0.000,20486,0.061,0.000,2411,2001,2385,2385,4094,0,0,0,0,0,0,26.15,25.26,26.20,10.22,49.52
$FINISH2,0.2
$STATE,1194,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1194,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,012011
$TT8_MAMPS,0.025466,0.250915
$HUMID,49.68
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.19,7.471
$10V_AH,10.23,9.424
$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,21.575,18.850,45.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.486,0.000,128.511,645.231,42.835,33.428,385.484,0.000,374.570,0.000,0.544,0.000
$DEVICE_MAMPS,61.200,1307.385,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.963,421.137,333.239,493.982,642.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330860
$DATA_FILE_SIZE,14297,155
$CAP_FILE_SIZE,30660,0
$CFSIZE,1024409600,1004371968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,024257,5950.326,-17134.459,10,0.9,14,8.1,0.0,83.4,10,4.8