version: 66.13
glider: 401
mission: 22
dive: 321
start: 8 1 117 8 42 29
data:
$ID,401
$MISSION,22
$DIVE,321
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,010817,075623,5950.7114,-17138.6270,7,0.7,15,8.1,0.0,291.4,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,2.5
$GPS2,010817,075623,5950.7114,-17138.6270,7,0.7,15,8.1,0.0,291.4,11,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.335884,0.051024
$KALMAN_X,41302.304688,-1867.823853,-517.907654,-108167.570312,95.094116
$KALMAN_Y,19209.246094,1564.539673,316.877502,44465.910156,14.733093
$MHEAD_RNG_PITCHd_Wd,270.5,63032,-11.3,-9.091,-14.98,6434
$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,-390.0,2421,1885,2382,4092,0.0,0.0,0,20,5.82,0.00,-4.57,0.000,20482,0.028,0.000,1858,1885,2884,2884,4094,0,0,0,0,0,0,26.22,28.83,26.22,10.29,50.66
$GC,22,-1.61,-390.0,1858,1885,2884,4094,0.1,0.0,1,32,0.00,2.42,-0.62,0.000,16900,0.000,1.318,1858,1045,2957,2957,4095,0,0,0,0,0,0,26.40,25.06,26.33,10.40,50.39
$GC,120,-1.61,-390.0,1858,1045,2959,4095,10.8,-13.2,15,129,0.00,2.15,0.00,0.000,1030,0.000,0.031,1858,1902,2959,2959,4095,0,0,0,0,0,0,26.09,26.06,26.12,10.43,50.94
$GC,166,-1.61,-390.0,1857,1901,2960,4095,16.3,-12.1,21,176,0.00,2.30,0.00,0.000,260,0.000,0.058,1858,2757,2960,2960,4094,0,0,0,0,0,0,26.34,26.03,26.36,10.43,50.19
$GC,205,-1.61,-390.0,1857,2756,2961,4094,20.3,-9.9,26,214,0.00,2.10,0.00,0.000,1030,0.000,0.031,1858,1938,2961,2961,4095,0,0,0,0,0,0,26.15,26.10,26.17,10.41,49.76
$GC,251,-1.61,-390.0,1858,1938,2962,4095,24.8,-9.4,32,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1938,2961,2961,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.39,49.96
$GC,296,-1.61,-390.0,1857,1939,2962,4094,29.2,-9.4,38,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1938,2962,2962,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.38,48.85
$GC,340,-1.61,-390.0,1858,1938,2963,4094,33.4,-9.8,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1938,2964,2964,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,48.30
$GC,385,-1.61,-390.0,1857,1938,2964,4095,37.8,-10.1,50,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1938,2964,2964,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,47.00
$GC,429,-1.61,-390.0,1857,1938,2965,4095,42.3,-10.1,56,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1938,2964,2964,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.34,46.41
$GC,473,-1.61,-390.0,1857,1939,2966,4095,46.7,-10.1,62,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1938,2966,2966,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.33,46.10
$GC,517,-1.61,-390.0,1857,1938,2966,4094,51.3,-10.3,68,526,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1939,2966,2966,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.32,45.62
$GC,562,-1.61,-390.0,1857,1938,2967,4095,55.8,-10.5,74,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1938,2967,2967,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.32,45.62
$STATE,604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,604,begin apogee
$GC,610,-0.45,0.0,1858,2043,2968,4094,60.5,-10.5,80,645,3.80,0.00,22.67,1.276,10244,0.060,0.000,2205,2043,2504,2504,4094,0,0,0,0,0,0,26.27,25.31,24.63,10.31,45.43
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,648,1.61,390.0,2205,2043,2505,4094,62.7,0.0,84,684,7.00,0.00,23.00,1.257,11270,0.037,0.000,2862,2043,2043,2043,4095,0,0,0,0,0,0,25.77,25.94,24.18,10.21,45.86
$GC,721,1.61,390.0,2861,2043,2042,4095,57.6,10.8,93,730,0.00,2.25,0.00,0.000,260,0.000,0.057,2862,2852,2042,2042,4094,0,0,0,0,0,0,25.65,25.37,25.67,10.11,44.56
$GC,765,1.61,390.0,2861,2851,2041,4094,51.9,12.8,99,775,0.00,2.20,0.00,0.000,1030,0.000,0.031,2862,2013,2041,2041,4094,0,0,0,0,0,0,25.59,25.55,25.60,10.11,44.48
$GC,810,1.61,390.0,2861,2013,2040,4094,46.4,11.9,105,820,0.00,2.40,0.00,0.000,516,0.000,0.068,2862,1146,2040,2040,4095,0,0,0,0,0,0,25.91,25.58,25.92,10.10,45.11
$GC,856,1.61,390.0,2861,1146,2039,4095,40.9,12.3,111,865,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1978,2039,2039,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.10,45.15
$GC,902,1.61,390.0,2861,1977,2038,4094,35.5,11.9,117,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1978,2037,2037,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.09,45.47
$GC,946,1.61,390.0,2862,1977,2037,4094,30.3,11.5,123,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1978,2036,2036,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,46.06
$GC,990,1.61,390.0,2861,1977,2035,4094,25.1,11.6,129,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1978,2035,2035,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.10,45.27
$GC,1034,1.61,390.0,2861,1977,2034,4094,19.8,11.9,135,1044,0.00,2.47,0.00,0.000,260,0.000,0.059,2862,2884,2034,2034,4095,0,0,0,0,0,0,26.22,25.89,26.22,10.11,45.74
$GC,1067,1.61,390.0,2861,2883,2034,4095,16.4,10.6,139,1076,0.00,2.28,0.00,0.000,1030,0.000,0.032,2862,2002,2033,2033,4094,0,0,0,0,0,0,26.01,25.97,26.04,10.13,46.53
$GC,1112,1.61,390.0,2861,2002,2032,4094,11.6,10.1,145,1122,0.00,2.33,0.00,0.000,516,0.000,0.070,2862,1152,2032,2032,4094,0,0,0,0,0,0,26.28,25.94,26.29,10.15,47.44
$GC,1177,1.61,390.0,2861,1151,2031,4094,5.5,9.5,154,1186,0.00,2.17,0.00,0.000,1030,0.000,0.030,2862,2017,2030,2030,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.18,49.17
$STATE,1214,end climb,SURFACE_DEPTH_REACHED
$STATE,1214,begin surface coast
$FINISH,0.1,1.002674
$STATE,1237,end surface coast,CONTROL_FINISHED_OK
$STATE,1237,begin surface
$SM_CCo,1333,0.00,0.000,0,0,2029,405.26
$SM_GC,1.09,27.58,0.32,0.00,0.024,0.059,0.000,240,1894,2029,-6.61,1.00,405.26,0,0,0,0,0,0,26.15,26.11,26.19
$IRIDIUM_FIX,5955.74,-17228.01,010817,063503
$TT8_MAMPS,0.025466,0.212716
$HUMID,50.35
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.18,7.779
$10V_AH,10.28,9.847
$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,44.200,28.000,45.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.967,59.981,155.573,682.067,43.309,33.418,423.785,0.000,244.725,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,1318.095,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.342,440.144,0.000,517.088,675.602,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,14335,162
$CAP_FILE_SIZE,33705,0
$CFSIZE,1024409600,1003716608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,090540,5951.105,-17140.029,5,0.8,24,8.0,0.0,33.6,11,4.9