version: 66.13
glider: 401
mission: 22
dive: 315
start: 8 1 117 6 10 36
data:
$ID,401
$MISSION,22
$DIVE,315
$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,30
$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
$GPS1,010817,052407,5950.2324,-17135.8945,10,1.0,19,8.1,0.0,233.6,9,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.0
$GPS2,010817,052407,5950.2324,-17135.8945,10,1.0,19,8.1,0.0,233.6,9,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.312405,0.133629
$KALMAN_X,41143.117188,-1715.186279,-306.112244,-105783.835938,106.320190
$KALMAN_Y,19045.578125,1641.706787,353.959503,43627.781250,-102.950348
$MHEAD_RNG_PITCHd_Wd,285.1,65702,-11.3,-9.091,-14.98,6436
$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,-390.0,2412,1885,2380,4092,0.0,0.0,0,21,5.85,0.00,-5.15,0.000,20482,0.028,0.000,1847,1885,2945,2945,4095,0,0,0,0,0,0,26.22,28.83,26.23,10.32,50.63
$GC,23,-1.61,-390.0,1847,1885,2946,4095,0.1,0.0,1,33,0.00,2.38,-0.08,0.000,16900,0.000,1.310,1847,1045,2957,2957,4094,0,0,0,0,0,0,26.41,25.07,26.03,10.44,51.10
$GC,140,-1.61,-390.0,1846,1045,2959,4094,12.4,-11.5,18,150,0.00,2.12,0.00,0.000,1030,0.000,0.030,1847,1899,2959,2959,4095,0,0,0,0,0,0,26.15,26.10,26.15,10.45,50.78
$GC,187,-1.61,-390.0,1847,1898,2960,4095,17.2,-11.1,24,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1898,2961,2961,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.44,50.43
$GC,231,-1.61,-390.0,1846,1900,2961,4095,22.2,-10.3,30,241,0.00,2.30,0.00,0.000,260,0.000,0.057,1847,2757,2962,2962,4095,0,0,0,0,0,0,26.39,26.07,26.41,10.43,50.27
$GC,263,-1.61,-390.0,1846,2757,2962,4095,25.4,-9.9,34,273,0.00,2.15,0.00,0.000,1030,0.000,0.031,1847,1917,2962,2962,4094,0,0,0,0,0,0,26.17,26.15,26.21,10.41,49.68
$GC,308,-1.61,-390.0,1846,1917,2963,4094,30.1,-10.7,40,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2963,2963,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.39,48.85
$GC,352,-1.61,-390.0,1846,1917,2963,4094,34.5,-9.9,46,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2964,2964,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.38,48.11
$GC,396,-1.61,-390.0,1846,1917,2964,4095,38.8,-9.9,52,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2964,2964,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.36,46.65
$GC,440,-1.61,-390.0,1846,1917,2965,4095,43.4,-10.4,58,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2966,2966,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,46.18
$GC,485,-1.61,-390.0,1846,1917,2966,4095,47.8,-10.2,64,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2966,2966,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.35,46.22
$GC,529,-1.61,-390.0,1846,1917,2967,4095,52.6,-10.8,70,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2967,2967,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.34,45.70
$GC,573,-1.61,-390.0,1847,1917,2968,4094,57.2,-10.4,76,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1917,2968,2968,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.33,45.94
$STATE,603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,603,begin apogee
$GC,608,-0.45,0.0,1847,2043,2969,4095,60.4,-10.5,80,644,3.90,0.00,22.88,1.278,10244,0.060,0.000,2204,2044,2500,2500,4094,0,0,0,0,0,0,26.27,25.30,24.63,10.32,45.43
$STATE,645,end apogee,CONTROL_FINISHED_OK
$STATE,645,begin climb
$GC,647,1.61,390.0,2204,2043,2500,4094,62.8,0.0,84,683,7.00,0.00,22.65,1.254,11270,0.037,0.000,2862,2044,2045,2045,4094,0,0,0,0,0,0,25.77,25.93,24.18,10.23,44.68
$GC,720,1.61,390.0,2861,2043,2043,4094,57.8,10.8,93,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2043,2043,4094,0,0,0,0,0,0,25.67,25.67,25.68,10.12,43.97
$GC,764,1.61,390.0,2861,2043,2042,4094,52.2,12.6,99,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2043,2042,2042,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.12,43.97
$GC,809,1.61,390.0,2861,2043,2041,4094,46.7,12.4,105,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.11,44.36
$GC,853,1.61,390.0,2861,2043,2040,4094,41.3,12.2,111,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2043,2040,2040,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.10,45.15
$GC,897,1.61,390.0,2861,2044,2039,4094,36.0,12.0,117,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2039,2039,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.10,44.88
$GC,941,1.61,390.0,2861,2043,2038,4094,30.9,11.3,123,951,0.00,2.45,0.00,0.000,516,0.000,0.066,2862,1159,2038,2038,4094,0,0,0,0,0,0,26.13,25.79,26.14,10.10,44.92
$GC,993,1.61,390.0,2861,1159,2036,4094,24.7,11.8,130,1003,0.00,2.05,0.00,0.000,1030,0.000,0.029,2862,1979,2036,2036,4094,0,0,0,0,0,0,25.98,25.95,25.99,10.10,45.78
$GC,1038,1.61,390.0,2861,1978,2035,4094,19.4,11.8,136,1048,0.00,2.47,0.00,0.000,260,0.000,0.060,2862,2884,2035,2035,4095,0,0,0,0,0,0,26.23,25.91,26.24,10.13,45.78
$GC,1097,1.61,390.0,2861,2883,2034,4095,12.8,10.5,144,1106,0.00,2.25,0.00,0.000,1030,0.000,0.031,2862,2009,2034,2034,4094,0,0,0,0,0,0,26.04,26.01,26.08,10.17,47.36
$GC,1143,1.61,390.0,2861,2009,2033,4094,8.5,9.2,150,1152,0.00,2.33,0.00,0.000,516,0.000,0.069,2862,1157,2033,2033,4094,0,0,0,0,0,0,26.32,25.97,26.32,10.18,49.13
$STATE,1211,end climb,SURFACE_DEPTH_REACHED
$STATE,1212,begin surface coast
$FINISH,1.1,1.024053
$STATE,1220,end surface coast,CONTROL_FINISHED_OK
$STATE,1220,begin surface
$SM_CCo,1317,0.00,0.000,0,0,2030,404.40
$SM_GC,1.23,27.45,1.90,0.00,0.023,0.031,0.000,239,1901,2030,-6.61,-1.23,404.40,0,0,0,0,0,0,26.15,26.13,26.19
$IRIDIUM_FIX,5955.74,-17228.01,010817,035626
$TT8_MAMPS,0.025466,0.206724
$HUMID,50.31
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.18,7.636
$10V_AH,10.28,9.655
$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,44.200,22.950,45.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,445.177,60.144,153.494,677.893,41.678,33.416,416.613,0.000,243.115,0.000,0.543,0.000
$DEVICE_MAMPS,60.435,1309.680,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.648,437.460,0.000,513.398,671.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330976
$DATA_FILE_SIZE,14286,161
$CAP_FILE_SIZE,32007,0
$CFSIZE,1024409600,1004027904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,063332,5950.382,-17137.186,5,0.8,25,8.1,0.5,84.9,11,5.0