version: 66.13
glider: 401
mission: 22
dive: 352
start: 8 1 117 22 13 20
data:
$ID,401
$MISSION,22
$DIVE,352
$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,30
$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,40
$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
$GPS1,010817,220527,5953.7544,-17151.4551,5,0.7,14,8.0,0.0,47.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-37.1
$GPS2,010817,221213,5953.7925,-17151.4355,6,0.8,17,8.0,0.5,304.5,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.331013,-0.077705
$KALMAN_X,43094.367188,-2450.685059,-1105.213867,-120893.898438,25.767456
$KALMAN_Y,22289.968750,1529.244873,404.653198,47017.660156,176.420624
$MHEAD_RNG_PITCHd_Wd,248.8,50234,-11.3,-9.091,-14.97,6446
$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,-390.0,230,1917,1893,4092,0.0,0.0,0,21,11.02,0.00,0.00,0.000,2049,0.098,0.000,1153,1916,1893,1893,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.21,50.43
$GC,23,-1.61,-390.0,1152,1916,1893,4094,0.9,0.0,1,51,7.43,1.88,-9.80,0.000,18948,0.050,1.298,1836,1256,2958,2958,4095,0,0,0,0,0,0,25.84,24.77,25.93,10.22,50.15
$GC,67,-1.61,-390.0,1835,1256,2957,4095,0.8,-1.4,6,76,0.00,1.58,0.00,0.000,1030,0.000,0.028,1836,1896,2958,2958,4094,0,0,0,0,0,0,25.78,25.79,25.83,10.45,50.27
$GC,113,-1.61,-390.0,1835,1895,2959,4094,6.1,-12.4,12,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1896,2959,2959,4095,0,0,0,0,0,0,26.05,26.07,26.06,10.45,49.60
$GC,159,-1.61,-390.0,1835,1896,2960,4095,11.9,-12.4,18,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1896,2960,2960,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.45,49.29
$GC,205,-1.61,-390.0,1835,1896,2961,4094,17.8,-13.0,24,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1896,2961,2961,4095,0,0,0,0,0,0,26.16,26.17,26.17,10.42,48.62
$GC,251,-1.61,-390.0,1835,1896,2962,4095,23.2,-11.6,30,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1896,2962,2962,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.39,48.03
$GC,297,-1.61,-390.0,1835,1896,2963,4095,28.1,-10.3,36,306,0.00,1.70,0.00,0.000,260,0.000,0.047,1836,2528,2963,2963,4095,0,0,0,0,0,0,26.25,25.93,26.26,10.38,47.20
$GC,376,-1.61,-390.0,1835,2527,2964,4095,36.7,-11.0,47,386,0.00,1.60,0.00,0.000,1030,0.000,0.030,1836,1901,2964,2964,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.35,45.78
$GC,423,-1.61,-390.0,1835,1901,2965,4095,42.0,-11.5,53,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1901,2965,2965,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.35,45.82
$GC,469,-1.61,-390.0,1835,1901,2966,4095,47.3,-11.3,59,478,0.00,1.73,0.00,0.000,516,0.000,0.062,1836,1254,2966,2966,4095,0,0,0,0,0,0,26.36,26.03,26.37,10.33,45.82
$GC,533,-1.61,-390.0,1836,1254,2967,4095,55.2,-12.1,68,543,0.00,1.55,0.00,0.000,1030,0.000,0.028,1836,1892,2968,2968,4094,0,0,0,0,0,0,26.19,26.19,26.22,10.33,44.48
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,582,-0.45,0.0,1836,2038,2968,4094,60.4,-11.5,74,618,4.03,0.00,22.98,1.286,10244,0.060,0.000,2203,2037,2501,2501,4095,0,0,0,0,0,0,26.14,25.16,24.46,10.32,44.48
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,621,1.61,390.0,2203,2038,2501,4095,62.9,0.0,78,656,7.03,0.00,22.83,1.267,11270,0.035,0.000,2861,2038,2044,2044,4094,0,0,0,0,0,0,25.63,25.79,24.03,10.22,44.84
$GC,693,1.61,390.0,2861,2038,2044,4094,57.9,10.6,87,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2043,2043,4095,0,0,0,0,0,0,25.56,25.58,25.58,10.12,43.93
$GC,739,1.61,390.0,2861,2038,2043,4095,52.7,11.6,93,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2042,2042,4094,0,0,0,0,0,0,25.73,25.75,25.74,10.11,44.09
$GC,785,1.61,390.0,2861,2037,2041,4094,47.3,11.8,99,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,2041,2041,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.11,43.97
$GC,831,1.61,390.0,2861,2038,2041,4094,41.9,11.8,105,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2038,2040,2040,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.10,44.09
$GC,876,1.61,390.0,2861,2037,2039,4094,36.6,11.7,111,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2038,2038,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.10,45.23
$GC,922,1.61,390.0,2861,2038,2038,4094,31.1,12.0,117,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2037,2037,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.09,44.99
$GC,968,1.61,390.0,2861,2038,2036,4094,25.6,12.1,123,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2036,2036,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.09,45.27
$GC,1014,1.61,390.0,2861,2038,2035,4094,20.1,11.5,129,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2039,2035,2035,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.10,45.98
$GC,1059,1.61,390.0,2861,2038,2034,4094,15.1,10.7,135,1069,0.00,1.80,0.00,0.000,516,0.000,0.061,2862,1377,2034,2034,4095,0,0,0,0,0,0,26.21,25.89,26.22,10.12,45.74
$GC,1124,1.61,390.0,2861,1376,2032,4095,8.7,10.1,144,1134,0.00,1.52,0.00,0.000,1030,0.000,0.028,2862,2001,2032,2032,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.16,47.99
$GC,1170,1.61,390.0,2861,2000,2031,4094,4.1,10.1,150,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2000,2031,2031,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,48.97
$STATE,1194,end climb,FINISH_DEPTH_REACHED
$STATE,1194,begin subsurface finish
$FINISH1,1.7,1.024096,105
$GC,1200,0.16,104.8,2862,2005,2030,4094,1.7,9.4,153,1211,4.78,0.00,-3.10,0.000,20486,0.050,0.000,2414,2007,2384,2384,4094,0,0,0,0,0,0,26.09,25.18,26.14,10.19,49.40
$FINISH2,0.2
$STATE,1212,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1212,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,204853
$TT8_MAMPS,0.025466,0.259154
$HUMID,49.37
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.03,8.543
$10V_AH,10.20,10.870
$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,34.275,13.650,45.800,0.000,0.000,25.616,19.996,247.281,0.000,0.000,18.899,450.627,0.000,137.568,954.259,98.323,33.454,411.353,0.000,374.584,0.000,0.542,0.000
$DEVICE_MAMPS,97.920,1298.205,1285.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.316,418.286,331.260,490.946,643.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,14325,154
$CAP_FILE_SIZE,35315,0
$CFSIZE,1024409600,1002192896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,221213,5953.792,-17151.436,6,0.8,17,8.0,0.5,304.5,10,5.0