version: 66.13
glider: 401
mission: 22
dive: 329
start: 8 1 117 12 11 29
data:
$ID,401
$MISSION,22
$DIVE,329
$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,21
$R_STBD_OVSHOOT,37
$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
$GPS1,010817,114738,5952.0840,-17141.3496,6,0.8,15,8.0,0.8,65.2,10,4.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.4
$GPS2,010817,114738,5952.0840,-17141.3496,6,0.8,15,8.0,0.8,65.2,10,4.4
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338784,-0.015986
$KALMAN_X,42263.105469,-1964.874634,-597.307800,-111527.515625,114.787903
$KALMAN_Y,21185.525391,1758.149780,547.633850,44605.941406,88.742737
$MHEAD_RNG_PITCHd_Wd,259.3,60014,-11.3,-9.091,-15.00,6407
$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,-389.0,2413,1913,2384,4091,0.0,0.0,0,21,5.90,0.00,-4.62,0.000,20482,0.026,0.000,1842,1915,2887,2887,4095,0,0,0,0,0,0,26.06,28.83,26.06,10.31,49.72
$GC,23,-1.61,-389.0,1842,1914,2886,4095,0.1,0.0,1,33,0.00,2.53,-0.62,0.000,16900,0.000,1.293,1843,1039,2956,2956,4094,0,0,0,0,0,0,26.25,24.91,26.17,10.41,50.03
$GC,127,-1.61,-389.0,1842,1039,2957,4094,5.8,-12.8,16,137,0.00,2.15,0.00,0.000,1030,0.000,0.030,1842,1889,2957,2957,4095,0,0,0,0,0,0,26.01,25.96,26.01,10.43,49.80
$GC,172,-1.61,-389.0,1842,1889,2958,4095,11.8,-13.2,22,182,0.00,2.38,0.00,0.000,260,0.000,0.057,1842,2765,2957,2957,4094,0,0,0,0,0,0,26.25,25.92,26.25,10.44,49.80
$GC,204,-1.61,-389.0,1842,2765,2959,4094,15.8,-12.2,26,214,0.00,2.20,0.00,0.000,1030,0.000,0.032,1842,1911,2959,2959,4095,0,0,0,0,0,0,26.03,26.00,26.06,10.43,49.33
$GC,251,-1.61,-389.0,1842,1911,2959,4095,20.8,-11.1,32,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2960,2960,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.42,48.85
$GC,295,-1.61,-389.0,1842,1911,2961,4095,25.5,-9.5,38,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2961,2961,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.40,48.58
$GC,339,-1.61,-389.0,1842,1910,2961,4095,29.6,-9.5,44,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2962,2962,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.38,47.71
$GC,383,-1.61,-389.0,1842,1911,2963,4094,34.1,-10.1,50,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2962,2962,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.36,46.85
$GC,427,-1.61,-389.0,1843,1911,2964,4095,38.6,-10.1,56,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2964,2964,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.35,46.22
$GC,472,-1.61,-389.0,1842,1910,2964,4095,43.3,-10.5,62,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2964,2964,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.34,45.66
$GC,516,-1.61,-389.0,1842,1911,2965,4095,48.1,-10.9,68,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2965,2965,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.33,45.94
$GC,560,-1.61,-389.0,1842,1911,2966,4095,52.9,-10.8,74,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2966,2966,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.33,45.15
$GC,605,-1.61,-389.0,1842,1910,2966,4094,57.8,-10.9,80,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1911,2967,2967,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.32,44.84
$STATE,629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,629,begin apogee
$GC,635,-0.45,0.0,1842,2044,2967,4095,60.5,-10.9,83,670,3.92,0.00,22.90,1.284,10244,0.057,0.000,2206,2044,2500,2500,4095,0,0,0,0,0,0,26.23,25.25,24.57,10.32,45.23
$STATE,671,end apogee,CONTROL_FINISHED_OK
$STATE,671,begin climb
$GC,673,1.61,389.0,2205,2043,2500,4095,63.0,0.0,87,709,6.97,0.00,22.75,1.261,11270,0.035,0.000,2862,2044,2045,2045,4094,0,0,0,0,0,0,25.72,25.87,24.11,10.22,44.64
$GC,746,1.61,389.0,2861,2043,2044,4094,57.9,10.9,96,755,0.00,2.28,0.00,0.000,260,0.000,0.057,2862,2859,2044,2044,4095,0,0,0,0,0,0,25.63,25.33,25.64,10.11,43.93
$GC,791,1.61,389.0,2861,2858,2043,4095,52.0,13.0,102,800,0.00,2.20,0.00,0.000,1030,0.000,0.029,2862,2019,2043,2043,4094,0,0,0,0,0,0,25.60,25.53,25.63,10.11,44.52
$GC,836,1.61,389.0,2862,2019,2041,4094,46.5,12.0,108,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2019,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,44.48
$GC,881,1.61,389.0,2861,2019,2040,4094,41.1,12.2,114,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2019,2040,2040,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.11,44.36
$GC,925,1.61,389.0,2861,2019,2039,4094,35.8,11.9,120,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2019,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.10,45.39
$GC,969,1.61,389.0,2861,2019,2038,4094,30.5,12.1,126,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2019,2037,2037,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.10,44.99
$GC,1013,1.61,389.0,2861,2019,2037,4094,25.1,12.0,132,1023,0.00,2.38,0.00,0.000,516,0.000,0.068,2862,1152,2036,2036,4094,0,0,0,0,0,0,26.15,25.82,26.17,10.10,45.43
$GC,1071,1.61,389.0,2861,1151,2035,4094,18.3,11.9,140,1081,0.00,2.10,0.00,0.000,1030,0.000,0.030,2862,1989,2035,2035,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.13,45.78
$GC,1117,1.61,389.0,2861,1989,2034,4094,13.3,11.1,146,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.15,47.12
$GC,1161,1.61,389.0,2861,1989,2033,4094,9.1,9.5,152,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2033,2033,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.17,48.07
$GC,1205,1.61,389.0,2861,1989,2031,4094,5.0,9.3,158,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1989,2031,2031,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.18,49.56
$STATE,1241,end climb,FINISH_DEPTH_REACHED
$STATE,1241,begin subsurface finish
$FINISH1,1.5,1.024092,105
$GC,1247,0.16,105.1,2862,1991,2031,4094,1.5,9.4,163,1258,4.93,0.00,-3.00,0.000,20486,0.067,0.000,2412,1993,2385,2385,4094,0,0,0,0,0,0,26.12,25.21,26.16,10.19,49.21
$FINISH2,0.4
$STATE,1259,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1259,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,102656
$TT8_MAMPS,0.025466,0.205975
$HUMID,49.72
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.11,7.979
$10V_AH,10.27,10.107
$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,21.725,20.375,45.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.141,0.000,137.320,691.771,42.054,33.431,416.147,0.000,247.515,0.000,1.122,0.000
$DEVICE_MAMPS,66.555,1292.850,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.473,445.557,0.000,523.208,683.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330988
$DATA_FILE_SIZE,14292,164
$CAP_FILE_SIZE,32008,0
$CFSIZE,1024409600,1003339776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,114738,5952.084,-17141.350,6,0.8,15,8.0,0.8,65.2,10,4.4