version: 66.13
glider: 401
mission: 22
dive: 324
start: 8 1 117 10 3 16
data:
$ID,401
$MISSION,22
$DIVE,324
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,010817,091525,5951.1606,-17140.0312,6,0.9,38,8.0,0.0,61.6,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.1
$GPS2,010817,091525,5951.1606,-17140.0312,6,0.9,38,8.0,0.0,61.6,9,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339435,0.013690
$KALMAN_X,41418.195312,-1959.883057,-616.338440,-109422.414062,107.160461
$KALMAN_Y,19758.326172,1613.786499,389.520813,44626.488281,59.403687
$MHEAD_RNG_PITCHd_Wd,264.3,61574,-11.3,-9.091,-14.98,6432
$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,-390.0,2415,1893,2382,4092,0.0,0.0,0,20,5.93,0.00,-4.47,0.000,20482,0.029,0.000,1841,1893,2877,2877,4095,0,0,0,0,0,0,26.23,28.83,26.25,10.30,50.07
$GC,23,-1.61,-390.0,1841,1893,2876,4095,0.1,0.0,1,32,0.00,2.42,-0.65,0.000,16900,0.000,1.310,1841,1042,2952,2952,4094,0,0,0,0,0,0,26.41,25.05,26.33,10.41,50.70
$GC,113,-1.61,-390.0,1840,1042,2955,4094,10.5,-13.6,14,122,0.00,2.15,0.00,0.000,1030,0.000,0.031,1841,1897,2954,2954,4094,0,0,0,0,0,0,26.09,26.06,26.12,10.43,50.43
$GC,159,-1.61,-390.0,1840,1897,2955,4094,16.4,-12.8,20,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1897,2955,2955,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.43,49.92
$GC,205,-1.61,-390.0,1840,1898,2956,4095,21.5,-10.7,26,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,2957,2957,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.41,49.64
$GC,251,-1.61,-390.0,1841,1899,2957,4095,26.3,-10.7,32,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,2957,2957,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.38,50.11
$GC,297,-1.61,-390.0,1841,1901,2958,4094,31.2,-10.6,38,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1901,2958,2958,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.37,49.17
$GC,342,-1.61,-390.0,1840,1901,2959,4094,36.1,-10.7,44,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1901,2959,2959,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.35,47.28
$GC,386,-1.61,-390.0,1840,1901,2960,4094,40.9,-10.9,50,395,0.00,2.30,0.00,0.000,260,0.000,0.057,1841,2756,2960,2960,4094,0,0,0,0,0,0,26.48,26.15,26.48,10.34,46.92
$GC,431,-1.61,-390.0,1840,2756,2961,4094,46.0,-11.4,56,440,0.00,2.17,0.00,0.000,1030,0.000,0.031,1841,1904,2961,2961,4095,0,0,0,0,0,0,26.26,26.22,26.29,10.34,46.77
$GC,476,-1.61,-390.0,1840,1904,2962,4095,51.1,-11.4,62,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1904,2963,2963,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.33,46.02
$GC,520,-1.61,-390.0,1840,1903,2963,4095,56.2,-11.5,68,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1903,2963,2963,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.32,45.55
$STATE,556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,556,begin apogee
$GC,562,-0.45,0.0,1841,2040,2964,4094,60.5,-11.5,73,597,3.97,0.00,22.73,1.278,10244,0.060,0.000,2204,2040,2500,2500,4094,0,0,0,0,0,0,26.26,25.29,24.60,10.31,46.22
$STATE,598,end apogee,CONTROL_FINISHED_OK
$STATE,598,begin climb
$GC,600,1.61,390.0,2204,2039,2500,4094,62.9,0.0,77,637,6.97,2.25,22.73,1.258,10500,0.036,0.059,2866,2860,2044,2044,4094,0,0,0,0,0,0,25.67,25.63,24.15,10.22,45.07
$GC,679,1.61,390.0,2865,2860,2043,4094,57.1,11.0,87,689,0.00,2.20,0.00,0.000,1030,0.000,0.030,2866,2023,2042,2042,4094,0,0,0,0,0,0,25.46,25.42,25.46,10.11,44.56
$GC,725,1.61,390.0,2866,2023,2042,4094,51.9,11.2,93,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2023,2042,2042,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.11,44.99
$GC,769,1.61,390.0,2865,2023,2041,4094,46.7,11.8,99,779,0.00,2.40,0.00,0.000,516,0.000,0.067,2866,1156,2041,2041,4094,0,0,0,0,0,0,25.91,25.57,25.92,10.11,44.95
$GC,816,1.61,390.0,2866,1155,2040,4094,41.0,12.8,105,825,0.00,2.10,0.00,0.000,1030,0.000,0.029,2866,1985,2039,2039,4094,0,0,0,0,0,0,25.79,25.76,25.81,10.10,44.88
$GC,863,1.61,390.0,2865,1984,2038,4094,35.1,12.7,111,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1985,2038,2038,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.10,45.07
$GC,908,1.61,390.0,2865,1984,2037,4094,29.3,12.3,117,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1985,2037,2037,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.10,45.39
$GC,954,1.61,390.0,2866,1984,2035,4094,23.8,11.9,123,964,0.00,2.45,0.00,0.000,260,0.000,0.059,2866,2881,2035,2035,4094,0,0,0,0,0,0,26.17,25.86,26.19,10.10,45.62
$GC,1001,1.61,390.0,2865,2881,2034,4094,18.1,12.6,129,1010,0.00,2.22,0.00,0.000,1030,0.000,0.031,2866,2020,2034,2034,4095,0,0,0,0,0,0,25.98,25.96,26.02,10.13,46.10
$GC,1047,1.61,390.0,2866,2020,2033,4095,13.0,10.0,135,1057,0.00,2.38,0.00,0.000,516,0.000,0.069,2866,1149,2034,2034,4095,0,0,0,0,0,0,26.26,25.91,26.27,10.16,47.55
$GC,1126,1.61,390.0,2866,1148,2031,4095,5.1,9.8,146,1136,0.00,2.15,0.00,0.000,1030,0.000,0.030,2866,2006,2031,2031,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.19,49.33
$STATE,1156,end climb,SURFACE_DEPTH_REACHED
$STATE,1156,begin surface coast
$FINISH,0.3,1.023959
$STATE,1178,end surface coast,CONTROL_FINISHED_OK
$STATE,1178,begin surface
$SM_CCo,1274,0.00,0.000,0,0,2029,405.26
$SM_GC,0.93,27.70,0.30,0.00,0.023,0.048,0.000,230,1881,2029,-6.65,0.82,405.26,0,0,0,0,0,0,26.03,26.15,26.13
$IRIDIUM_FIX,5955.74,-17228.01,010817,090713
$TT8_MAMPS,0.025466,0.263648
$HUMID,49.96
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,24.15,7.854
$10V_AH,10.20,9.951
$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,44.575,28.125,45.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.879,59.761,148.849,640.529,43.927,33.418,400.450,0.000,370.623,0.000,0.542,0.000
$DEVICE_MAMPS,60.435,1310.445,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.839,415.652,329.043,488.171,638.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14375,153
$CAP_FILE_SIZE,31847,0
$CFSIZE,1024409600,1003585536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,102520,5951.643,-17140.988,5,0.8,16,8.0,0.0,55.8,10,5.0