version: 66.13
glider: 401
mission: 22
dive: 320
start: 8 1 117 8 20 12
data:
$ID,401
$MISSION,22
$DIVE,320
$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,33
$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
$GPS1,010817,075623,5950.7114,-17138.6270,7,0.7,15,8.1,0.0,291.4,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.1
$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,-0.334570,0.060464
$KALMAN_X,40883.472656,-1848.633545,-494.994598,-107792.765625,-45.609772
$KALMAN_Y,19275.820312,1567.020630,312.243866,44401.835938,35.031769
$MHEAD_RNG_PITCHd_Wd,272.1,63032,-11.3,-9.091,-14.97,6445
$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,-390.0,2414,1903,2383,4092,0.0,0.0,0,21,5.90,0.00,-5.22,0.000,20482,0.028,0.000,1847,1903,2957,2957,4094,0,0,0,0,0,0,26.06,28.83,26.08,10.31,49.92
$GC,23,-1.61,-390.0,1847,1903,2957,4094,0.1,0.0,1,32,0.00,2.28,0.00,0.000,260,0.000,0.049,1847,2753,2957,2957,4095,0,0,0,0,0,0,26.26,25.97,26.27,10.43,50.07
$GC,106,-1.61,-390.0,1847,2752,2958,4095,8.3,-13.2,13,116,0.00,2.17,0.00,0.000,1030,0.000,0.031,1848,1903,2959,2959,4095,0,0,0,0,0,0,26.12,26.07,26.13,10.44,49.68
$GC,153,-1.61,-390.0,1846,1903,2959,4095,14.0,-13.0,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1903,2960,2960,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.44,49.60
$GC,198,-1.61,-390.0,1847,1903,2961,4094,19.2,-10.9,25,208,0.00,2.38,0.00,0.000,516,0.000,0.070,1847,1031,2961,2961,4095,0,0,0,0,0,0,26.40,26.06,26.41,10.43,49.25
$GC,257,-1.61,-390.0,1847,1031,2962,4095,26.0,-11.4,33,266,0.00,2.17,0.00,0.000,1030,0.000,0.030,1847,1901,2962,2962,4095,0,0,0,0,0,0,26.22,26.18,26.24,10.40,48.70
$GC,304,-1.61,-390.0,1847,1900,2962,4095,30.6,-9.4,39,313,0.00,2.30,0.00,0.000,260,0.000,0.057,1847,2760,2963,2963,4094,0,0,0,0,0,0,26.46,26.13,26.46,10.38,47.63
$GC,350,-1.61,-390.0,1846,2759,2964,4094,35.4,-10.4,45,359,0.00,2.15,0.00,0.000,1030,0.000,0.031,1847,1915,2964,2964,4095,0,0,0,0,0,0,26.22,26.20,26.27,10.36,46.81
$GC,397,-1.61,-390.0,1847,1915,2964,4095,40.2,-10.4,51,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1915,2964,2964,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.36,46.18
$GC,440,-1.61,-390.0,1846,1915,2965,4095,44.9,-10.6,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1915,2965,2965,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.34,46.33
$GC,484,-1.61,-390.0,1846,1915,2966,4095,49.6,-10.5,63,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1915,2965,2965,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.33,45.51
$GC,528,-1.61,-390.0,1847,1915,2967,4095,54.2,-10.6,69,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1915,2967,2967,4095,0,0,0,0,0,0,26.55,26.55,26.55,10.33,45.31
$GC,572,-1.61,-390.0,1846,1915,2968,4095,59.0,-10.9,75,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1915,2968,2968,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.33,46.02
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1847,2047,2968,4095,61.0,-11.0,77,630,3.90,0.05,22.83,1.287,10244,0.060,0.057,2204,2008,2501,2501,4094,0,0,0,0,0,0,26.29,25.31,24.63,10.33,45.43
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.61,390.0,2204,2007,2501,4094,63.3,0.0,81,669,7.00,0.00,22.75,1.264,11270,0.037,0.000,2861,2008,2044,2044,4094,0,0,0,0,0,0,25.76,25.94,24.17,10.22,44.95
$GC,706,1.61,390.0,2861,2007,2043,4094,58.3,10.8,90,716,0.00,2.38,0.00,0.000,260,0.000,0.057,2862,2854,2043,2043,4094,0,0,0,0,0,0,25.66,25.35,25.67,10.12,43.93
$GC,764,1.61,390.0,2861,2853,2041,4094,50.9,12.8,98,773,0.00,2.17,0.00,0.000,1030,0.000,0.031,2862,2023,2041,2041,4094,0,0,0,0,0,0,25.64,25.57,25.63,10.11,44.17
$GC,810,1.61,390.0,2861,2023,2040,4094,45.5,12.1,104,820,0.00,2.40,0.00,0.000,516,0.000,0.067,2861,1154,2040,2040,4094,0,0,0,0,0,0,25.94,25.61,25.96,10.11,45.43
$GC,862,1.61,390.0,2861,1154,2039,4094,38.8,12.7,111,871,0.00,2.08,0.00,0.000,1030,0.000,0.029,2862,1976,2039,2039,4094,0,0,0,0,0,0,25.82,25.79,25.88,10.11,45.11
$GC,907,1.61,390.0,2861,1976,2037,4094,33.2,11.9,117,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1976,2037,2037,4095,0,0,0,0,0,0,26.09,26.11,26.10,10.10,44.95
$GC,951,1.61,390.0,2861,1976,2035,4095,28.0,12.0,123,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1976,2036,2036,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.10,45.35
$GC,996,1.61,390.0,2861,1976,2035,4094,22.5,12.5,129,1006,0.00,2.47,0.00,0.000,260,0.000,0.059,2862,2882,2035,2035,4094,0,0,0,0,0,0,26.20,25.88,26.21,10.11,45.43
$GC,1055,1.61,390.0,2861,2882,2034,4094,15.2,11.8,137,1064,0.00,2.28,0.00,0.000,1030,0.000,0.031,2861,2001,2033,2033,4094,0,0,0,0,0,0,26.02,25.98,26.05,10.14,46.29
$GC,1102,1.62,399.3,2861,2001,2032,4094,10.9,8.9,143,1111,0.00,2.30,0.00,0.000,516,0.000,0.068,2862,1158,2032,2032,4094,0,0,0,0,0,0,26.29,25.95,26.29,10.17,47.67
$GC,1172,1.62,399.3,2862,1158,2030,4094,4.1,9.3,153,1182,0.00,2.12,0.00,0.000,1030,0.000,0.030,2862,2007,2030,2030,4094,0,0,0,0,0,0,26.10,26.09,26.14,10.19,49.40
$STATE,1196,end climb,FINISH_DEPTH_REACHED
$STATE,1196,begin subsurface finish
$FINISH1,1.7,1.024074,106
$GC,1202,0.16,106.4,2861,2010,2029,4095,1.7,9.3,156,1213,5.00,0.00,-3.10,0.000,20486,0.078,0.000,2421,2015,2382,2382,4094,0,0,0,0,0,0,26.03,25.23,26.13,10.20,49.88
$FINISH2,0.5
$STATE,1214,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,063503
$TT8_MAMPS,0.026215,0.243425
$HUMID,50.51
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.17,7.761
$10V_AH,10.22,9.821
$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,21.800,33.825,45.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.712,0.979,130.292,653.782,43.016,33.432,389.522,0.000,379.753,0.000,0.542,0.000
$DEVICE_MAMPS,78.030,69.615,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.498,426.464,337.662,500.689,651.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,14412,157
$CAP_FILE_SIZE,31962,0
$CFSIZE,1024409600,1003782144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,075623,5950.711,-17138.627,7,0.7,15,8.1,0.0,291.4,11,4.6