version: 66.13
glider: 401
mission: 22
dive: 325
start: 8 1 117 10 33 14
data:
$ID,401
$MISSION,22
$DIVE,325
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,010817,102520,5951.6431,-17140.9883,5,0.8,16,8.0,0.0,55.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-46.2
$GPS2,010817,103206,5951.6836,-17140.9062,6,0.8,18,8.0,0.3,20.9,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339039,-0.019614
$KALMAN_X,41294.367188,-2062.564697,-719.300537,-109905.562500,69.018921
$KALMAN_Y,20461.646484,1693.690796,476.184753,44709.695312,107.098877
$MHEAD_RNG_PITCHd_Wd,258.7,60570,-11.3,-9.091,-14.99,6428
$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,-390.0,230,1881,2029,4091,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.110,0.000,1137,1881,2029,2029,4095,0,0,0,0,0,0,26.19,28.83,28.83,10.25,49.25
$GC,23,-1.61,-390.0,1136,1881,2030,4095,1.0,0.0,1,51,7.72,2.38,-8.57,0.000,18948,0.061,1.301,1839,1054,2960,2960,4094,0,0,0,0,0,0,25.94,24.81,25.98,10.26,49.44
$GC,93,-1.61,-390.0,1838,1054,2961,4094,4.7,-12.0,10,101,0.00,2.15,0.00,0.000,1030,0.000,0.029,1839,1906,2961,2961,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.46,49.09
$GC,138,-1.61,-390.0,1838,1906,2962,4094,10.5,-13.0,16,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2962,2962,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.46,49.13
$GC,183,-1.61,-390.0,1838,1906,2963,4095,16.6,-13.3,22,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2963,2963,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.46,48.26
$GC,227,-1.61,-390.0,1838,1907,2964,4094,21.7,-11.1,28,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1907,2964,2964,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.45,48.07
$GC,271,-1.61,-390.0,1838,1909,2964,4095,26.1,-10.1,34,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1909,2965,2965,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.42,47.75
$GC,316,-1.61,-390.0,1838,1909,2965,4095,30.7,-10.4,40,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1910,2965,2965,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.40,46.61
$GC,360,-1.61,-390.0,1838,1910,2966,4095,35.0,-9.7,46,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1910,2966,2966,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.38,46.22
$GC,404,-1.61,-390.0,1838,1910,2967,4095,39.5,-10.4,52,414,0.00,2.28,0.00,0.000,260,0.000,0.055,1839,2759,2967,2967,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.37,45.78
$GC,462,-1.61,-390.0,1838,2758,2968,4095,45.9,-11.1,60,472,0.00,2.15,0.00,0.000,1030,0.000,0.030,1839,1915,2968,2968,4095,0,0,0,0,0,0,26.15,26.11,26.18,10.36,44.36
$GC,508,-1.61,-390.0,1838,1916,2969,4095,50.9,-11.4,66,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1916,2969,2969,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.35,44.72
$GC,552,-1.61,-390.0,1838,1916,2970,4095,56.0,-11.6,72,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1915,2970,2970,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.35,44.13
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1839,2042,2971,4095,60.3,-11.4,77,628,3.97,0.00,23.15,1.274,10244,0.058,0.000,2206,2042,2499,2499,4094,0,0,0,0,0,0,26.17,25.20,24.53,10.34,44.36
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.61,390.0,2205,2042,2499,4094,62.7,0.0,81,668,6.97,2.20,22.73,1.253,10500,0.036,0.057,2868,2848,2044,2044,4094,0,0,0,0,0,0,25.63,25.54,24.07,10.24,44.48
$GC,717,1.61,390.0,2867,2848,2043,4094,55.9,11.8,92,726,0.00,2.17,0.00,0.000,1030,0.000,0.030,2868,2022,2043,2043,4094,0,0,0,0,0,0,25.44,25.40,25.46,10.14,43.50
$GC,762,1.61,390.0,2867,2021,2042,4094,50.5,11.8,98,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2022,2042,2042,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.13,43.85
$GC,806,1.61,390.0,2867,2021,2041,4094,45.0,12.4,104,816,0.00,2.40,0.00,0.000,516,0.000,0.067,2868,1153,2041,2041,4094,0,0,0,0,0,0,25.90,25.60,25.91,10.12,43.50
$GC,853,1.61,390.0,2867,1152,2039,4094,39.2,12.9,110,862,0.00,2.10,0.00,0.000,1030,0.000,0.028,2867,1984,2039,2039,4095,0,0,0,0,0,0,25.76,25.75,25.80,10.11,44.64
$GC,898,1.61,390.0,2867,1984,2038,4095,33.5,12.3,116,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1984,2038,2038,4094,0,0,0,0,0,0,26.06,26.06,26.06,10.11,44.40
$GC,942,1.61,390.0,2867,1983,2037,4094,28.0,12.5,122,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1984,2037,2037,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.11,44.40
$GC,987,1.61,390.0,2867,1984,2035,4094,22.7,11.8,128,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1984,2035,2035,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,44.95
$GC,1031,1.61,390.0,2867,1985,2035,4094,17.6,11.5,134,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1985,2034,2034,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.15,45.66
$GC,1075,1.61,390.0,2867,1985,2034,4094,12.9,9.9,140,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1986,2034,2034,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.18,47.04
$GC,1120,1.61,390.0,2867,1986,2032,4094,8.5,9.7,146,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1986,2032,2032,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.19,48.70
$GC,1164,1.76,487.5,2867,1986,2030,4095,5.0,7.5,152,1184,0.30,2.30,6.07,0.521,10756,0.046,0.068,2901,1146,1930,1930,4094,0,0,0,0,0,0,26.06,25.91,25.32,10.21,49.13
$STATE,1204,end climb,FINISH_DEPTH_REACHED
$STATE,1205,begin subsurface finish
$FINISH1,1.5,1.024080,106
$GC,1213,0.16,105.9,2901,2024,1929,4094,1.5,8.7,157,1232,5.12,2.53,-3.97,0.000,20996,0.035,1.304,2410,1152,2380,2380,4094,0,0,0,0,0,0,26.06,24.90,26.10,10.19,48.74
$FINISH2,0.2
$STATE,1233,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1233,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,091103
$TT8_MAMPS,0.025466,0.205226
$HUMID,50.19
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.07,7.891
$10V_AH,10.27,9.981
$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,35.150,25.125,51.950,0.000,0.000,24.480,19.187,249.657,0.000,0.000,19.997,438.898,0.000,151.085,978.562,95.262,33.482,441.295,0.000,242.346,0.000,0.543,0.000
$DEVICE_MAMPS,110.160,1304.325,1273.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.637,432.013,0.000,506.722,662.926,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,14341,159
$CAP_FILE_SIZE,37272,0
$CFSIZE,1024409600,1003520000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,103206,5951.684,-17140.906,6,0.8,18,8.0,0.3,20.9,10,4.8