version: 66.13
glider: 401
mission: 22
dive: 353
start: 8 1 117 22 35 35
data:
$ID,401
$MISSION,22
$DIVE,353
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,010817,221213,5953.7925,-17151.4355,6,0.8,17,8.0,0.5,304.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.8
$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,-0.331410,-0.074308
$KALMAN_X,43280.625000,-2391.335449,-1009.543091,-121257.320312,3.315796
$KALMAN_Y,22390.308594,1540.888428,425.550751,46904.945312,175.932831
$MHEAD_RNG_PITCHd_Wd,249.4,50234,-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,-390.0,2413,1897,2383,4092,0.0,0.0,0,21,5.88,0.00,-5.12,0.000,20482,0.026,0.000,1845,1897,2942,2942,4094,0,0,0,0,0,0,26.17,28.83,26.19,10.28,50.98
$GC,23,-1.61,-390.0,1845,1897,2942,4094,0.2,0.0,1,33,0.00,1.80,-0.12,0.000,16900,0.000,1.311,1845,1257,2959,2959,4094,0,0,0,0,0,0,26.36,25.00,26.13,10.40,50.66
$GC,43,-1.61,-390.0,1844,1257,2959,4094,1.7,-5.7,3,52,0.00,1.58,0.00,0.000,1030,0.000,0.030,1845,1897,2960,2960,4095,0,0,0,0,0,0,25.99,25.97,26.01,10.41,50.43
$GC,89,-1.61,-390.0,1844,1900,2961,4095,6.8,-12.2,9,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2961,2961,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.42,50.27
$GC,132,-1.61,-390.0,1845,1899,2961,4095,12.7,-13.1,15,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2962,2962,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.40,50.00
$GC,177,-1.61,-390.0,1845,1900,2963,4094,18.2,-11.9,21,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2963,2963,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.39,49.76
$GC,221,-1.61,-390.0,1845,1900,2963,4094,23.2,-11.1,27,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2964,2964,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.37,49.92
$GC,265,-1.61,-390.0,1844,1900,2964,4094,27.9,-10.6,33,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2964,2964,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.35,48.07
$GC,310,-1.61,-390.0,1844,1900,2965,4094,32.7,-10.8,39,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1900,2965,2965,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.33,48.03
$GC,354,-1.61,-390.0,1844,1900,2966,4094,37.4,-10.9,45,362,0.00,1.67,0.00,0.000,260,0.000,0.050,1845,2530,2966,2966,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.32,47.16
$GC,411,-1.61,-390.0,1844,2530,2967,4095,43.7,-11.0,53,420,0.00,1.58,0.00,0.000,1030,0.000,0.031,1845,1912,2968,2968,4095,0,0,0,0,0,0,26.22,26.18,26.24,10.31,46.29
$GC,457,-1.61,-390.0,1844,1913,2967,4095,48.7,-11.0,59,466,0.00,1.75,0.00,0.000,516,0.000,0.063,1845,1255,2969,2969,4094,0,0,0,0,0,0,26.46,26.14,26.47,10.31,46.06
$GC,515,-1.61,-390.0,1844,1254,2970,4094,55.5,-11.5,67,525,0.00,1.58,0.00,0.000,1030,0.000,0.029,1845,1900,2969,2969,4095,0,0,0,0,0,0,26.27,26.26,26.29,10.30,45.90
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,564,-0.45,0.0,1844,2034,2971,4095,60.7,-11.3,73,599,3.92,0.00,23.12,1.291,10244,0.059,0.000,2206,2035,2498,2498,4094,0,0,0,0,0,0,26.22,25.22,24.53,10.30,45.58
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.61,390.0,2206,2034,2499,4094,63.1,0.0,77,638,7.00,0.00,22.70,1.268,11270,0.035,0.000,2863,2035,2045,2045,4094,0,0,0,0,0,0,25.69,25.85,24.08,10.20,45.51
$GC,675,1.61,390.0,2863,2034,2044,4094,58.0,10.7,86,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2035,2044,2044,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.10,44.88
$GC,719,1.61,390.0,2863,2034,2043,4094,52.8,11.7,92,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2035,2043,2043,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.09,45.15
$GC,763,1.61,390.0,2863,2034,2042,4094,47.7,11.6,98,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2035,2042,2042,4094,0,0,0,0,0,0,25.86,25.89,25.87,10.09,45.47
$GC,807,1.61,390.0,2863,2034,2041,4094,42.6,11.4,104,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2035,2041,2041,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.09,45.70
$GC,851,1.61,390.0,2863,2034,2040,4094,37.6,11.5,110,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2035,2040,2040,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.08,45.58
$GC,896,1.61,390.0,2863,2034,2037,4094,32.3,11.9,116,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2035,2038,2038,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.07,46.10
$GC,940,1.61,390.0,2862,2034,2037,4094,27.1,11.8,122,949,0.00,1.83,0.00,0.000,516,0.000,0.060,2864,1367,2037,2037,4094,0,0,0,0,0,0,26.13,25.82,26.14,10.07,45.78
$GC,991,1.61,390.0,2863,1366,2036,4094,21.0,11.5,129,1001,0.00,1.52,0.00,0.000,1030,0.000,0.028,2864,1989,2036,2036,4094,0,0,0,0,0,0,26.00,25.95,26.00,10.08,45.98
$GC,1038,1.61,390.0,2863,1989,2035,4094,16.4,10.0,135,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2035,2035,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.09,46.06
$GC,1082,1.61,390.0,2863,1989,2034,4094,12.1,9.2,141,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2034,2034,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.12,47.16
$GC,1126,1.61,390.0,2863,1990,2033,4094,8.0,9.5,147,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1991,2033,2033,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.14,48.42
$GC,1170,1.63,400.0,2863,1990,2032,4094,3.9,8.9,153,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1990,2031,2031,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.16,49.13
$STATE,1193,end climb,FINISH_DEPTH_REACHED
$STATE,1193,begin subsurface finish
$FINISH1,1.4,1.024089,105
$GC,1199,0.16,105.3,2863,1995,2031,4094,1.4,10.0,156,1210,4.72,0.00,-3.12,0.000,20486,0.036,0.000,2414,1997,2383,2383,4094,0,0,0,0,0,0,26.09,25.20,26.15,10.17,49.72
$FINISH2,0.2
$STATE,1211,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1211,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,204853
$TT8_MAMPS,0.025466,0.219457
$HUMID,49.96
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.08,8.560
$10V_AH,10.24,10.894
$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,21.525,13.825,45.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,432.654,0.000,136.065,657.883,41.867,33.430,405.634,0.000,237.619,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,1311.210,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.798,426.543,0.000,500.496,650.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330876
$DATA_FILE_SIZE,14265,157
$CAP_FILE_SIZE,31862,0
$CFSIZE,1024409600,1002160128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,221213,5953.792,-17151.436,6,0.8,17,8.0,0.5,304.5,10,5.0