version: 66.13
glider: 401
mission: 22
dive: 358
start: 8 2 117 0 48 23
data:
$ID,401
$MISSION,22
$DIVE,358
$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,26
$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
$GPS1,020817,003951,5954.8740,-17152.1602,5,0.8,17,7.9,0.4,54.0,11,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-42.0
$GPS2,020817,004716,5954.9180,-17152.0020,7,0.8,21,7.9,0.0,109.6,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.330421,-0.078782
$KALMAN_X,44663.890625,-2415.651367,-933.118469,-123228.070312,301.703857
$KALMAN_Y,24450.656250,1813.322021,703.279236,46364.789062,122.785156
$MHEAD_RNG_PITCHd_Wd,248.7,49381,-11.3,-9.091,-14.98,6431
$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,-390.0,231,1894,1837,4092,0.0,0.0,0,20,10.00,0.00,0.00,0.000,2049,0.098,0.000,1069,1892,1837,1837,4094,0,0,0,0,0,0,26.13,28.83,28.83,10.22,49.40
$GC,22,-1.61,-390.0,1069,1891,1838,4094,0.8,0.0,1,50,8.27,1.80,-10.30,0.000,18948,0.045,1.297,1837,1258,2957,2957,4094,0,0,0,0,0,0,25.86,24.76,25.92,10.23,49.76
$GC,137,-1.61,-390.0,1836,1257,2958,4094,5.7,-12.9,17,147,0.00,1.60,0.00,0.000,1030,0.000,0.026,1836,1908,2958,2958,4095,0,0,0,0,0,0,25.94,25.88,25.92,10.47,48.50
$GC,183,-1.61,-390.0,1836,1907,2959,4095,11.9,-13.8,23,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1908,2958,2958,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.46,48.54
$GC,227,-1.61,-390.0,1836,1909,2960,4094,17.4,-11.7,29,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1909,2961,2961,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.46,47.87
$GC,271,-1.61,-390.0,1836,1910,2961,4095,22.3,-10.9,35,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1911,2961,2961,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.43,47.51
$GC,315,-1.61,-390.0,1836,1911,2962,4095,27.0,-10.7,41,324,0.00,1.67,0.00,0.000,260,0.000,0.047,1837,2533,2962,2962,4094,0,0,0,0,0,0,26.27,25.97,26.28,10.41,47.63
$GC,374,-1.61,-390.0,1836,2533,2963,4094,33.0,-10.6,49,384,0.00,1.60,0.00,0.000,1030,0.000,0.030,1837,1907,2963,2963,4095,0,0,0,0,0,0,26.10,26.07,26.10,10.38,45.94
$GC,421,-1.61,-390.0,1836,1907,2964,4095,38.2,-11.3,55,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1907,2964,2964,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.37,44.68
$GC,467,-1.61,-390.0,1836,1907,2965,4094,43.2,-11.1,61,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1907,2965,2965,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.36,45.15
$GC,510,-1.61,-390.0,1836,1907,2966,4095,48.3,-11.1,67,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1907,2967,2967,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.35,44.13
$GC,555,-1.61,-390.0,1836,1907,2966,4095,53.3,-11.2,73,564,0.00,1.73,0.00,0.000,516,0.000,0.061,1837,1257,2967,2967,4094,0,0,0,0,0,0,26.42,26.09,26.43,10.35,43.97
$GC,614,-1.61,-390.0,1836,1257,2968,4094,59.9,-11.3,81,624,0.00,1.58,0.00,0.000,1030,0.000,0.028,1837,1906,2968,2968,4094,0,0,0,0,0,0,26.22,26.22,26.28,10.33,43.73
$STATE,632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,632,begin apogee
$GC,637,-0.45,0.0,1837,2041,2968,4094,62.2,-11.2,83,672,4.03,0.00,23.05,1.291,10244,0.060,0.000,2204,2042,2498,2498,4094,0,0,0,0,0,0,26.17,25.16,24.49,10.34,43.69
$STATE,673,end apogee,CONTROL_FINISHED_OK
$STATE,674,begin climb
$GC,675,1.61,390.0,2204,2041,2499,4094,64.5,0.0,87,711,7.03,0.00,22.65,1.268,11270,0.035,0.000,2863,2042,2045,2045,4094,0,0,0,0,0,0,25.65,25.82,24.05,10.24,44.17
$GC,749,1.61,390.0,2863,2042,2045,4094,59.2,11.4,96,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2045,2045,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.13,43.03
$GC,795,1.61,390.0,2863,2042,2044,4094,53.5,12.0,102,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2042,2044,2044,4095,0,0,0,0,0,0,25.75,25.77,25.77,10.13,43.89
$GC,838,1.61,390.0,2863,2042,2043,4095,48.1,12.0,108,848,0.00,1.83,0.00,0.000,516,0.000,0.059,2863,1378,2042,2042,4094,0,0,0,0,0,0,25.86,25.55,25.87,10.12,43.97
$GC,903,1.61,390.0,2863,1377,2041,4094,40.3,12.1,117,912,0.00,1.50,0.00,0.000,1030,0.000,0.027,2863,1988,2041,2041,4094,0,0,0,0,0,0,25.78,25.76,25.79,10.11,43.89
$GC,948,1.61,390.0,2863,1987,2039,4094,34.9,12.0,123,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.11,44.25
$GC,992,1.61,390.0,2863,1988,2039,4094,29.8,11.6,129,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1987,2038,2038,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.10,44.40
$GC,1038,1.61,390.0,2863,1987,2037,4094,24.7,11.5,135,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2037,2037,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.11,45.23
$GC,1084,1.61,390.0,2863,1988,2036,4094,19.9,10.6,141,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2036,2036,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.12,45.58
$GC,1130,1.61,390.0,2863,1988,2035,4094,15.1,10.4,147,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1988,2034,2034,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.15,45.98
$GC,1176,1.61,390.0,2863,1989,2034,4095,10.5,9.7,153,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.17,47.75
$GC,1222,1.61,390.0,2863,1989,2033,4094,6.1,9.5,159,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1989,2032,2032,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.20,48.46
$STATE,1266,end climb,FINISH_DEPTH_REACHED
$STATE,1266,begin subsurface finish
$FINISH1,1.9,1.024074,106
$GC,1272,0.16,106.3,2863,1990,2031,4094,1.9,8.4,165,1283,5.00,0.00,-3.10,0.000,20486,0.075,0.000,2419,1994,2382,2382,4094,0,0,0,0,0,0,26.03,25.20,26.13,10.20,49.05
$FINISH2,0.5
$STATE,1284,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1284,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,232236
$TT8_MAMPS,0.026215,0.237433
$HUMID,49.64
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.05,8.686
$10V_AH,10.20,11.068
$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,34.325,13.550,45.700,0.000,0.000,24.169,17.989,285.892,0.000,0.000,22.440,470.170,0.000,141.416,1040.407,100.202,33.453,424.665,0.000,403.086,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1296.675,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.597,450.945,357.069,529.001,690.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,17796,166
$CAP_FILE_SIZE,36658,0
$CFSIZE,1024409600,1001881600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,004716,5954.918,-17152.002,7,0.8,21,7.9,0.0,109.6,11,5.0