version: 66.13
glider: 401
mission: 22
dive: 328
start: 8 1 117 11 48 46
data:
$ID,401
$MISSION,22
$DIVE,328
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,010817,114101,5952.0630,-17141.4590,5,0.7,27,8.0,0.3,70.2,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-45.2
$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,-0.339453,-0.013358
$KALMAN_X,42051.367188,-2047.064087,-689.176147,-111133.078125,152.294067
$KALMAN_Y,21125.134766,1767.732178,560.237305,44632.683594,77.864075
$MHEAD_RNG_PITCHd_Wd,259.7,60014,-11.3,-9.091,-14.98,6433
$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,-390.0,230,1887,2030,4092,0.0,0.0,0,20,10.12,0.00,0.00,0.000,2049,0.109,0.000,1061,1887,2031,2031,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,49.88
$GC,22,-1.61,-390.0,1061,1887,2030,4094,0.9,0.0,1,50,8.52,2.42,-8.50,0.000,18948,0.057,1.301,1836,1046,2959,2959,4094,0,0,0,0,0,0,25.90,24.79,25.96,10.25,49.80
$GC,124,-1.61,-390.0,1836,1046,2960,4094,9.4,-14.5,15,133,0.00,2.17,0.00,0.000,1030,0.000,0.030,1836,1906,2960,2960,4095,0,0,0,0,0,0,25.90,25.89,25.91,10.46,48.74
$GC,169,-1.61,-390.0,1836,1906,2961,4095,15.7,-14.0,21,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1906,2961,2961,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.45,48.34
$GC,213,-1.61,-390.0,1836,1907,2962,4094,21.0,-11.6,27,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1908,2962,2962,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.44,48.11
$GC,259,-1.61,-390.0,1836,1909,2963,4094,25.8,-10.7,33,269,0.00,2.33,0.00,0.000,260,0.000,0.055,1836,2766,2963,2963,4094,0,0,0,0,0,0,26.24,25.93,26.25,10.42,47.44
$GC,298,-1.61,-390.0,1836,2766,2964,4094,30.1,-10.4,38,307,0.00,2.22,0.00,0.000,1030,0.000,0.031,1837,1900,2964,2964,4095,0,0,0,0,0,0,26.05,25.98,26.07,10.39,46.92
$GC,345,-1.61,-390.0,1836,1899,2964,4095,34.7,-10.3,44,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1900,2964,2964,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.38,45.94
$GC,390,-1.61,-390.0,1836,1900,2966,4095,39.6,-10.8,50,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1900,2966,2966,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.37,45.94
$GC,436,-1.61,-390.0,1836,1900,2966,4094,44.5,-10.9,56,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1900,2966,2966,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.35,44.68
$GC,480,-1.61,-390.0,1836,1900,2967,4095,49.4,-10.7,62,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1900,2967,2967,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.35,44.32
$GC,524,-1.61,-390.0,1836,1899,2969,4095,54.2,-11.1,68,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1900,2969,2969,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.35,44.29
$GC,567,-1.61,-390.0,1836,1900,2969,4095,59.0,-11.2,74,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1900,2969,2969,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.34,44.21
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,589,-0.45,0.0,1837,2049,2969,4094,61.1,-11.3,76,624,4.03,0.05,23.00,1.282,10244,0.058,0.058,2205,2008,2500,2500,4094,0,0,0,0,0,0,26.17,25.20,24.51,10.33,43.97
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,627,1.61,390.0,2205,2008,2500,4094,63.4,0.0,80,663,7.00,0.00,22.70,1.258,11270,0.036,0.000,2862,2008,2047,2047,4094,0,0,0,0,0,0,25.66,25.83,24.08,10.23,44.48
$GC,701,1.61,390.0,2862,2008,2046,4094,58.3,10.8,89,710,0.00,2.38,0.00,0.000,260,0.000,0.056,2862,2858,2045,2045,4094,0,0,0,0,0,0,25.60,25.30,25.61,10.13,43.73
$GC,747,1.61,390.0,2862,2857,2045,4094,52.5,12.9,95,756,0.00,2.17,0.00,0.000,1030,0.000,0.030,2863,2028,2044,2044,4094,0,0,0,0,0,0,25.55,25.53,25.58,10.12,43.89
$GC,793,1.61,390.0,2862,2028,2043,4094,46.8,12.2,101,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2028,2043,2043,4095,0,0,0,0,0,0,25.88,25.89,25.89,10.12,43.54
$GC,839,1.61,390.0,2862,2028,2042,4095,41.2,12.4,107,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2028,2041,2041,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.11,43.89
$GC,885,1.61,390.0,2862,2028,2040,4094,35.4,12.7,113,894,0.00,2.38,0.00,0.000,516,0.000,0.067,2862,1159,2040,2040,4094,0,0,0,0,0,0,26.04,25.70,26.05,10.11,43.85
$GC,923,1.61,390.0,2862,1159,2040,4094,30.4,12.7,118,933,0.00,2.08,0.00,0.000,1030,0.000,0.028,2862,1984,2039,2039,4095,0,0,0,0,0,0,25.89,25.84,25.90,10.11,45.23
$GC,970,1.61,390.0,2862,1983,2039,4095,25.1,11.3,124,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1984,2038,2038,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.11,45.03
$GC,1016,1.61,390.0,2862,1984,2037,4094,20.0,11.3,130,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1984,2037,2037,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.13,45.19
$GC,1059,1.61,390.0,2862,1985,2036,4094,15.0,10.7,136,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1985,2035,2035,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.16,46.77
$GC,1104,1.61,390.0,2862,1984,2035,4094,10.6,9.7,142,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1986,2035,2035,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.17,48.18
$GC,1148,1.62,394.7,2862,1986,2034,4094,6.6,9.0,148,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1987,2034,2034,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,48.42
$GC,1192,1.62,394.7,2862,1986,2033,4094,2.5,9.4,154,1202,0.00,2.28,0.00,0.000,516,0.000,0.067,2863,1158,2033,2033,4094,0,0,0,0,0,0,26.33,26.01,26.34,10.20,49.01
$STATE,1209,end climb,FINISH_DEPTH_REACHED
$STATE,1210,begin subsurface finish
$FINISH1,0.7,1.024092,105
$GC,1218,0.16,105.1,2862,2027,2032,4094,0.7,9.5,156,1237,4.65,2.53,-3.17,0.000,20996,0.031,1.311,2414,1156,2384,2384,4094,0,0,0,0,0,0,26.12,24.96,26.17,10.21,49.84
$FINISH2,0.1
$STATE,1238,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1238,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,102656
$TT8_MAMPS,0.025466,0.260652
$HUMID,49.72
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.08,7.962
$10V_AH,10.21,10.081
$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,34.325,25.525,45.700,0.000,0.000,24.797,16.485,246.001,0.000,0.000,16.911,453.177,0.000,150.368,956.399,99.950,33.481,435.275,0.000,384.436,0.000,0.544,0.000
$DEVICE_MAMPS,109.395,1311.210,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.517,429.235,339.814,503.596,653.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329428
$DATA_FILE_SIZE,14412,158
$CAP_FILE_SIZE,38125,0
$CFSIZE,1024409600,1003372544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,114738,5952.084,-17141.350,6,0.8,15,8.0,0.8,65.2,10,4.4