version: 66.13
glider: 401
mission: 22
dive: 316
start: 8 1 117 6 41 29
data:
$ID,401
$MISSION,22
$DIVE,316
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,010817,063332,5950.3823,-17137.1855,5,0.8,25,8.1,0.5,84.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-45.4
$GPS2,010817,064021,5950.3687,-17137.2227,6,0.7,14,8.1,0.0,232.9,12,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.305569,0.147387
$KALMAN_X,40628.003906,-1829.028931,-431.021149,-106265.984375,-44.996185
$KALMAN_Y,19099.802734,1642.683838,357.047791,43817.250000,-86.626587
$MHEAD_RNG_PITCHd_Wd,287.6,64447,-11.3,-9.091,-15.00,6412
$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,-389.3,239,1917,2030,4092,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.109,0.000,1149,1915,2030,2030,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.28,49.64
$GC,23,-1.61,-389.3,1148,1916,2030,4094,1.0,0.0,1,51,7.47,2.55,-8.50,0.000,18948,0.052,1.304,1837,1038,2959,2959,4095,0,0,0,0,0,0,25.91,24.80,25.98,10.28,48.93
$GC,119,-1.61,-389.3,1836,1037,2959,4095,7.1,-13.6,14,129,0.00,2.20,0.00,0.000,1030,0.000,0.029,1836,1912,2960,2960,4094,0,0,0,0,0,0,25.86,25.82,25.92,10.49,48.74
$GC,166,-1.61,-389.3,1836,1912,2961,4094,13.4,-13.9,20,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1912,2961,2961,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.49,48.50
$GC,209,-1.61,-389.3,1836,1912,2962,4094,19.1,-12.9,26,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1913,2962,2962,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.48,48.42
$GC,254,-1.61,-389.3,1836,1914,2962,4095,23.9,-10.5,32,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1915,2962,2962,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.46,47.59
$GC,298,-1.61,-389.3,1836,1916,2963,4094,28.7,-10.8,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1916,2964,2964,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.42,46.61
$GC,342,-1.61,-389.3,1836,1916,2964,4095,33.0,-9.6,44,352,0.00,2.25,0.00,0.000,260,0.000,0.054,1837,2751,2964,2964,4094,0,0,0,0,0,0,26.31,25.99,26.32,10.40,46.02
$GC,374,-1.61,-389.3,1836,2751,2965,4094,36.2,-10.1,48,384,0.00,2.22,0.00,0.000,1030,0.000,0.030,1837,1882,2965,2965,4094,0,0,0,0,0,0,26.10,26.10,26.13,10.39,45.31
$GC,420,-1.61,-389.3,1837,1881,2966,4094,40.9,-10.6,54,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1882,2966,2966,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.38,44.68
$GC,464,-1.61,-389.3,1836,1882,2966,4095,45.7,-10.7,60,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1882,2967,2967,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.37,44.60
$GC,509,-1.61,-389.3,1836,1881,2968,4095,50.4,-11.1,66,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1882,2967,2967,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.36,44.05
$GC,555,-1.61,-389.3,1836,1882,2969,4094,55.7,-11.6,72,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1882,2969,2969,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.35,43.73
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,596,-0.45,0.0,1836,2036,2969,4095,60.3,-11.7,77,632,4.03,0.00,23.08,1.271,10244,0.060,0.000,2204,2036,2500,2500,4094,0,0,0,0,0,0,26.18,25.21,24.55,10.35,44.17
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,634,1.61,389.3,2204,2036,2500,4094,62.8,0.0,81,671,6.97,2.42,22.65,1.249,10756,0.039,0.063,2861,1154,2046,2046,4094,0,0,0,0,0,0,25.63,25.53,24.10,10.25,43.46
$GC,681,1.75,478.7,2859,1154,2045,4094,60.4,7.7,86,700,0.28,2.17,6.57,0.933,11270,0.035,0.027,2890,2002,1944,1944,4094,0,0,0,0,0,0,25.25,25.24,24.15,10.15,43.46
$GC,737,1.75,478.7,2889,2002,1943,4094,53.7,12.9,93,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2002,1943,1943,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.12,42.87
$GC,783,1.75,478.7,2890,2002,1941,4094,47.7,13.1,99,792,0.00,2.42,0.00,0.000,260,0.000,0.059,2891,2877,1941,1941,4094,0,0,0,0,0,0,25.79,25.48,25.80,10.12,42.99
$GC,829,1.75,478.7,2890,2877,1940,4094,41.4,13.9,105,837,0.00,2.25,0.00,0.000,1030,0.000,0.030,2891,2013,1940,1940,4094,0,0,0,0,0,0,25.69,25.65,25.70,10.11,43.46
$GC,874,1.75,478.7,2890,2012,1938,4094,35.2,13.4,111,884,0.00,2.35,0.00,0.000,516,0.000,0.067,2891,1157,1938,1938,4095,0,0,0,0,0,0,25.98,25.65,26.00,10.10,43.81
$GC,932,1.75,478.7,2890,1156,1937,4095,27.0,13.7,119,942,0.00,2.08,0.00,0.000,1030,0.000,0.029,2891,1982,1936,1936,4094,0,0,0,0,0,0,25.86,25.84,25.88,10.10,43.97
$GC,979,1.75,478.7,2890,1981,1935,4094,21.3,12.6,125,989,0.00,2.47,0.00,0.000,260,0.000,0.060,2891,2884,1935,1935,4094,0,0,0,0,0,0,26.13,25.81,26.14,10.13,45.23
$GC,1038,1.75,478.7,2890,2883,1933,4094,13.7,11.9,133,1047,0.00,2.30,0.00,0.000,1030,0.000,0.031,2891,1993,1933,1933,4095,0,0,0,0,0,0,25.94,25.92,25.99,10.16,46.18
$GC,1084,1.75,478.7,2890,1993,1932,4095,8.9,10.0,139,1094,0.00,2.30,0.00,0.000,516,0.000,0.068,2891,1150,1932,1932,4094,0,0,0,0,0,0,26.23,25.89,26.25,10.19,47.59
$GC,1149,1.75,478.7,2890,1150,1930,4094,2.4,9.5,148,1158,0.00,2.08,0.00,0.000,1030,0.000,0.029,2891,1981,1930,1930,4094,0,0,0,0,0,0,26.07,26.05,26.10,10.20,48.66
$STATE,1166,end climb,FINISH_DEPTH_REACHED
$STATE,1166,begin subsurface finish
$FINISH1,0.4,1.024056,108
$GC,1172,0.16,107.6,2891,2057,1930,4094,0.4,10.2,150,1191,4.93,0.00,-3.95,0.000,20486,0.029,0.000,2413,2058,2377,2377,4095,0,0,0,0,0,0,26.09,25.58,26.13,10.21,48.89
$FINISH2,0.1
$STATE,1192,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1192,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,051847
$TT8_MAMPS,0.025466,0.236684
$HUMID,49.33
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.10,7.673
$10V_AH,10.23,9.694
$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,34.725,32.500,52.300,0.000,0.000,22.826,19.631,256.797,0.000,0.000,16.049,437.245,0.000,146.031,945.737,96.669,33.480,422.860,0.000,369.916,0.000,0.543,0.000
$DEVICE_MAMPS,108.630,1304.325,1271.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.292,412.933,326.829,483.566,630.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,14287,152
$CAP_FILE_SIZE,37597,0
$CFSIZE,1024409600,1003962368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,064021,5950.369,-17137.223,6,0.7,14,8.1,0.0,232.9,12,4.7