version: 66.13
glider: 401
mission: 22
dive: 327
start: 8 1 117 11 18 6
data:
$ID,401
$MISSION,22
$DIVE,327
$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,18
$R_STBD_OVSHOOT,25
$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,0.14
$_SM_ANGLEo,-0.3
$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,-0.338086,-0.034274
$KALMAN_X,41897.894531,-1991.307739,-636.504883,-110677.687500,159.765381
$KALMAN_Y,20544.449219,1697.143555,485.954132,44628.726562,106.654449
$MHEAD_RNG_PITCHd_Wd,256.2,60570,-11.3,-9.091,-14.98,6437
$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,-390.0,2417,1902,2382,4092,0.0,0.0,0,21,5.93,0.00,-4.85,0.000,20482,0.026,0.000,1844,1902,2915,2915,4094,0,0,0,0,0,0,26.06,28.83,26.08,10.29,50.98
$GC,23,-1.61,-390.0,1844,1902,2914,4094,0.1,0.0,1,33,0.00,2.53,-0.35,0.000,16900,0.000,1.297,1844,1033,2956,2956,4094,0,0,0,0,0,0,26.25,24.89,26.13,10.41,50.63
$GC,95,-1.61,-390.0,1843,1033,2957,4094,5.9,-12.5,11,105,0.00,2.20,0.00,0.000,1030,0.000,0.031,1844,1903,2957,2957,4095,0,0,0,0,0,0,25.95,25.91,25.97,10.42,50.94
$GC,140,-1.61,-390.0,1844,1903,2958,4095,12.0,-13.8,17,150,0.00,2.33,0.00,0.000,260,0.000,0.058,1844,2759,2958,2958,4094,0,0,0,0,0,0,26.21,25.89,26.22,10.42,50.35
$GC,172,-1.61,-390.0,1844,2759,2959,4094,16.3,-12.9,21,181,0.00,2.22,0.00,0.000,1030,0.000,0.033,1844,1897,2959,2959,4095,0,0,0,0,0,0,26.01,25.97,26.06,10.42,49.80
$GC,218,-1.61,-390.0,1843,1897,2960,4095,21.5,-11.5,27,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1897,2960,2960,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.41,49.60
$GC,263,-1.61,-390.0,1843,1897,2961,4094,26.2,-10.1,33,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1897,2961,2961,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.39,49.17
$GC,307,-1.61,-390.0,1844,1897,2961,4094,30.5,-9.5,39,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1897,2962,2962,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.37,49.05
$GC,352,-1.61,-390.0,1844,1897,2962,4095,34.9,-9.9,45,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1897,2962,2962,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.36,47.51
$GC,396,-1.61,-390.0,1844,1897,2963,4095,39.3,-10.3,51,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1897,2963,2963,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.34,46.77
$GC,440,-1.61,-390.0,1843,1897,2964,4094,44.0,-10.3,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1897,2964,2964,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.33,46.81
$GC,485,-1.61,-390.0,1844,1897,2964,4094,48.7,-10.7,63,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1897,2965,2965,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.32,45.86
$GC,529,-1.61,-390.0,1844,1897,2966,4094,53.6,-11.2,69,538,0.00,2.35,0.00,0.000,260,0.000,0.056,1844,2762,2966,2966,4095,0,0,0,0,0,0,26.46,26.15,26.48,10.32,45.58
$GC,574,-1.61,-390.0,1843,2762,2967,4095,58.7,-11.3,75,583,0.00,2.17,0.00,0.000,1030,0.000,0.031,1844,1911,2966,2966,4094,0,0,0,0,0,0,26.26,26.25,26.29,10.31,45.31
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,597,-0.45,0.0,1844,2044,2967,4094,60.8,-11.1,77,632,3.95,0.00,22.83,1.277,10244,0.060,0.000,2204,2044,2502,2502,4095,0,0,0,0,0,0,26.21,25.24,24.57,10.32,45.43
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,635,1.61,390.0,2204,2044,2502,4095,63.1,0.0,81,672,7.00,2.22,22.83,1.259,10500,0.035,0.060,2867,2856,2045,2045,4094,0,0,0,0,0,0,25.64,25.58,24.11,10.21,45.07
$GC,714,1.61,390.0,2866,2856,2044,4094,56.9,11.7,91,723,0.00,2.20,0.00,0.000,1030,0.000,0.030,2867,2022,2043,2043,4094,0,0,0,0,0,0,25.43,25.39,25.45,10.11,44.21
$GC,760,1.61,390.0,2867,2021,2043,4094,51.6,12.0,97,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2022,2042,2042,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.10,45.03
$GC,805,1.61,390.0,2867,2022,2041,4094,45.9,12.5,103,813,0.00,2.42,0.00,0.000,516,0.000,0.067,2867,1147,2041,2041,4094,0,0,0,0,0,0,25.89,25.57,25.91,10.10,45.39
$GC,849,1.61,390.0,2867,1146,2041,4094,40.2,12.6,109,859,0.00,2.12,0.00,0.000,1030,0.000,0.029,2867,1985,2040,2040,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.10,44.99
$GC,895,1.61,390.0,2867,1985,2039,4094,34.6,12.3,115,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1985,2039,2039,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.09,45.58
$GC,939,1.61,390.0,2867,1985,2038,4095,29.2,12.3,121,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1985,2038,2038,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.09,45.39
$GC,983,1.61,390.0,2866,1985,2037,4094,24.0,11.6,127,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1985,2036,2036,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.09,45.62
$GC,1027,1.61,390.0,2866,1985,2035,4094,18.9,11.6,133,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1985,2035,2035,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,46.18
$GC,1071,1.61,390.0,2867,1986,2034,4094,14.0,10.9,139,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1987,2034,2034,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.14,47.36
$GC,1116,1.61,390.0,2867,1986,2033,4094,9.6,9.5,145,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1987,2033,2033,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.16,48.18
$GC,1160,1.61,390.0,2867,1987,2032,4094,5.4,9.5,151,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1988,2032,2032,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.18,49.21
$STATE,1196,end climb,SURFACE_DEPTH_REACHED
$STATE,1196,begin surface coast
$FINISH,0.3,1.024087
$STATE,1217,end surface coast,CONTROL_FINISHED_OK
$STATE,1217,begin surface
$SM_CCo,1314,0.00,0.000,0,0,2030,404.40
$SM_GC,1.11,27.80,0.25,0.00,0.024,0.062,0.000,230,1887,2030,-6.65,0.77,404.40,0,0,0,0,0,0,26.03,26.12,26.13
$IRIDIUM_FIX,5955.74,-17228.01,010817,091103
$TT8_MAMPS,0.025466,0.212716
$HUMID,50.31
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.11,7.926
$10V_AH,10.26,10.041
$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,44.675,25.175,45.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.794,59.832,161.503,670.398,43.997,33.422,433.943,0.000,240.481,0.000,0.542,0.000
$DEVICE_MAMPS,60.435,1296.675,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.081,432.000,0.000,507.085,663.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330884
$DATA_FILE_SIZE,14263,159
$CAP_FILE_SIZE,33372,0
$CFSIZE,1024409600,1003421696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,114101,5952.063,-17141.459,5,0.7,27,8.0,0.3,70.2,11,4.9