version: 66.13
glider: 401
mission: 22
dive: 326
start: 8 1 117 10 55 52
data:
$ID,401
$MISSION,22
$DIVE,326
$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,15
$R_STBD_OVSHOOT,38
$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
$GPS1,010817,103206,5951.6836,-17140.9062,6,0.8,18,8.0,0.3,20.9,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.7
$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,-0.338826,-0.023479
$KALMAN_X,41509.250000,-1991.551025,-641.209473,-110285.312500,51.619812
$KALMAN_Y,20523.312500,1687.258667,474.258118,44671.445312,115.794250
$MHEAD_RNG_PITCHd_Wd,258.0,60570,-11.3,-9.091,-14.98,6429
$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,-390.0,2410,1911,2380,4092,0.0,0.0,0,21,5.85,0.00,-5.30,0.000,20482,0.027,0.000,1848,1911,2958,2958,4094,0,0,0,0,0,0,26.03,28.83,26.05,10.30,50.47
$GC,23,-1.61,-390.0,1847,1911,2958,4094,0.1,0.0,1,31,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1911,2958,2958,4095,0,0,0,0,0,0,26.23,26.24,26.24,10.43,50.11
$GC,67,-1.61,-390.0,1847,1911,2959,4095,3.6,-10.6,7,76,0.00,2.42,0.00,0.000,516,0.000,0.068,1848,1030,2959,2959,4094,0,0,0,0,0,0,26.29,25.94,26.30,10.43,49.40
$GC,124,-1.61,-390.0,1847,1029,2961,4094,11.7,-14.3,15,134,0.00,2.17,0.00,0.000,1030,0.000,0.031,1848,1897,2961,2961,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.43,49.37
$GC,171,-1.61,-390.0,1847,1897,2962,4095,17.5,-12.7,21,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1897,2963,2963,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.43,49.72
$GC,214,-1.61,-390.0,1847,1898,2963,4095,22.5,-10.7,27,224,0.00,2.30,0.00,0.000,260,0.000,0.056,1848,2752,2963,2963,4095,0,0,0,0,0,0,26.39,26.10,26.39,10.41,49.60
$GC,253,-1.61,-390.0,1847,2752,2964,4095,26.4,-10.0,32,263,0.00,2.22,0.00,0.000,1030,0.000,0.032,1848,1885,2964,2964,4094,0,0,0,0,0,0,26.17,26.13,26.18,10.39,48.89
$GC,300,-1.61,-390.0,1847,1884,2964,4094,31.0,-10.3,38,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1884,2964,2964,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.83
$GC,346,-1.61,-390.0,1847,1884,2965,4094,35.8,-10.2,44,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1884,2966,2966,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.36,47.44
$GC,392,-1.61,-390.0,1847,1884,2966,4095,40.6,-10.7,50,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1884,2966,2966,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.34,46.41
$GC,437,-1.61,-390.0,1847,1884,2967,4095,45.5,-10.5,56,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1884,2967,2967,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.33,45.39
$GC,483,-1.61,-390.0,1847,1884,2968,4095,50.4,-10.8,62,493,0.00,2.35,0.00,0.000,260,0.000,0.054,1848,2755,2968,2968,4095,0,0,0,0,0,0,26.51,26.19,26.52,10.33,45.47
$GC,530,-1.61,-390.0,1847,2754,2969,4095,55.5,-10.9,68,539,0.00,2.20,0.00,0.000,1030,0.000,0.031,1847,1891,2969,2969,4095,0,0,0,0,0,0,26.29,26.25,26.32,10.33,44.99
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1847,2039,2970,4094,60.6,-10.6,74,616,3.92,0.00,22.95,1.276,10244,0.059,0.000,2207,2039,2499,2499,4094,0,0,0,0,0,0,26.27,25.29,24.60,10.32,45.51
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,619,1.61,390.0,2207,2039,2499,4094,63.0,0.0,78,656,6.95,2.22,22.65,1.255,10500,0.036,0.058,2867,2854,2045,2045,4094,0,0,0,0,0,0,25.69,25.63,24.15,10.22,44.60
$GC,698,1.61,390.0,2866,2853,2044,4094,57.1,11.7,88,707,0.00,2.20,0.00,0.000,1030,0.000,0.031,2867,2019,2043,2043,4094,0,0,0,0,0,0,25.45,25.42,25.48,10.11,44.29
$GC,743,1.61,390.0,2867,2019,2042,4094,51.7,11.7,94,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2019,2042,2042,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.12,44.25
$GC,787,1.61,390.0,2867,2019,2041,4094,46.2,12.3,100,797,0.00,2.40,0.00,0.000,516,0.000,0.068,2867,1152,2041,2041,4094,0,0,0,0,0,0,25.91,25.58,25.93,10.11,44.44
$GC,834,1.61,390.0,2867,1151,2040,4094,40.6,12.7,106,843,0.00,2.10,0.00,0.000,1030,0.000,0.028,2867,1983,2040,2040,4095,0,0,0,0,0,0,25.79,25.76,25.82,10.10,44.80
$GC,880,1.61,390.0,2867,1982,2039,4095,35.0,12.1,112,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1982,2039,2039,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.10,44.64
$GC,926,1.61,390.0,2867,1982,2037,4095,29.5,12.0,118,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1983,2038,2038,4095,0,0,0,0,0,0,26.12,26.14,26.14,10.10,44.92
$GC,971,1.61,390.0,2867,1982,2036,4095,24.3,11.0,124,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1983,2037,2037,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.11,45.74
$GC,1015,1.61,390.0,2867,1984,2035,4094,19.0,12.0,130,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1984,2035,2035,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.12,45.74
$GC,1059,1.61,390.0,2867,1984,2034,4094,14.1,10.6,136,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1985,2034,2034,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.15,47.99
$GC,1103,1.61,390.0,2867,1985,2033,4094,9.8,9.4,142,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1985,2033,2033,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.17,48.14
$GC,1148,1.61,390.0,2867,1985,2032,4094,5.6,9.5,148,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1985,2032,2032,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.18,49.48
$STATE,1183,end climb,FINISH_DEPTH_REACHED
$STATE,1184,begin subsurface finish
$FINISH1,2.0,1.024076,106
$GC,1190,0.16,106.2,2867,2034,2031,4094,2.0,9.9,153,1209,5.05,2.53,-3.03,0.000,20996,0.073,1.309,2418,1153,2382,2382,4094,0,0,0,0,0,0,26.03,24.96,26.13,10.19,49.80
$FINISH2,0.1
$STATE,1210,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1211,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,091103
$TT8_MAMPS,0.026215,0.253162
$HUMID,49.84
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.15,7.909
$10V_AH,10.20,10.016
$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,21.775,27.350,45.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.524,0.000,138.738,647.585,44.328,33.432,406.791,0.000,374.980,0.000,0.542,0.000
$DEVICE_MAMPS,72.675,1308.915,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.813,421.011,333.361,494.277,644.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330884
$DATA_FILE_SIZE,14377,155
$CAP_FILE_SIZE,31387,0
$CFSIZE,1024409600,1003487232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,103206,5951.684,-17140.906,6,0.8,18,8.0,0.3,20.9,10,4.8