version: 66.13
glider: 401
mission: 22
dive: 322
start: 8 1 117 9 16 33
data:
$ID,401
$MISSION,22
$DIVE,322
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,010817,090540,5951.1050,-17140.0293,5,0.8,24,8.0,0.0,33.6,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-45.5
$GPS2,010817,091525,5951.1606,-17140.0312,6,0.9,38,8.0,0.0,61.6,9,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.337754,0.032540
$KALMAN_X,40790.332031,-2005.694214,-660.760803,-108680.750000,-30.092590
$KALMAN_Y,19768.539062,1629.775269,389.516235,44586.929688,65.262177
$MHEAD_RNG_PITCHd_Wd,267.5,61574,-11.3,-9.091,-15.00,6414
$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,-389.4,239,1893,2028,4092,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.106,0.000,1154,1892,2028,2028,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.27,49.52
$GC,23,-1.61,-389.4,1154,1892,2029,4094,0.9,0.0,1,51,7.38,2.45,-8.60,0.000,18948,0.049,1.303,1835,1040,2960,2960,4095,0,0,0,0,0,0,25.90,24.81,25.98,10.27,49.01
$GC,153,-1.61,-389.4,1835,1039,2961,4095,9.7,-12.8,19,162,0.00,2.17,0.00,0.000,1030,0.000,0.030,1835,1907,2962,2962,4095,0,0,0,0,0,0,25.91,25.89,25.94,10.48,48.07
$GC,200,-1.61,-389.4,1835,1906,2963,4095,15.3,-12.4,25,209,0.00,2.30,0.00,0.000,260,0.000,0.055,1835,2758,2963,2963,4095,0,0,0,0,0,0,26.18,25.86,26.19,10.48,47.71
$GC,251,-1.61,-389.4,1834,2757,2964,4095,21.1,-10.6,32,261,0.00,2.15,0.00,0.000,1030,0.000,0.030,1836,1918,2964,2964,4095,0,0,0,0,0,0,26.00,25.96,26.04,10.45,47.83
$GC,297,-1.61,-389.4,1835,1918,2964,4095,25.8,-10.3,38,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1918,2964,2964,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.42,46.96
$GC,341,-1.61,-389.4,1835,1918,2965,4095,30.3,-10.0,44,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1918,2965,2965,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.40,46.02
$GC,387,-1.61,-389.4,1835,1918,2966,4095,34.9,-10.5,50,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1918,2966,2966,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.38,45.19
$GC,433,-1.61,-389.4,1835,1918,2967,4094,39.9,-10.9,56,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1918,2967,2967,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.38,45.39
$GC,479,-1.61,-389.4,1835,1918,2968,4095,44.9,-11.1,62,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1918,2968,2968,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.37,44.13
$GC,525,-1.61,-389.4,1835,1918,2969,4095,50.0,-11.3,68,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1918,2968,2968,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.35,44.09
$GC,570,-1.61,-389.4,1835,1918,2970,4094,55.2,-11.4,74,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1918,2970,2970,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.35,44.29
$STATE,614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,620,-0.45,0.0,1835,2044,2971,4094,60.4,-11.3,80,654,4.05,0.00,22.95,1.274,10244,0.060,0.000,2205,2044,2503,2503,4095,0,0,0,0,0,0,26.19,25.22,24.54,10.34,43.62
$STATE,655,end apogee,CONTROL_FINISHED_OK
$STATE,655,begin climb
$GC,657,1.61,389.4,2205,2043,2503,4095,63.0,0.0,84,692,7.00,0.00,22.85,1.254,11270,0.036,0.000,2861,2044,2045,2045,4095,0,0,0,0,0,0,25.67,25.84,24.09,10.24,43.62
$GC,730,1.61,389.4,2861,2043,2045,4095,58.1,10.7,93,739,0.00,2.25,0.00,0.000,260,0.000,0.056,2861,2853,2045,2045,4094,0,0,0,0,0,0,25.60,25.31,25.62,10.15,43.58
$GC,776,1.61,389.4,2861,2852,2043,4094,52.4,12.5,99,786,0.00,2.20,0.00,0.000,1030,0.000,0.030,2861,2011,2043,2043,4094,0,0,0,0,0,0,25.58,25.52,25.58,10.13,43.42
$GC,823,1.61,389.4,2861,2011,2042,4094,46.8,11.9,105,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2042,2042,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.13,43.34
$GC,869,1.61,389.4,2861,2011,2041,4094,41.3,12.0,111,878,0.00,2.38,0.00,0.000,516,0.000,0.067,2861,1150,2041,2041,4094,0,0,0,0,0,0,25.97,25.67,25.99,10.12,43.46
$GC,915,1.61,389.4,2861,1150,2040,4094,35.7,12.2,117,925,0.00,2.10,0.00,0.000,1030,0.000,0.028,2861,1985,2039,2039,4094,0,0,0,0,0,0,25.84,25.80,25.86,10.12,44.36
$GC,962,1.61,389.4,2861,1985,2039,4094,30.2,11.6,123,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1985,2038,2038,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,45.11
$GC,1008,1.61,389.4,2861,1985,2037,4094,24.9,11.7,129,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1985,2037,2037,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.12,44.80
$GC,1054,1.61,389.4,2861,1985,2036,4094,19.8,10.6,135,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1985,2036,2036,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,45.07
$GC,1100,1.61,389.4,2861,1987,2035,4094,15.1,9.7,141,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.16,45.94
$GC,1146,1.62,396.8,2861,1987,2034,4094,10.8,9.0,147,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2034,2034,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.19,47.55
$GC,1191,1.62,396.8,2861,1988,2033,4094,6.5,9.5,153,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2033,2033,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.20,48.58
$GC,1237,1.62,396.8,2861,1988,2031,4094,2.3,9.2,159,1246,0.00,2.30,0.00,0.000,516,0.000,0.067,2861,1150,2031,2031,4094,0,0,0,0,0,0,26.35,26.02,26.36,10.22,49.80
$STATE,1254,end climb,FINISH_DEPTH_REACHED
$STATE,1254,begin subsurface finish
$FINISH1,0.4,1.024100,105
$GC,1262,0.16,104.5,2861,2021,2031,4094,0.4,9.3,161,1282,4.62,2.55,-3.17,0.000,20996,0.029,1.319,2414,1153,2384,2384,4094,0,0,0,0,0,0,26.14,25.00,26.18,10.22,49.76
$FINISH2,0.2
$STATE,1283,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1283,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,090713
$TT8_MAMPS,0.025466,0.25466
$HUMID,50.19
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.09,7.819
$10V_AH,10.22,9.890
$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,34.100,25.300,45.800,0.000,0.000,47.820,38.345,304.656,0.000,0.000,39.926,474.362,44.361,146.911,1122.921,103.887,33.481,433.937,0.000,395.749,0.000,0.543,0.000
$DEVICE_MAMPS,105.570,1318.860,1273.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.198,442.804,350.534,519.383,679.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14381,163
$CAP_FILE_SIZE,39177,0
$CFSIZE,1024409600,1003667456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,091525,5951.161,-17140.031,6,0.9,38,8.0,0.0,61.6,9,4.7