version: 66.13
glider: 401
mission: 22
dive: 307
start: 8 1 117 2 44 5
data:
$ID,401
$MISSION,22
$DIVE,307
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,010817,023617,5950.3467,-17134.5625,3,0.9,34,8.1,0.0,113.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-46.8
$GPS2,010817,024257,5950.3262,-17134.4590,10,0.9,14,8.1,0.0,83.4,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.328519,0.085795
$KALMAN_X,39795.250000,-1954.827637,-467.508026,-102671.578125,236.577362
$KALMAN_Y,19698.269531,1941.311646,712.460693,42486.394531,-67.429260
$MHEAD_RNG_PITCHd_Wd,276.5,66955,-11.3,-9.091,-14.99,6424
$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,-390.0,238,1902,2029,4092,0.0,0.0,0,21,11.10,0.00,0.00,0.000,2049,0.109,0.000,1151,1902,2029,2029,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.29,49.72
$GC,23,-1.61,-390.0,1151,1902,2029,4094,0.9,0.0,1,51,7.53,2.47,-8.52,0.000,18948,0.057,1.299,1838,1034,2961,2961,4095,0,0,0,0,0,0,25.94,24.83,25.99,10.29,49.13
$GC,132,-1.61,-390.0,1838,1034,2962,4095,8.8,-13.7,16,141,0.00,2.17,0.00,0.000,1030,0.000,0.029,1839,1899,2962,2962,4094,0,0,0,0,0,0,25.90,25.86,25.92,10.50,48.18
$GC,177,-1.61,-390.0,1838,1898,2964,4094,15.0,-13.3,22,186,0.00,2.30,0.00,0.000,260,0.000,0.055,1838,2753,2964,2964,4094,0,0,0,0,0,0,26.17,25.85,26.17,10.50,48.18
$GC,222,-1.61,-390.0,1837,2753,2964,4094,20.2,-10.7,28,231,0.00,2.17,0.00,0.000,1030,0.000,0.029,1838,1906,2964,2964,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.49,47.44
$GC,268,-1.61,-390.0,1838,1905,2965,4094,24.7,-10.0,34,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1905,2966,2966,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.46,46.92
$GC,312,-1.61,-390.0,1838,1905,2966,4094,29.5,-10.7,40,322,0.00,2.38,0.00,0.000,516,0.000,0.067,1839,1033,2966,2966,4094,0,0,0,0,0,0,26.29,25.95,26.30,10.44,46.53
$GC,358,-1.61,-390.0,1838,1033,2967,4094,34.3,-10.8,46,367,0.00,2.15,0.00,0.000,1030,0.000,0.028,1839,1893,2967,2967,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.41,46.37
$GC,403,-1.61,-390.0,1838,1894,2968,4095,39.2,-10.8,52,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1893,2968,2968,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.39,45.62
$GC,447,-1.61,-390.0,1838,1893,2969,4095,43.9,-10.8,58,456,0.00,2.33,0.00,0.000,260,0.000,0.054,1839,2763,2969,2969,4094,0,0,0,0,0,0,26.39,26.08,26.40,10.38,44.48
$GC,485,-1.61,-390.0,1838,2763,2969,4094,48.1,-10.8,63,495,0.00,2.17,0.00,0.000,1030,0.000,0.029,1839,1908,2970,2970,4095,0,0,0,0,0,0,26.20,26.14,26.19,10.38,44.01
$GC,530,-1.61,-390.0,1838,1907,2970,4095,53.0,-10.9,69,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2971,2971,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.37,43.54
$GC,575,-1.61,-390.0,1838,1907,2971,4094,57.9,-11.1,75,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2971,2971,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.36,43.66
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,602,-0.45,0.0,1838,2049,2972,4095,60.5,-10.8,78,638,4.00,0.08,23.10,1.267,10244,0.060,0.050,2204,1997,2500,2500,4094,0,0,0,0,0,0,26.18,25.22,24.56,10.36,43.69
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.61,390.0,2203,1996,2500,4094,62.9,0.0,82,676,7.00,0.00,22.70,1.245,11270,0.036,0.000,2861,1997,2045,2045,4094,0,0,0,0,0,0,25.68,25.84,24.12,10.26,42.99
$GC,713,1.61,390.0,2861,1997,2044,4094,57.6,11.0,91,723,0.00,2.40,0.00,0.000,260,0.000,0.054,2861,2855,2044,2044,4094,0,0,0,0,0,0,25.62,25.33,25.63,10.15,43.26
$GC,765,1.61,390.0,2860,2855,2043,4094,50.9,13.0,98,775,0.00,2.15,0.00,0.000,1030,0.000,0.029,2861,2032,2042,2042,4094,0,0,0,0,0,0,25.60,25.54,25.61,10.15,42.91
$GC,812,1.61,390.0,2861,2032,2041,4094,45.3,11.8,104,820,0.00,2.42,0.00,0.000,516,0.000,0.067,2861,1150,2041,2041,4094,0,0,0,0,0,0,25.91,25.58,25.92,10.14,43.58
$GC,877,1.61,390.0,2861,1150,2040,4094,37.3,12.1,113,886,0.00,2.08,0.00,0.000,1030,0.000,0.028,2861,1975,2040,2040,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.13,43.73
$GC,922,1.61,390.0,2861,1975,2038,4094,31.6,12.5,119,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1975,2038,2038,4095,0,0,0,0,0,0,26.09,26.10,26.10,10.13,43.93
$GC,965,1.61,390.0,2861,1975,2037,4095,26.1,12.4,125,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1975,2037,2037,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.14,44.29
$GC,1010,1.61,390.0,2861,1974,2036,4094,21.1,11.0,131,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1975,2036,2036,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.15,45.51
$GC,1054,1.61,390.0,2861,1977,2035,4094,16.2,11.1,137,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1977,2034,2034,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.17,46.29
$GC,1098,1.61,390.0,2861,1977,2034,4094,11.4,10.4,143,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1978,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.20,47.48
$GC,1142,1.61,390.0,2861,1978,2032,4094,7.2,9.5,149,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1979,2032,2032,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.22,48.62
$GC,1186,1.61,390.0,2861,1978,2031,4094,2.9,9.7,155,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1979,2031,2031,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.23,49.52
$STATE,1204,end climb,FINISH_DEPTH_REACHED
$STATE,1204,begin subsurface finish
$FINISH1,1.0,1.024119,103
$GC,1211,0.15,103.2,2861,2043,2031,4094,1.0,9.9,157,1221,4.65,0.00,-3.15,0.000,20486,0.030,0.000,2413,2049,2384,2384,4094,0,0,0,0,0,0,26.13,25.25,26.17,10.24,48.74
$FINISH2,0.1
$STATE,1222,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1222,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,012011
$TT8_MAMPS,0.026215,0.211967
$HUMID,49.44
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.12,7.454
$10V_AH,10.28,9.390
$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,34.275,27.675,45.800,0.000,0.000,24.758,16.220,250.568,0.000,0.000,15.482,446.144,0.231,141.111,964.474,94.611,33.478,420.064,0.000,240.988,0.000,0.543,0.000
$DEVICE_MAMPS,108.630,1298.970,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.040,429.271,0.000,503.251,654.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,14382,158
$CAP_FILE_SIZE,38141,0
$CFSIZE,1024409600,1004404736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010817,024257,5950.326,-17134.459,10,0.9,14,8.1,0.0,83.4,10,4.8