version: 66.13
glider: 401
mission: 22
dive: 331
start: 8 1 117 13 5 22
data:
$ID,401
$MISSION,22
$DIVE,331
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,010817,125722,5952.3115,-17141.7344,5,0.9,21,8.0,0.2,135.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-46.5
$GPS2,010817,130414,5952.3140,-17141.6074,7,0.9,21,8.0,0.6,82.8,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.337754,0.033209
$KALMAN_X,42883.406250,-1973.610352,-598.537354,-112374.867188,185.555481
$KALMAN_Y,21555.292969,1802.225464,589.658447,44569.250000,7.512817
$MHEAD_RNG_PITCHd_Wd,267.6,59695,-11.3,-9.091,-15.00,6417
$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,-389.6,231,1895,2029,4092,0.0,0.0,0,20,11.00,0.00,0.00,0.000,2049,0.108,0.000,1138,1895,2029,2029,4095,0,0,0,0,0,0,26.19,28.83,28.83,10.24,49.68
$GC,23,-1.61,-389.6,1137,1895,2029,4095,1.0,0.0,1,51,7.57,2.45,-8.62,0.000,18948,0.050,1.300,1836,1040,2959,2959,4094,0,0,0,0,0,0,25.89,24.79,25.97,10.25,49.64
$GC,99,-1.61,-389.6,1836,1040,2960,4094,5.8,-12.6,11,108,0.00,2.20,0.00,0.000,1030,0.000,0.029,1836,1912,2961,2961,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.46,48.66
$GC,144,-1.61,-389.6,1836,1912,2961,4094,12.0,-13.6,17,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1912,2961,2961,4095,0,0,0,0,0,0,26.11,26.13,26.13,10.46,48.30
$GC,188,-1.61,-389.6,1836,1912,2962,4095,17.5,-12.4,23,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1912,2962,2962,4095,0,0,0,0,0,0,26.16,26.18,26.17,10.44,48.03
$GC,232,-1.61,-389.6,1835,1914,2964,4095,22.5,-11.2,29,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1914,2964,2964,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.43,48.14
$GC,276,-1.61,-389.6,1836,1915,2964,4094,27.2,-10.5,35,286,0.00,2.28,0.00,0.000,260,0.000,0.055,1836,2755,2964,2964,4095,0,0,0,0,0,0,26.25,25.93,26.26,10.40,47.79
$GC,315,-1.61,-389.6,1836,2755,2965,4095,31.4,-10.7,40,324,0.00,2.22,0.00,0.000,1030,0.000,0.030,1836,1888,2965,2965,4095,0,0,0,0,0,0,26.05,25.99,26.08,10.38,47.12
$GC,360,-1.61,-389.6,1836,1888,2966,4095,36.4,-11.2,46,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1888,2966,2966,4095,0,0,0,0,0,0,26.32,26.32,26.32,10.37,45.58
$GC,405,-1.61,-389.6,1836,1888,2967,4095,41.3,-11.2,52,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1888,2967,2967,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.36,44.88
$GC,449,-1.61,-389.6,1836,1888,2968,4094,46.3,-11.4,58,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1888,2968,2968,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.35,45.35
$GC,493,-1.61,-389.6,1836,1888,2969,4095,51.3,-11.5,64,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1888,2969,2969,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.34,44.32
$GC,538,-1.61,-389.6,1836,1888,2969,4095,56.4,-11.4,70,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1888,2970,2970,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.34,44.92
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,579,-0.45,0.0,1836,2037,2970,4094,60.6,-11.3,75,614,4.05,0.00,23.08,1.283,10244,0.060,0.000,2206,2037,2500,2500,4094,0,0,0,0,0,0,26.16,25.18,24.52,10.33,44.17
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,617,1.61,389.6,2206,2037,2500,4094,63.1,0.0,79,653,6.97,0.00,22.73,1.260,11270,0.035,0.000,2862,2038,2046,2046,4094,0,0,0,0,0,0,25.65,25.81,24.06,10.23,43.85
$GC,690,1.61,389.6,2862,2037,2045,4094,58.0,11.1,88,700,0.00,2.28,0.00,0.000,260,0.000,0.056,2862,2858,2045,2045,4094,0,0,0,0,0,0,25.59,25.29,25.60,10.13,43.50
$GC,735,1.61,389.6,2862,2857,2045,4094,52.2,12.8,94,745,0.00,2.20,0.00,0.000,1030,0.000,0.029,2862,2018,2045,2045,4095,0,0,0,0,0,0,25.53,25.50,25.56,10.12,43.58
$GC,780,1.61,389.6,2862,2018,2043,4095,46.7,11.8,100,790,0.00,2.40,0.00,0.000,516,0.000,0.067,2862,1150,2043,2043,4094,0,0,0,0,0,0,25.86,25.54,25.88,10.12,43.50
$GC,826,1.61,389.6,2862,1150,2042,4094,41.2,12.3,106,835,0.00,2.10,0.00,0.000,1030,0.000,0.028,2862,1982,2041,2041,4094,0,0,0,0,0,0,25.75,25.72,25.76,10.11,44.01
$GC,872,1.61,389.6,2862,1982,2041,4094,35.7,12.1,112,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2041,2041,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.11,44.09
$GC,917,1.61,389.6,2862,1982,2039,4094,30.1,12.4,118,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2039,2039,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,44.52
$GC,961,1.61,389.6,2862,1982,2038,4094,24.7,11.9,124,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1983,2038,2038,4094,0,0,0,0,0,0,26.14,26.15,26.16,10.11,44.52
$GC,1005,1.61,389.6,2861,1982,2036,4094,19.5,11.5,130,1015,0.00,2.42,0.00,0.000,260,0.000,0.059,2862,2873,2037,2037,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.13,45.47
$GC,1057,1.61,389.6,2862,2873,2035,4094,13.4,11.3,137,1066,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,2009,2035,2035,4094,0,0,0,0,0,0,26.03,25.97,26.03,10.14,46.33
$GC,1104,1.63,403.2,2862,2008,2034,4094,9.3,8.9,143,1113,0.00,2.33,0.40,0.003,8708,0.000,0.067,2862,1152,2034,2034,4094,0,0,0,0,0,0,26.27,25.91,26.26,10.17,48.18
$STATE,1180,end climb,FINISH_DEPTH_REACHED
$STATE,1180,begin subsurface finish
$FINISH1,1.8,1.024080,106
$GC,1188,0.16,105.9,2862,2027,2032,4094,1.8,9.8,154,1198,4.97,0.00,-3.10,0.000,20486,0.072,0.000,2418,2035,2381,2381,4094,0,0,0,0,0,0,26.03,25.20,26.11,10.20,48.97
$FINISH2,0.4
$STATE,1199,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1200,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,114235
$TT8_MAMPS,0.025466,0.211967
$HUMID,49.68
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.06,8.032
$10V_AH,10.27,10.172
$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,34.575,27.650,46.200,0.000,0.000,26.251,37.341,232.410,0.000,0.000,22.346,435.489,0.000,138.849,967.659,94.127,33.480,414.113,0.000,236.730,0.000,0.542,0.000
$DEVICE_MAMPS,107.865,1300.500,1282.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.192,421.140,0.000,493.864,646.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,14172,155
$CAP_FILE_SIZE,36772,0
$CFSIZE,1024409600,1003225088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,130414,5952.314,-17141.607,7,0.9,21,8.0,0.6,82.8,10,4.9