version: 66.13
glider: 401
mission: 22
dive: 356
start: 8 1 117 23 51 22
data:
$ID,401
$MISSION,22
$DIVE,356
$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,28
$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
$GPS1,010817,232728,5954.4453,-17152.2598,6,0.9,13,7.9,0.0,13.6,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-2.8
$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,-0.322106,-0.105717
$KALMAN_X,43701.449219,-2420.630615,-969.890686,-122467.164062,70.460876
$KALMAN_Y,23570.078125,1701.137207,593.620361,46605.218750,195.519531
$MHEAD_RNG_PITCHd_Wd,243.9,49276,-11.3,-9.091,-15.01,6401
$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,-388.6,2414,1909,2380,4092,0.0,0.0,0,21,5.93,0.00,-5.22,0.000,20482,0.028,0.000,1849,1909,2946,2946,4094,0,0,0,0,0,0,26.03,28.83,26.05,10.29,50.82
$GC,23,-1.61,-388.6,1849,1909,2946,4094,0.1,0.0,1,33,0.00,0.00,-0.08,0.000,16390,0.000,0.000,1849,1909,2957,2957,4095,0,0,0,0,0,0,26.23,25.42,25.85,10.41,50.23
$GC,68,-1.61,-388.6,1849,1909,2957,4095,2.7,-9.2,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,2957,2957,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.42,50.51
$GC,112,-1.61,-388.6,1849,1909,2958,4094,8.2,-13.0,13,121,0.00,1.77,0.00,0.000,516,0.000,0.061,1849,1253,2958,2958,4095,0,0,0,0,0,0,26.16,25.82,26.17,10.43,49.96
$GC,150,-1.61,-388.6,1849,1252,2959,4095,13.5,-14.5,18,159,0.00,1.60,0.00,0.000,1030,0.000,0.029,1849,1901,2959,2959,4094,0,0,0,0,0,0,26.00,25.96,26.01,10.42,50.35
$GC,196,-1.61,-388.6,1848,1901,2960,4094,18.9,-11.6,24,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1901,2960,2960,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.41,49.29
$GC,242,-1.61,-388.6,1849,1902,2961,4094,23.9,-10.7,30,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1904,2961,2961,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.39,49.17
$GC,288,-1.61,-388.6,1848,1903,2962,4094,28.7,-10.3,36,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1904,2962,2962,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.36,48.11
$GC,334,-1.61,-388.6,1848,1904,2963,4095,33.5,-10.7,42,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1904,2963,2963,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.35,47.75
$GC,376,-1.61,-388.6,1848,1904,2964,4095,38.4,-10.8,48,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1904,2964,2964,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.34,46.81
$GC,421,-1.61,-388.6,1848,1904,2964,4095,43.0,-10.8,54,430,0.00,1.70,0.00,0.000,260,0.000,0.050,1849,2538,2964,2964,4094,0,0,0,0,0,0,26.39,26.09,26.40,10.32,45.98
$GC,480,-1.61,-388.6,1848,2538,2966,4094,49.2,-10.3,62,489,0.00,1.65,0.00,0.000,1030,0.000,0.031,1849,1892,2966,2966,4095,0,0,0,0,0,0,26.19,26.15,26.22,10.32,45.66
$GC,526,-1.61,-388.6,1848,1891,2967,4095,54.2,-11.1,68,536,0.00,1.67,0.00,0.000,516,0.000,0.061,1849,1260,2967,2967,4095,0,0,0,0,0,0,26.44,26.10,26.46,10.32,45.51
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,583,-0.45,0.0,1849,2028,2968,4095,60.3,-11.4,75,619,3.90,0.00,22.73,1.281,10244,0.058,0.000,2205,2028,2505,2505,4094,0,0,0,0,0,0,26.16,25.19,24.53,10.31,45.62
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.61,388.6,2204,2027,2505,4094,62.9,0.0,79,658,7.00,0.00,22.88,1.262,11270,0.034,0.000,2861,2028,2047,2047,4094,0,0,0,0,0,0,25.67,25.84,24.07,10.21,44.95
$GC,695,1.61,388.6,2861,2028,2045,4094,57.9,11.0,88,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2028,2045,2045,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.10,44.09
$GC,741,1.61,388.6,2860,2028,2045,4094,52.5,11.5,94,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2028,2045,2045,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.10,44.36
$GC,787,1.61,388.6,2861,2028,2043,4094,47.2,11.7,100,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2028,2043,2043,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.09,44.88
$GC,833,1.61,388.6,2860,2028,2042,4094,41.9,11.7,106,844,0.00,1.77,0.00,0.000,516,0.000,0.060,2861,1374,2042,2042,4094,0,0,0,0,0,0,25.95,25.63,25.96,10.09,45.31
$GC,886,1.61,388.6,2860,1374,2041,4094,35.3,12.0,113,896,0.00,1.55,0.00,0.000,1030,0.000,0.028,2861,2001,2041,2041,4094,0,0,0,0,0,0,25.84,25.79,25.85,10.09,44.84
$GC,932,1.61,388.6,2860,2001,2040,4094,30.2,11.1,119,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2040,2040,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.08,45.11
$GC,975,1.61,388.6,2861,2001,2038,4094,25.1,11.9,125,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2038,2038,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.09,45.35
$GC,1021,1.61,388.6,2861,2001,2037,4094,20.0,10.9,131,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2001,2037,2037,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.10,45.70
$GC,1065,1.79,506.8,2861,2001,2036,4094,16.4,7.2,137,1084,0.40,1.70,7.40,0.665,10756,0.041,0.063,2904,1377,1907,1907,4094,0,0,0,0,0,0,25.98,25.78,25.10,10.12,46.41
$GC,1140,1.91,588.3,2903,1376,1907,4094,10.8,7.8,147,1151,0.45,1.55,5.90,0.559,11270,0.037,0.028,2951,2014,1812,1812,4094,0,0,0,0,0,0,25.96,25.96,25.15,10.13,48.70
$GC,1189,2.00,648.2,2951,2013,1812,4094,7.0,8.1,153,1199,0.25,0.00,4.70,0.464,10246,0.044,0.000,2982,2013,1743,1743,4094,0,0,0,0,0,0,25.96,25.76,25.18,10.12,49.05
$GC,1237,2.00,649.0,2982,2015,1742,4094,2.7,9.1,159,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2016,1741,1741,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,49.17
$STATE,1253,end climb,FINISH_DEPTH_REACHED
$STATE,1253,begin subsurface finish
$FINISH1,0.8,1.024073,106
$GC,1259,0.16,106.4,2982,2019,1741,4094,0.8,9.4,161,1278,5.97,0.00,-5.70,0.000,20486,0.030,0.000,2414,2020,2381,2381,4094,0,0,0,0,0,0,25.96,25.46,26.01,10.12,49.64
$FINISH2,0.2
$STATE,1279,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1279,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,220705
$TT8_MAMPS,0.026215,0.255409
$HUMID,49.72
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.07,8.630
$10V_AH,10.20,10.997
$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,23.900,18.225,63.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,461.489,0.000,148.989,679.237,47.659,33.427,430.758,0.000,394.660,0.000,0.543,0.000
$DEVICE_MAMPS,58.140,63.495,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.346,442.771,350.602,519.508,676.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330928
$DATA_FILE_SIZE,17819,163
$CAP_FILE_SIZE,34258,0
$CFSIZE,1024409600,1001979904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,833.39,0x236162,1,24
$GPS,010817,232728,5954.445,-17152.260,6,0.9,13,7.9,0.0,13.6,9,4.6