version: 66.13
glider: 401
mission: 22
dive: 354
start: 8 1 117 22 57 48
data:
$ID,401
$MISSION,22
$DIVE,354
$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,30
$R_STBD_OVSHOOT,31
$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,0.17
$_SM_ANGLEo,-1.0
$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,-0.328664,-0.085932
$KALMAN_X,43657.332031,-2400.370117,-999.421936,-121633.960938,115.053528
$KALMAN_Y,22451.890625,1562.728149,451.230804,46796.003906,170.585846
$MHEAD_RNG_PITCHd_Wd,247.3,50234,-11.3,-9.091,-14.98,6432
$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,-390.0,2414,1888,2383,4092,0.0,0.0,0,21,5.93,0.00,-4.62,0.000,20482,0.030,0.000,1847,1888,2886,2886,4094,0,0,0,0,0,0,26.17,28.83,26.20,10.27,50.78
$GC,23,-1.61,-390.0,1847,1888,2886,4094,0.2,0.0,1,32,0.00,1.75,-0.65,0.000,16900,0.000,1.314,1847,1269,2958,2958,4095,0,0,0,0,0,0,26.38,25.01,26.32,10.38,51.61
$GC,48,-1.61,-390.0,1846,1269,2958,4095,1.2,-3.3,4,58,0.00,1.55,0.00,0.000,1030,0.000,0.030,1847,1896,2958,2958,4095,0,0,0,0,0,0,26.08,26.02,26.06,10.40,51.14
$GC,95,-1.61,-390.0,1846,1897,2960,4095,6.3,-12.3,10,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1897,2959,2959,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.40,50.66
$GC,140,-1.61,-390.0,1846,1897,2961,4094,12.4,-13.2,16,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1897,2961,2961,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.40,50.31
$GC,186,-1.61,-390.0,1846,1897,2962,4095,18.0,-11.7,22,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1897,2962,2962,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,49.80
$GC,230,-1.61,-390.0,1846,1897,2963,4095,22.8,-10.9,28,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1898,2963,2963,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.37,49.60
$GC,274,-1.61,-390.0,1846,1897,2964,4095,27.5,-10.3,34,284,0.00,1.73,0.00,0.000,260,0.000,0.050,1847,2543,2964,2964,4095,0,0,0,0,0,0,26.40,26.09,26.41,10.34,49.60
$GC,334,-1.61,-390.0,1846,2543,2964,4095,33.6,-10.6,42,342,0.00,1.60,0.00,0.000,1030,0.000,0.031,1847,1917,2965,2965,4094,0,0,0,0,0,0,26.22,26.16,26.22,10.33,47.67
$GC,380,-1.61,-390.0,1846,1917,2966,4094,38.6,-10.8,48,389,0.00,1.75,0.00,0.000,516,0.000,0.062,1847,1259,2965,2965,4094,0,0,0,0,0,0,26.45,26.13,26.46,10.32,47.16
$GC,438,-1.61,-390.0,1846,1259,2967,4094,45.5,-11.6,56,447,0.00,1.58,0.00,0.000,1030,0.000,0.030,1847,1903,2967,2967,4095,0,0,0,0,0,0,26.28,26.25,26.29,10.31,46.45
$GC,484,-1.61,-390.0,1846,1903,2968,4095,50.4,-10.9,62,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1903,2968,2968,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.30,46.37
$GC,530,-1.61,-390.0,1846,1903,2968,4094,55.5,-11.0,68,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1903,2969,2969,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.30,46.33
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1846,2037,2970,4094,60.6,-11.3,74,616,3.92,0.00,23.08,1.294,10244,0.059,0.000,2205,2037,2500,2500,4095,0,0,0,0,0,0,26.25,25.25,24.54,10.30,45.86
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,619,1.61,390.0,2205,2037,2499,4095,63.1,0.0,78,655,7.00,0.00,22.73,1.271,11270,0.035,0.000,2862,2038,2045,2045,4095,0,0,0,0,0,0,25.71,25.88,24.10,10.19,45.55
$GC,692,1.61,390.0,2861,2037,2044,4095,58.0,10.9,87,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2044,2044,4095,0,0,0,0,0,0,25.62,25.63,25.63,10.09,44.60
$GC,738,1.61,390.0,2862,2037,2043,4095,52.8,11.5,93,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2043,2043,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.09,44.76
$GC,783,1.61,390.0,2861,2038,2042,4094,47.4,11.8,99,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2038,2041,2041,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.08,44.84
$GC,827,1.61,390.0,2861,2037,2040,4094,42.2,11.4,105,836,0.00,1.83,0.00,0.000,516,0.000,0.060,2862,1374,2041,2041,4094,0,0,0,0,0,0,25.96,25.65,25.97,10.07,44.99
$GC,878,1.61,390.0,2860,1373,2039,4094,36.3,11.1,112,888,0.00,1.52,0.00,0.000,1030,0.000,0.027,2862,1992,2039,2039,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.07,45.31
$GC,925,1.61,390.0,2862,1991,2038,4094,31.3,10.8,118,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.07,46.53
$GC,971,1.61,390.0,2862,1991,2037,4094,26.1,11.5,124,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2037,2037,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.07,46.06
$GC,1017,1.61,390.0,2862,1991,2036,4094,21.0,10.8,130,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2035,2035,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.07,45.86
$GC,1063,1.61,390.0,2861,1991,2035,4094,16.2,10.6,136,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1992,2034,2034,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.09,46.92
$GC,1108,1.61,390.0,2862,1992,2034,4094,11.7,9.5,142,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1993,2034,2034,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.12,47.48
$GC,1154,1.61,390.0,2862,1993,2033,4094,7.4,9.3,148,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1993,2032,2032,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.15,48.58
$GC,1200,1.61,391.9,2861,1994,2031,4094,3.2,9.1,154,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1994,2031,2031,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.16,49.84
$STATE,1216,end climb,SURFACE_DEPTH_REACHED
$STATE,1216,begin surface coast
$FINISH,0.4,1.024081
$STATE,1237,end surface coast,CONTROL_FINISHED_OK
$STATE,1237,begin surface
$SM_CCo,1333,0.00,0.000,0,0,2030,404.40
$SM_GC,1.24,27.58,0.25,0.00,0.024,0.063,0.000,239,1899,2030,-6.61,1.14,404.40,0,0,0,0,0,0,26.13,26.12,26.17
$IRIDIUM_FIX,5955.74,-17228.01,010817,204853
$TT8_MAMPS,0.025466,0.243425
$HUMID,50.74
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,1.70
$XPDR_PINGS,0
$24V_AH,24.10,8.577
$10V_AH,10.20,10.930
$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,44.425,14.050,45.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,462.991,59.820,159.695,663.526,48.195,33.420,426.815,0.000,384.920,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,1314.270,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.004,431.943,342.038,507.104,660.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330876
$DATA_FILE_SIZE,14405,159
$CAP_FILE_SIZE,33377,0
$CFSIZE,1024409600,1002094592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,232103,5954.396,-17152.340,8,0.9,28,7.9,0.3,48.9,9,4.3