version: 66.13
glider: 401
mission: 22
dive: 319
start: 8 1 117 7 57 31
data:
$ID,401
$MISSION,22
$DIVE,319
$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,17
$R_STBD_OVSHOOT,37
$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
$GPS1,010817,074930,5950.6982,-17138.5781,5,0.9,13,8.1,0.4,20.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-45.7
$GPS2,010817,075623,5950.7114,-17138.6270,7,0.7,15,8.1,0.0,291.4,11,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.329835,0.081262
$KALMAN_X,40676.710938,-1912.346313,-548.354004,-107443.101562,-55.900146
$KALMAN_Y,19291.113281,1603.870117,337.188934,44313.906250,8.568726
$MHEAD_RNG_PITCHd_Wd,275.7,63032,-11.3,-9.091,-14.98,6432
$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,-390.0,231,1902,2003,4092,0.0,0.0,0,21,11.12,0.00,0.00,0.000,2049,0.105,0.000,1154,1902,2004,2004,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.26,49.33
$GC,23,-1.61,-390.0,1154,1902,2004,4094,0.9,0.0,1,51,7.47,2.50,-8.75,0.000,18948,0.057,1.302,1837,1035,2960,2960,4095,0,0,0,0,0,0,25.91,24.83,25.98,10.27,49.25
$GC,112,-1.61,-390.0,1836,1035,2961,4095,7.5,-13.6,13,122,0.00,2.15,0.00,0.000,1030,0.000,0.029,1837,1888,2962,2962,4095,0,0,0,0,0,0,25.86,25.82,25.90,10.47,48.58
$GC,158,-1.61,-390.0,1836,1888,2963,4095,13.7,-13.4,19,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1888,2963,2963,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.48,48.66
$GC,202,-1.61,-390.0,1836,1889,2964,4094,19.0,-11.6,25,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1890,2964,2964,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.46,48.11
$GC,245,-1.61,-390.0,1836,1890,2964,4095,23.6,-10.2,31,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1891,2964,2964,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.44,47.75
$GC,289,-1.61,-390.0,1836,1891,2966,4094,27.9,-9.8,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1892,2966,2966,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.42,46.85
$GC,334,-1.61,-390.0,1836,1892,2966,4094,32.2,-10.1,43,343,0.00,2.33,0.00,0.000,260,0.000,0.053,1837,2756,2966,2966,4094,0,0,0,0,0,0,26.30,25.99,26.32,10.40,46.37
$GC,392,-1.61,-390.0,1836,2756,2967,4094,38.3,-10.5,51,401,0.00,2.20,0.00,0.000,1030,0.000,0.031,1837,1896,2967,2967,4095,0,0,0,0,0,0,26.10,26.07,26.14,10.38,45.07
$GC,438,-1.61,-390.0,1836,1896,2968,4095,43.1,-10.6,57,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2969,2969,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.37,44.99
$GC,483,-1.61,-390.0,1836,1896,2969,4095,48.1,-11.1,63,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2969,2969,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.36,44.60
$GC,527,-1.61,-390.0,1836,1896,2970,4094,53.0,-11.5,69,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2970,2970,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,44.36
$GC,572,-1.61,-390.0,1836,1896,2971,4094,58.1,-11.6,75,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1896,2971,2971,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,44.52
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1837,2037,2971,4095,60.2,-11.6,77,629,4.03,0.00,23.05,1.273,10244,0.060,0.000,2204,2037,2501,2501,4095,0,0,0,0,0,0,26.17,25.21,24.53,10.34,43.85
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,632,1.61,390.0,2204,2037,2500,4095,62.6,0.0,81,667,7.00,0.00,22.75,1.252,11270,0.036,0.000,2861,2037,2045,2045,4094,0,0,0,0,0,0,25.67,25.83,24.10,10.24,43.85
$GC,705,1.61,390.0,2861,2037,2044,4094,57.4,10.4,90,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2044,2044,4094,0,0,0,0,0,0,25.61,25.63,25.63,10.14,43.14
$GC,749,1.61,390.0,2861,2037,2043,4094,51.9,11.7,96,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2043,2043,4094,0,0,0,0,0,0,25.77,25.78,25.79,10.14,43.34
$GC,793,1.61,390.0,2861,2037,2042,4094,46.7,11.6,102,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2041,2041,4094,0,0,0,0,0,0,25.89,25.89,25.89,10.13,43.30
$GC,838,1.61,390.0,2860,2037,2041,4094,41.5,11.6,108,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2041,2041,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.12,44.36
$GC,881,1.61,390.0,2860,2037,2040,4094,36.3,12.0,114,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.12,43.77
$GC,926,1.61,390.0,2861,2037,2039,4094,31.0,12.1,120,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2037,2038,2038,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.12,44.40
$GC,969,1.61,390.0,2861,2037,2037,4094,25.8,11.8,126,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,2037,2037,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,44.80
$GC,1013,1.61,390.0,2860,2038,2036,4094,20.5,11.7,132,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,2036,2036,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.13,45.15
$GC,1057,1.61,390.0,2860,2038,2035,4094,15.8,10.4,138,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,2034,2034,4095,0,0,0,0,0,0,26.25,26.26,26.25,10.16,45.94
$GC,1102,1.61,390.0,2861,2038,2034,4095,11.1,10.0,144,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,2034,2034,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,48.26
$GC,1146,1.61,390.0,2860,2038,2033,4094,7.0,9.2,150,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2032,2032,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.20,48.70
$GC,1190,1.61,390.0,2860,2037,2031,4094,2.9,9.2,156,1200,0.00,2.42,0.00,0.000,516,0.000,0.067,2861,1154,2031,2031,4094,0,0,0,0,0,0,26.34,25.98,26.36,10.21,49.09
$STATE,1208,end climb,FINISH_DEPTH_REACHED
$STATE,1208,begin subsurface finish
$FINISH1,1.1,1.024082,106
$GC,1216,0.16,105.8,2861,2019,2031,4094,1.1,9.0,158,1235,4.62,2.50,-3.15,0.000,20996,0.030,1.311,2414,1157,2384,2384,4095,0,0,0,0,0,0,26.13,24.98,26.17,10.21,49.25
$FINISH2,0.2
$STATE,1236,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1237,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,063503
$TT8_MAMPS,0.025466,0.205975
$HUMID,49.37
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.10,7.744
$10V_AH,10.28,9.786
$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,34.250,16.550,45.800,0.000,0.000,24.961,18.092,254.729,0.000,0.000,16.836,438.545,0.000,149.842,989.476,95.842,33.479,440.820,0.000,243.659,0.000,0.543,0.000
$DEVICE_MAMPS,104.805,1311.210,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.304,434.646,0.000,510.099,666.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,14446,160
$CAP_FILE_SIZE,36525,0
$CFSIZE,1024409600,1003814912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,075623,5950.711,-17138.627,7,0.7,15,8.1,0.0,291.4,11,4.6