version: 66.13
glider: 401
mission: 22
dive: 306
start: 8 1 117 2 12 25
data:
$ID,401
$MISSION,22
$DIVE,306
$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,27
$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,0.14
$_SM_ANGLEo,-1.3
$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,-0.339761,-0.000645
$KALMAN_X,39396.953125,-1973.934082,-489.286316,-102237.960938,250.044830
$KALMAN_Y,19542.062500,1926.654175,704.421387,42476.921875,47.557617
$MHEAD_RNG_PITCHd_Wd,261.8,66995,-11.3,-9.091,-14.98,6435
$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,-390.0,2412,1890,2385,4092,0.0,0.0,0,20,5.85,0.00,-4.50,0.000,20482,0.028,0.000,1846,1891,2882,2882,4094,0,0,0,0,0,0,26.22,28.83,26.24,10.33,50.82
$GC,22,-1.61,-390.0,1846,1891,2882,4094,0.1,0.0,1,32,0.00,2.42,-0.70,0.000,16900,0.000,1.312,1846,1044,2961,2961,4095,0,0,0,0,0,0,26.42,25.08,26.35,10.43,50.74
$GC,127,-1.61,-390.0,1846,1043,2962,4095,6.9,-12.3,16,136,0.00,2.15,0.00,0.000,1030,0.000,0.031,1846,1901,2962,2962,4094,0,0,0,0,0,0,26.15,26.09,26.11,10.46,50.94
$GC,173,-1.61,-390.0,1846,1901,2964,4094,12.6,-12.4,22,182,0.00,2.30,0.00,0.000,260,0.000,0.057,1846,2760,2964,2964,4094,0,0,0,0,0,0,26.37,26.05,26.38,10.45,50.23
$GC,219,-1.61,-390.0,1846,2760,2965,4094,18.2,-12.5,28,229,0.00,2.15,0.00,0.000,1030,0.000,0.031,1846,1920,2964,2964,4095,0,0,0,0,0,0,26.17,26.12,26.22,10.45,50.27
$GC,266,-1.61,-390.0,1845,1920,2966,4095,22.9,-9.3,34,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2966,2966,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.44,49.33
$GC,313,-1.61,-390.0,1845,1920,2966,4094,26.9,-8.7,40,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2965,2965,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.41,48.85
$GC,358,-1.61,-390.0,1845,1920,2967,4094,31.4,-10.0,46,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1920,2968,2968,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.40,47.95
$GC,403,-1.61,-390.0,1845,1920,2968,4094,35.5,-9.4,52,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2968,2968,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.38,47.20
$GC,449,-1.61,-390.0,1845,1920,2969,4094,40.2,-10.3,58,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2969,2969,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.36,46.53
$GC,493,-1.61,-390.0,1845,1919,2969,4094,44.9,-10.7,64,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2970,2970,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.36,46.65
$GC,537,-1.61,-390.0,1845,1920,2971,4095,49.7,-10.8,70,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2971,2971,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.35,45.78
$GC,580,-1.61,-390.0,1845,1920,2972,4094,54.3,-10.8,76,588,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2972,2972,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.34,45.23
$GC,624,-1.61,-390.0,1845,1920,2972,4094,59.0,-10.5,82,632,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1920,2973,2973,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.34,44.84
$STATE,640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,640,begin apogee
$GC,645,-0.45,0.0,1846,2045,2973,4095,60.9,-10.6,84,681,3.90,0.00,23.08,1.280,10244,0.059,0.000,2204,2045,2500,2500,4094,0,0,0,0,0,0,26.30,25.34,24.65,10.34,45.07
$STATE,682,end apogee,CONTROL_FINISHED_OK
$STATE,682,begin climb
$GC,684,1.61,390.0,2203,2045,2500,4094,63.2,0.0,88,720,6.97,0.00,22.65,1.253,11270,0.035,0.000,2862,2045,2044,2044,4094,0,0,0,0,0,0,25.77,25.94,24.20,10.23,44.48
$GC,757,1.61,390.0,2861,2045,2043,4094,57.6,10.9,97,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2043,2043,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.13,43.81
$GC,803,1.61,390.0,2861,2045,2041,4094,52.1,11.9,103,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2045,2042,2042,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.12,43.85
$GC,849,1.61,390.0,2861,2045,2041,4094,46.5,12.3,109,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2045,2040,2040,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.12,44.80
$GC,895,1.61,390.0,2861,2045,2039,4094,41.0,12.1,115,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2039,2039,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.11,44.56
$GC,940,1.61,390.0,2861,2045,2038,4094,35.6,11.9,121,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2038,2038,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,45.07
$GC,984,1.61,390.0,2861,2044,2037,4094,30.2,12.2,127,993,0.00,2.47,0.00,0.000,516,0.000,0.067,2862,1152,2037,2037,4094,0,0,0,0,0,0,26.14,25.79,26.15,10.10,45.07
$GC,1055,1.61,390.0,2861,1151,2035,4094,21.8,11.9,137,1065,0.00,2.10,0.00,0.000,1030,0.000,0.029,2862,1989,2035,2035,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.13,46.25
$GC,1102,1.61,390.0,2861,1989,2034,4095,16.6,11.3,143,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2034,2034,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,46.41
$GC,1148,1.61,390.0,2861,1989,2033,4094,11.8,10.6,149,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1990,2032,2032,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,48.07
$GC,1193,1.61,390.0,2861,1990,2031,4094,7.4,9.5,155,1203,0.00,2.40,0.00,0.000,260,0.000,0.057,2862,2877,2031,2031,4095,0,0,0,0,0,0,26.33,26.01,26.34,10.20,48.77
$STATE,1243,end climb,SURFACE_DEPTH_REACHED
$STATE,1243,begin surface coast
$FINISH,0.2,1.024134
$STATE,1265,end surface coast,CONTROL_FINISHED_OK
$STATE,1265,begin surface
$SM_CCo,1364,0.00,0.000,0,0,2029,405.26
$SM_GC,1.11,27.50,2.55,0.00,0.024,0.034,0.000,238,1903,2029,-6.61,1.09,405.26,0,0,0,0,0,0,26.16,26.10,26.20
$IRIDIUM_FIX,5955.74,-17228.01,010817,000454
$TT8_MAMPS,0.025466,0.238931
$HUMID,50.51
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.20,7.419
$10V_AH,10.24,9.360
$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,44.225,19.125,45.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,471.431,60.466,158.031,688.725,47.255,33.418,424.368,0.000,398.369,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,1311.975,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.955,448.301,354.742,526.013,685.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331020
$DATA_FILE_SIZE,17951,165
$CAP_FILE_SIZE,32849,0
$CFSIZE,1024409600,1004437504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,023617,5950.347,-17134.562,3,0.9,34,8.1,0.0,113.0,10,5.0