version: 66.13
glider: 401
mission: 22
dive: 304
start: 8 1 117 1 26 47
data:
$ID,401
$MISSION,22
$DIVE,304
$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,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
$GPS1,010817,011840,5950.2153,-17134.6230,3,0.8,14,8.1,0.5,60.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-45.3
$GPS2,010817,012539,5950.2227,-17134.4629,10,0.8,15,8.1,0.6,80.6,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339104,0.013456
$KALMAN_X,38881.417969,-2124.524414,-658.477417,-101404.343750,286.299805
$KALMAN_Y,19463.128906,1954.475830,764.886780,42460.324219,20.223511
$MHEAD_RNG_PITCHd_Wd,264.2,66995,-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,-389.6,239,1886,2030,4092,0.0,0.0,0,21,11.10,0.00,0.00,0.000,2049,0.106,0.000,1158,1886,2030,2030,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.29,49.33
$GC,23,-1.61,-389.6,1158,1886,2030,4094,0.9,0.0,1,51,7.35,2.42,-8.45,0.000,18948,0.051,1.305,1837,1048,2960,2960,4095,0,0,0,0,0,0,25.91,24.82,25.98,10.29,49.37
$GC,67,-1.61,-390.0,1836,1049,2960,4095,1.3,-2.4,6,77,0.00,2.17,0.00,0.000,1030,0.000,0.029,1837,1916,2960,2960,4095,0,0,0,0,0,0,25.80,25.77,25.81,10.50,49.29
$GC,114,-1.61,-390.0,1836,1916,2961,4095,6.7,-12.2,12,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1916,2961,2961,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.50,48.58
$GC,159,-1.61,-390.0,1836,1916,2962,4094,12.8,-13.4,18,169,0.00,2.25,0.00,0.000,260,0.000,0.054,1837,2747,2962,2962,4094,0,0,0,0,0,0,26.13,25.82,26.14,10.50,48.42
$GC,206,-1.61,-390.0,1836,2746,2963,4094,18.8,-12.9,24,215,0.00,2.15,0.00,0.000,1030,0.000,0.029,1837,1911,2963,2963,4095,0,0,0,0,0,0,25.95,25.91,25.98,10.50,47.67
$GC,253,-1.61,-390.0,1836,1910,2964,4095,23.8,-10.1,30,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1911,2964,2964,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.48,47.32
$GC,296,-1.61,-390.0,1837,1910,2965,4095,28.1,-9.9,36,306,0.00,2.40,0.00,0.000,516,0.000,0.068,1837,1032,2965,2965,4094,0,0,0,0,0,0,26.27,25.93,26.28,10.45,46.69
$GC,375,-1.61,-390.0,1836,1031,2966,4094,36.3,-10.9,47,385,0.00,2.12,0.00,0.000,1030,0.000,0.028,1837,1884,2966,2966,4095,0,0,0,0,0,0,26.17,26.11,26.15,10.40,45.98
$GC,422,-1.61,-390.0,1837,1884,2967,4095,41.3,-10.8,53,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1884,2967,2967,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.39,44.99
$GC,468,-1.61,-390.0,1837,1884,2968,4095,46.3,-11.0,59,477,0.00,2.33,0.00,0.000,260,0.000,0.054,1837,2755,2968,2968,4095,0,0,0,0,0,0,26.39,26.08,26.40,10.38,44.40
$GC,507,-1.61,-390.0,1836,2755,2969,4095,50.8,-11.1,64,516,0.00,2.17,0.00,0.000,1030,0.000,0.030,1837,1902,2969,2969,4095,0,0,0,0,0,0,26.18,26.15,26.21,10.38,43.69
$GC,553,-1.61,-390.0,1837,1902,2970,4095,55.7,-11.0,70,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1902,2970,2970,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.37,43.50
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,600,-0.45,0.0,1837,2040,2971,4094,60.7,-10.8,76,635,4.03,0.00,23.02,1.268,10244,0.060,0.000,2204,2039,2500,2500,4094,0,0,0,0,0,0,26.18,25.22,24.56,10.36,43.42
$STATE,636,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,638,1.61,390.0,2204,2040,2501,4094,62.9,0.0,80,674,7.00,0.00,22.73,1.245,11270,0.036,0.000,2862,2040,2045,2045,4094,0,0,0,0,0,0,25.67,25.84,24.11,10.26,42.91
$GC,711,1.61,390.0,2861,2039,2044,4094,57.7,11.4,89,721,0.00,2.28,0.00,0.000,260,0.000,0.057,2862,2857,2044,2044,4095,0,0,0,0,0,0,25.62,25.33,25.63,10.16,42.59
$GC,763,1.61,390.0,2861,2857,2042,4095,51.0,13.0,96,772,0.00,2.20,0.00,0.000,1030,0.000,0.029,2862,2015,2042,2042,4094,0,0,0,0,0,0,25.58,25.55,25.60,10.15,43.06
$GC,808,1.61,390.0,2862,2014,2041,4094,45.2,12.0,102,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2015,2041,2041,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.14,43.14
$GC,852,1.61,390.0,2861,2014,2040,4094,40.0,12.1,108,861,0.00,2.38,0.00,0.000,516,0.000,0.067,2862,1153,2040,2040,4094,0,0,0,0,0,0,25.99,25.66,26.00,10.14,44.17
$GC,903,1.61,390.0,2861,1153,2038,4094,33.7,12.3,115,913,0.00,2.08,0.00,0.000,1030,0.000,0.028,2862,1979,2038,2038,4094,0,0,0,0,0,0,25.86,25.80,25.88,10.13,43.62
$GC,949,1.61,390.0,2861,1978,2037,4094,28.2,12.2,121,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1979,2037,2037,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.13,44.05
$GC,993,1.61,390.0,2862,1978,2036,4094,23.3,10.7,127,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1979,2036,2036,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.15,44.29
$GC,1039,1.61,390.0,2862,1980,2035,4094,18.8,10.2,133,1049,0.00,2.28,0.00,0.000,516,0.000,0.067,2862,1157,2035,2035,4094,0,0,0,0,0,0,26.22,25.89,26.24,10.17,45.78
$GC,1065,1.61,390.0,2861,1156,2034,4094,16.0,9.9,136,1074,0.00,2.12,0.00,0.000,1030,0.000,0.029,2862,2004,2034,2034,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.19,46.33
$GC,1111,1.61,390.0,2861,2004,2034,4094,11.8,9.3,142,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2004,2033,2033,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.21,47.75
$GC,1157,1.72,461.5,2861,2004,2032,4094,7.9,7.9,148,1168,0.22,2.38,4.88,0.476,10500,0.049,0.056,2889,2882,1960,1960,4094,0,0,0,0,0,0,26.10,25.94,25.34,10.22,48.03
$STATE,1215,end climb,FINISH_DEPTH_REACHED
$STATE,1215,begin subsurface finish
$FINISH1,1.8,1.024119,103
$GC,1223,0.15,103.2,2889,2020,1958,4094,1.8,11.0,156,1241,5.18,0.00,-3.70,0.000,20486,0.060,0.000,2413,2020,2379,2379,4095,0,0,0,0,0,0,26.06,25.58,26.13,10.22,49.52
$FINISH2,0.2
$STATE,1242,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1242,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,000454
$TT8_MAMPS,0.025466,0.242676
$HUMID,49.29
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.11,7.384
$10V_AH,10.24,9.297
$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,34.875,36.250,50.625,0.000,0.000,22.617,19.815,267.402,0.000,0.000,16.334,458.356,0.000,147.587,982.318,97.644,33.453,428.759,0.000,383.778,0.000,0.542,0.000
$DEVICE_MAMPS,105.570,1305.090,1268.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.608,429.266,339.708,503.293,655.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329460
$DATA_FILE_SIZE,14387,158
$CAP_FILE_SIZE,39242,0
$CFSIZE,1024409600,1004552192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010817,012539,5950.223,-17134.463,10,0.8,15,8.1,0.6,80.6,10,5.0