version: 66.13
glider: 401
mission: 22
dive: 355
start: 8 1 117 23 28 35
data:
$ID,401
$MISSION,22
$DIVE,355
$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
$GPS1,010817,232103,5954.3955,-17152.3398,8,0.9,28,7.9,0.3,48.9,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-43.5
$GPS2,010817,232728,5954.4453,-17152.2598,6,0.9,13,7.9,0.0,13.6,9,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.317833,-0.118223
$KALMAN_X,43532.027344,-2492.859619,-1080.655640,-122101.046875,115.646729
$KALMAN_Y,23434.007812,1677.791260,573.315002,46766.777344,204.111328
$MHEAD_RNG_PITCHd_Wd,241.7,49276,-11.3,-9.091,-15.01,6405
$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,-388.8,239,1899,2030,4092,0.0,0.0,0,21,10.93,0.00,0.00,0.000,2049,0.108,0.000,1137,1899,2030,2030,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.24,49.84
$GC,23,-1.61,-388.8,1136,1899,2030,4094,1.0,0.0,1,42,7.62,0.00,-8.62,0.000,18694,0.054,0.000,1835,1899,2958,2958,4094,0,0,0,0,0,0,25.88,25.01,25.95,10.25,49.44
$GC,79,-1.61,-390.0,1835,1899,2958,4094,1.6,-6.0,8,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2958,2958,4095,0,0,0,0,0,0,26.18,26.20,26.19,10.45,50.11
$GC,123,-1.61,-390.0,1834,1899,2959,4095,7.1,-13.4,14,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2959,2959,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.45,49.13
$GC,167,-1.61,-390.0,1834,1899,2960,4095,13.3,-14.3,20,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2961,2961,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,48.50
$GC,213,-1.61,-390.0,1835,1899,2962,4095,18.7,-12.0,26,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2962,2962,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.43,47.83
$GC,258,-1.61,-390.0,1834,1899,2962,4094,24.0,-12.0,32,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1899,2963,2963,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.39,47.71
$GC,302,-1.61,-390.0,1835,1899,2964,4094,28.9,-10.7,38,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2964,2964,4095,0,0,0,0,0,0,26.35,26.37,26.36,10.38,46.65
$GC,347,-1.61,-390.0,1835,1899,2964,4095,33.7,-11.1,44,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2964,2964,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.36,45.31
$GC,391,-1.61,-390.0,1835,1899,2965,4094,38.6,-11.2,50,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1900,2965,2965,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.35,44.95
$GC,434,-1.61,-390.0,1835,1899,2966,4094,43.4,-11.2,56,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2966,2966,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.34,44.64
$GC,479,-1.61,-390.0,1835,1899,2967,4095,48.4,-11.1,62,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2968,2968,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.34,45.11
$GC,523,-1.61,-390.0,1835,1899,2968,4094,53.4,-11.3,68,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1899,2968,2968,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.33,44.52
$GC,567,-1.61,-390.0,1835,1899,2969,4094,58.5,-11.1,74,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1899,2969,2969,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.33,44.36
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,589,-0.45,0.0,1835,2039,2969,4095,60.6,-11.7,76,624,4.03,0.00,22.83,1.286,10246,0.059,0.000,2204,2039,2504,2504,4094,0,0,0,0,0,0,26.21,25.22,24.54,10.32,44.64
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,627,1.61,390.0,2204,2039,2504,4094,63.0,0.0,80,664,7.00,1.62,22.85,1.261,10500,0.035,0.048,2863,2644,2047,2047,4094,0,0,0,0,0,0,25.69,24.77,24.09,10.22,44.01
$GC,706,1.61,390.0,2862,2644,2045,4094,56.8,11.9,90,716,0.00,1.65,0.00,0.000,1030,0.000,0.029,2863,2015,2045,2045,4094,0,0,0,0,0,0,25.42,25.39,25.44,10.12,43.62
$GC,753,1.61,390.0,2862,2014,2044,4094,51.4,11.8,96,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2014,2044,2044,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.12,43.73
$GC,797,1.61,390.0,2862,2014,2043,4094,45.9,11.7,102,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2014,2043,2043,4094,0,0,0,0,0,0,25.88,25.90,25.89,10.11,43.62
$GC,842,1.61,390.0,2862,2014,2042,4094,40.5,11.9,108,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2014,2042,2042,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.10,44.29
$GC,886,1.61,390.0,2862,2014,2040,4094,35.3,11.4,114,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2014,2041,2041,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.10,44.32
$GC,930,1.61,390.0,2862,2014,2040,4095,30.2,11.5,120,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2014,2039,2039,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,44.56
$GC,975,1.61,390.0,2862,2014,2038,4094,25.1,11.4,126,984,0.00,1.73,0.00,0.000,516,0.000,0.063,2863,1374,2038,2038,4094,0,0,0,0,0,0,26.14,25.82,26.15,10.09,44.92
$GC,1020,1.61,390.0,2862,1373,2037,4094,20.0,10.8,132,1030,0.00,1.55,0.00,0.000,1030,0.000,0.028,2863,2004,2037,2037,4094,0,0,0,0,0,0,25.98,25.96,26.00,10.10,45.58
$GC,1067,1.61,390.0,2862,2004,2036,4094,15.2,10.7,138,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2004,2036,2036,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.13,45.98
$GC,1112,1.63,399.8,2862,2004,2035,4094,10.7,8.9,144,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2005,2034,2034,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,47.40
$GC,1156,1.63,399.8,2862,2004,2034,4094,6.6,9.2,150,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2005,2034,2034,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,48.70
$GC,1200,1.63,399.8,2863,2005,2033,4094,2.6,9.2,156,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2007,2033,2033,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.19,48.81
$STATE,1217,end climb,FINISH_DEPTH_REACHED
$STATE,1217,begin subsurface finish
$FINISH1,0.8,1.024056,108
$GC,1222,0.16,107.6,2863,2010,2033,4094,0.8,9.7,158,1242,4.65,1.80,-3.15,0.000,20996,0.029,1.315,2415,1372,2381,2381,4094,0,0,0,0,0,0,26.10,24.96,26.15,10.19,49.56
$FINISH2,0.4
$STATE,1243,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1243,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,220705
$TT8_MAMPS,0.026964,0.20972
$HUMID,50.27
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.09,8.611
$10V_AH,10.25,10.960
$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,34.225,8.650,45.675,0.000,0.000,22.327,19.341,229.043,0.000,0.000,15.000,442.816,0.419,148.513,961.249,97.810,33.457,442.471,0.000,243.691,0.000,0.543,0.000
$DEVICE_MAMPS,107.865,1315.035,1285.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.429,434.690,0.000,509.545,667.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,14313,160
$CAP_FILE_SIZE,36454,0
$CFSIZE,1024409600,1002045440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,232728,5954.445,-17152.260,6,0.9,13,7.9,0.0,13.6,9,4.6