version: 66.13
glider: 401
mission: 22
dive: 305
start: 8 1 117 1 49 33
data:
$ID,401
$MISSION,22
$DIVE,305
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,010817,012539,5950.2227,-17134.4629,10,0.8,15,8.1,0.6,80.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.7
$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,-0.340001,0.009254
$KALMAN_X,39078.523438,-2020.642944,-539.757507,-101821.804688,209.440826
$KALMAN_Y,19517.921875,1935.406616,724.068237,42472.363281,44.116943
$MHEAD_RNG_PITCHd_Wd,263.5,66995,-11.3,-9.091,-14.96,6451
$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,-390.0,2413,1887,2379,4092,0.0,0.0,0,21,5.88,0.00,-4.93,0.000,20482,0.028,0.000,1851,1888,2926,2926,4095,0,0,0,0,0,0,26.06,28.83,26.08,10.34,50.39
$GC,23,-1.61,-390.0,1851,1888,2926,4095,0.1,0.0,1,33,0.00,2.42,-0.28,0.000,16900,0.000,1.294,1851,1044,2959,2959,4094,0,0,0,0,0,0,26.27,24.93,26.14,10.46,49.84
$GC,102,-1.61,-390.0,1850,1043,2961,4094,7.5,-12.7,12,111,0.00,2.17,0.00,0.000,1030,0.000,0.031,1851,1907,2962,2962,4094,0,0,0,0,0,0,25.97,25.94,25.99,10.47,49.52
$GC,147,-1.61,-390.0,1850,1907,2962,4094,13.6,-13.2,18,156,0.00,2.30,0.00,0.000,260,0.000,0.057,1851,2754,2962,2962,4095,0,0,0,0,0,0,26.23,25.91,26.25,10.47,49.52
$GC,205,-1.61,-390.0,1850,2754,2963,4095,20.5,-11.5,26,214,0.00,2.12,0.00,0.000,1030,0.000,0.030,1851,1928,2963,2963,4094,0,0,0,0,0,0,26.05,26.01,26.08,10.46,49.13
$GC,251,-1.61,-390.0,1850,1927,2964,4094,25.3,-10.7,32,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1928,2964,2964,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.43,48.74
$GC,296,-1.61,-390.0,1850,1927,2965,4094,30.4,-11.4,38,305,0.00,2.42,0.00,0.000,516,0.000,0.068,1851,1036,2965,2965,4095,0,0,0,0,0,0,26.36,26.01,26.36,10.41,48.74
$GC,354,-1.61,-390.0,1850,1036,2966,4095,36.7,-10.6,46,364,0.00,2.15,0.00,0.000,1030,0.000,0.029,1851,1893,2966,2966,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.38,46.85
$GC,400,-1.61,-390.0,1850,1894,2968,4095,41.3,-10.2,52,409,0.00,2.35,0.00,0.000,260,0.000,0.056,1851,2769,2967,2967,4095,0,0,0,0,0,0,26.41,26.09,26.43,10.37,46.18
$GC,446,-1.61,-390.0,1850,2769,2968,4095,45.9,-10.2,58,455,0.00,2.20,0.00,0.000,1030,0.000,0.031,1851,1907,2968,2968,4095,0,0,0,0,0,0,26.24,26.19,26.24,10.36,45.55
$GC,491,-1.61,-390.0,1850,1907,2969,4095,50.6,-10.2,64,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1907,2969,2969,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,45.11
$GC,536,-1.61,-390.0,1850,1907,2969,4095,55.2,-10.6,70,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1907,2970,2970,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.35,45.23
$GC,580,-1.61,-390.0,1850,1907,2970,4095,59.8,-10.5,76,588,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1907,2971,2971,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,44.88
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,601,-0.45,0.0,1851,2047,2970,4095,61.7,-10.6,78,637,3.85,0.05,23.08,1.281,10244,0.060,0.058,2205,2004,2500,2500,4094,0,0,0,0,0,0,26.22,25.27,24.58,10.34,44.60
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,640,1.61,390.0,2204,2005,2500,4094,63.9,0.0,82,676,6.97,0.00,22.62,1.259,11270,0.036,0.000,2861,2005,2046,2046,4094,0,0,0,0,0,0,25.71,25.88,24.14,10.24,44.56
$GC,713,1.61,390.0,2860,2004,2045,4094,58.8,11.1,91,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2004,2045,2045,4095,0,0,0,0,0,0,25.63,25.65,25.65,10.13,44.05
$GC,757,1.61,390.0,2860,2004,2044,4095,53.2,12.0,97,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2005,2044,2044,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.13,44.21
$GC,802,1.61,390.0,2860,2004,2043,4094,47.8,12.4,103,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2005,2043,2043,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.13,43.85
$GC,846,1.61,390.0,2860,2004,2041,4094,42.4,12.0,109,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2005,2041,2041,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.12,44.21
$GC,890,1.61,390.0,2859,2004,2040,4094,37.2,11.4,115,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2004,2040,2040,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.12,44.36
$GC,934,1.61,390.0,2860,2004,2039,4094,32.0,11.6,121,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2004,2039,2039,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.11,45.43
$GC,979,1.61,390.0,2860,2004,2038,4094,27.0,11.0,127,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2004,2038,2038,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,44.99
$GC,1023,1.61,390.0,2860,2004,2037,4094,22.4,10.6,133,1032,0.00,2.30,0.00,0.000,516,0.000,0.067,2861,1166,2037,2037,4095,0,0,0,0,0,0,26.22,25.88,26.23,10.13,45.51
$GC,1094,1.61,390.0,2860,1166,2035,4095,14.5,9.8,143,1104,0.00,2.08,0.00,0.000,1030,0.000,0.030,2861,1992,2035,2035,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.17,47.63
$GC,1141,1.61,390.0,2860,1994,2034,4094,10.2,9.6,149,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2034,2034,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.20,48.07
$GC,1186,1.62,400.5,2860,1993,2033,4094,6.0,8.9,155,1195,0.00,2.40,0.00,0.000,260,0.000,0.059,2860,2883,2033,2033,4094,0,0,0,0,0,0,26.34,26.03,26.36,10.21,48.81
$STATE,1229,end climb,FINISH_DEPTH_REACHED
$STATE,1229,begin subsurface finish
$FINISH1,1.5,1.024119,103
$GC,1237,0.15,103.2,2860,2029,2031,4094,1.5,10.3,161,1248,4.68,0.00,-3.15,0.000,20486,0.033,0.000,2413,2028,2385,2385,4094,0,0,0,0,0,0,26.14,25.26,26.19,10.23,49.21
$FINISH2,0.2
$STATE,1249,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1249,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,000454
$TT8_MAMPS,0.026215,0.208222
$HUMID,50.51
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.14,7.401
$10V_AH,10.29,9.323
$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,21.375,27.800,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.510,0.851,133.957,681.203,41.049,33.427,405.063,0.000,244.715,0.000,0.542,0.000
$DEVICE_MAMPS,60.435,1293.615,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.156,440.203,0.000,516.428,673.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331020
$DATA_FILE_SIZE,14359,162
$CAP_FILE_SIZE,32630,0
$CFSIZE,1024409600,1004519424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,012539,5950.223,-17134.463,10,0.8,15,8.1,0.6,80.6,10,5.0