version: 66.13
glider: 401
mission: 22
dive: 313
start: 8 1 117 5 25 15
data:
$ID,401
$MISSION,22
$DIVE,313
$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,29
$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
$GPS1,010817,051713,5950.2568,-17135.8535,3,1.1,19,8.1,0.4,207.0,9,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-41.9
$GPS2,010817,052407,5950.2324,-17135.8945,10,1.0,19,8.1,0.0,233.6,9,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.289708,0.177021
$KALMAN_X,40608.820312,-1788.781372,-347.654358,-105116.554688,23.891907
$KALMAN_Y,19236.794922,1740.931152,454.616547,43236.480469,-147.659485
$MHEAD_RNG_PITCHd_Wd,293.3,65702,-11.3,-9.091,-14.99,6423
$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,-390.0,230,1889,1971,4092,0.0,0.0,0,21,11.02,0.00,0.00,0.000,2049,0.104,0.000,1145,1885,1971,1971,4095,0,0,0,0,0,0,26.18,28.83,28.83,10.27,49.64
$GC,23,-1.61,-390.0,1144,1885,1972,4095,0.9,0.0,1,51,7.43,2.42,-9.02,0.000,18948,0.045,1.300,1836,1040,2960,2960,4095,0,0,0,0,0,0,25.91,24.82,25.97,10.28,49.37
$GC,159,-1.61,-390.0,1836,1040,2962,4095,11.5,-14.9,20,168,0.00,2.15,0.00,0.000,1030,0.000,0.029,1836,1895,2962,2962,4095,0,0,0,0,0,0,25.93,25.91,25.96,10.49,48.18
$GC,205,-1.61,-390.0,1836,1895,2963,4095,17.4,-12.0,26,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1895,2963,2963,4095,0,0,0,0,0,0,26.20,26.20,26.20,10.49,47.87
$GC,250,-1.61,-390.0,1836,1897,2964,4095,22.4,-10.6,32,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1897,2964,2964,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.47,47.44
$GC,294,-1.61,-390.0,1835,1897,2964,4095,27.1,-10.7,38,304,0.00,2.30,0.00,0.000,260,0.000,0.054,1836,2756,2965,2965,4094,0,0,0,0,0,0,26.27,25.96,26.29,10.45,47.36
$GC,333,-1.61,-390.0,1836,2756,2966,4094,31.2,-10.7,43,342,0.00,2.15,0.00,0.000,1030,0.000,0.029,1836,1915,2966,2966,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.42,46.06
$GC,378,-1.61,-390.0,1836,1914,2966,4094,35.7,-10.1,49,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1915,2966,2966,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.40,45.47
$GC,422,-1.61,-390.0,1836,1914,2967,4095,40.4,-10.9,55,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1915,2967,2967,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.39,44.56
$GC,466,-1.61,-390.0,1836,1914,2968,4095,45.1,-10.3,61,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1915,2968,2968,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,44.09
$GC,510,-1.61,-390.0,1836,1914,2969,4095,49.9,-11.1,67,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1914,2969,2969,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.37,43.62
$GC,555,-1.61,-390.0,1836,1914,2970,4095,54.9,-11.3,73,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1915,2970,2970,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,43.62
$GC,599,-1.61,-390.0,1836,1914,2970,4095,59.8,-11.2,79,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1914,2971,2971,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.36,43.34
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,620,-0.45,0.0,1836,2047,2971,4095,61.7,-11.2,81,655,4.03,0.00,22.85,1.284,10244,0.060,0.000,2204,2048,2500,2500,4094,0,0,0,0,0,0,26.19,25.22,24.58,10.36,43.46
$STATE,656,end apogee,CONTROL_FINISHED_OK
$STATE,656,begin climb
$GC,658,1.61,390.0,2204,2047,2500,4094,64.2,0.0,85,694,7.00,0.00,22.67,1.262,11270,0.037,0.000,2861,2048,2046,2046,4094,0,0,0,0,0,0,25.68,25.85,24.10,10.26,43.54
$GC,731,1.61,390.0,2861,2047,2045,4094,58.8,11.2,94,741,0.00,2.22,0.00,0.000,260,0.000,0.056,2861,2851,2045,2045,4094,0,0,0,0,0,0,25.62,25.34,25.63,10.15,42.91
$GC,797,1.61,390.0,2861,2851,2044,4094,50.7,12.3,103,807,0.00,2.17,0.00,0.000,1030,0.000,0.030,2861,2017,2043,2043,4094,0,0,0,0,0,0,25.61,25.58,25.66,10.14,43.38
$GC,843,1.61,390.0,2861,2017,2042,4094,44.9,12.6,109,851,0.00,2.38,0.00,0.000,516,0.000,0.067,2861,1156,2042,2042,4094,0,0,0,0,0,0,25.94,25.64,25.95,10.13,43.38
$GC,913,1.61,390.0,2861,1155,2041,4094,36.3,12.3,119,922,0.00,2.03,0.00,0.000,1030,0.000,0.028,2860,1963,2040,2040,4094,0,0,0,0,0,0,25.82,25.82,25.88,10.12,43.93
$GC,959,1.61,390.0,2861,1963,2039,4094,31.0,11.4,125,971,0.00,2.38,0.00,0.000,260,0.000,0.057,2862,2842,2038,2038,4094,0,0,0,0,0,0,26.12,25.80,26.13,10.12,44.13
$GC,1000,1.61,390.0,2861,2842,2038,4094,26.0,11.9,130,1010,0.00,2.22,0.00,0.000,1030,0.000,0.031,2862,1984,2038,2038,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.13,44.44
$GC,1045,1.61,390.0,2861,1984,2037,4094,20.6,11.6,136,1055,0.00,2.28,0.00,0.000,516,0.000,0.068,2861,1152,2036,2036,4094,0,0,0,0,0,0,26.21,25.86,26.22,10.14,45.11
$GC,1103,1.61,390.0,2861,1151,2035,4094,13.8,11.4,144,1112,0.00,1.95,0.00,0.000,1030,0.000,0.028,2861,1943,2035,2035,4094,0,0,0,0,0,0,26.06,26.03,26.07,10.18,46.61
$GC,1148,1.61,390.0,2861,1944,2034,4094,9.5,9.6,150,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1944,2034,2034,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.20,47.55
$GC,1192,1.70,445.8,2861,1944,2033,4094,5.7,8.2,156,1202,0.15,0.00,4.15,0.412,10246,0.062,0.000,2883,1945,1978,1978,4094,0,0,0,0,0,0,26.12,25.93,25.37,10.22,48.74
$STATE,1238,end climb,FINISH_DEPTH_REACHED
$STATE,1238,begin subsurface finish
$FINISH1,1.4,1.024069,107
$GC,1244,0.16,106.7,2883,2014,1977,4094,1.4,9.7,162,1255,4.80,0.00,-3.53,0.000,20486,0.024,0.000,2414,2015,2380,2380,4095,0,0,0,0,0,0,26.10,25.22,26.15,10.22,49.05
$FINISH2,0.2
$STATE,1256,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1256,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,035626
$TT8_MAMPS,0.025466,0.20972
$HUMID,49.37
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.10,7.602
$10V_AH,10.29,9.594
$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,34.425,27.000,49.675,0.000,0.000,22.288,20.894,257.240,0.000,0.000,20.631,457.559,0.159,138.554,1001.818,96.133,33.480,418.756,0.000,247.729,0.000,0.542,0.000
$DEVICE_MAMPS,104.040,1299.735,1284.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.700,442.856,0.000,519.481,678.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,14443,163
$CAP_FILE_SIZE,38107,0
$CFSIZE,1024409600,1004109824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,959.73,0x236164,1,24
$GPS,010817,052407,5950.232,-17135.895,10,1.0,19,8.1,0.0,233.6,9,4.9