version: 66.13
glider: 401
mission: 22
dive: 360
start: 8 2 117 1 35 20
data:
$ID,401
$MISSION,22
$DIVE,360
$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
$GPS1,020817,004716,5954.9180,-17152.0020,7,0.8,21,7.9,0.0,109.6,11,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-3.0
$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,-0.328143,-0.086121
$KALMAN_X,45150.835938,-2272.325195,-741.988525,-124045.429688,256.868713
$KALMAN_Y,24665.890625,1828.590332,693.644226,46157.109375,138.275940
$MHEAD_RNG_PITCHd_Wd,247.4,49381,-11.3,-9.091,-15.00,6412
$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,-389.3,2413,1889,2377,4092,0.0,0.0,0,21,5.95,0.00,-4.93,0.000,20482,0.029,0.000,1847,1890,2917,2917,4095,0,0,0,0,0,0,26.04,28.83,26.07,10.29,50.78
$GC,23,-1.61,-389.3,1846,1889,2917,4095,0.2,0.0,1,33,0.00,0.00,-0.35,0.000,16390,0.000,0.000,1847,1889,2957,2957,4095,0,0,0,0,0,0,26.25,25.52,26.14,10.41,50.98
$GC,68,-1.61,-389.3,1846,1889,2958,4095,3.8,-10.5,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1890,2959,2959,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.42,50.98
$GC,112,-1.61,-389.3,1846,1889,2959,4095,9.5,-13.5,13,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1889,2960,2960,4095,0,0,0,0,0,0,26.17,26.20,26.19,10.42,50.47
$GC,156,-1.61,-389.3,1846,1889,2961,4095,15.3,-12.5,19,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1889,2961,2961,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.42,50.43
$GC,201,-1.61,-389.3,1846,1889,2961,4094,20.1,-11.0,25,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1889,2962,2962,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.40,49.48
$GC,245,-1.61,-389.3,1846,1889,2962,4095,24.8,-10.4,31,255,0.00,1.75,0.00,0.000,260,0.000,0.047,1846,2533,2963,2963,4095,0,0,0,0,0,0,26.29,25.99,26.31,10.38,49.29
$GC,317,-1.61,-389.3,1846,2533,2964,4095,32.1,-9.9,41,326,0.00,1.62,0.00,0.000,1030,0.000,0.031,1847,1901,2964,2964,4095,0,0,0,0,0,0,26.12,26.08,26.15,10.35,48.11
$GC,363,-1.61,-389.3,1846,1901,2964,4095,36.6,-10.0,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1901,2965,2965,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.34,47.08
$GC,407,-1.61,-389.3,1846,1901,2965,4094,41.1,-10.0,53,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1901,2966,2966,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.33,46.96
$GC,451,-1.61,-389.3,1846,1901,2966,4095,45.4,-9.6,59,460,0.00,1.70,0.00,0.000,516,0.000,0.063,1847,1260,2966,2966,4094,0,0,0,0,0,0,26.42,26.10,26.43,10.32,45.98
$GC,543,-1.61,-389.3,1846,1259,2968,4094,55.3,-10.7,72,552,0.00,1.58,0.00,0.000,1030,0.000,0.029,1847,1902,2968,2968,4095,0,0,0,0,0,0,26.26,26.24,26.28,10.31,45.55
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1847,2041,2969,4095,60.7,-11.7,78,627,3.92,0.00,22.98,1.282,10244,0.060,0.000,2207,2042,2500,2500,4094,0,0,0,0,0,0,26.20,25.27,24.53,10.31,45.86
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.61,389.3,2206,2042,2500,4094,63.1,0.0,82,667,7.00,0.00,22.73,1.263,11270,0.036,0.000,2861,2042,2045,2045,4094,0,0,0,0,0,0,25.68,25.84,24.08,10.21,45.94
$GC,704,1.61,389.3,2860,2042,2045,4094,58.0,10.9,91,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,2044,2044,4094,0,0,0,0,0,0,25.60,25.62,25.61,10.11,44.40
$GC,750,1.61,389.3,2860,2042,2043,4094,52.7,10.8,97,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,2043,2043,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.10,44.68
$GC,796,1.61,389.3,2861,2042,2042,4094,47.3,11.9,103,805,0.00,1.85,0.00,0.000,516,0.000,0.060,2861,1373,2042,2042,4095,0,0,0,0,0,0,25.87,25.58,25.89,10.09,44.56
$GC,867,1.61,389.3,2860,1372,2041,4095,38.6,11.8,113,876,0.00,1.55,0.00,0.000,1030,0.000,0.028,2861,1998,2040,2040,4094,0,0,0,0,0,0,25.79,25.77,25.80,10.09,45.27
$GC,913,1.61,389.3,2860,1998,2039,4094,33.3,11.9,119,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1998,2038,2038,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.09,45.43
$GC,959,1.61,389.3,2860,1998,2038,4094,28.0,11.5,125,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1998,2038,2038,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.08,45.58
$GC,1005,1.61,389.3,2860,1998,2037,4095,22.9,10.8,131,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1998,2037,2037,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.08,45.90
$GC,1049,1.61,389.3,2860,1998,2036,4095,18.4,10.0,137,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1999,2036,2036,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.12,46.33
$GC,1093,1.61,389.3,2860,1999,2034,4095,14.0,9.9,143,1102,0.00,1.77,0.00,0.000,260,0.000,0.054,2861,2655,2034,2034,4094,0,0,0,0,0,0,26.25,25.95,26.26,10.14,47.71
$GC,1152,1.61,389.3,2860,2655,2034,4094,8.3,9.7,151,1162,0.00,1.62,0.00,0.000,1030,0.000,0.030,2861,2020,2033,2033,4095,0,0,0,0,0,0,26.06,26.05,26.09,10.17,49.01
$GC,1199,1.61,389.3,2861,2019,2032,4095,3.7,9.8,157,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2020,2032,2032,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,49.44
$STATE,1215,end climb,SURFACE_DEPTH_REACHED
$STATE,1215,begin surface coast
$FINISH,0.2,1.019796
$STATE,1237,end surface coast,CONTROL_FINISHED_OK
$STATE,1237,begin surface
$SM_CCo,1333,0.00,0.000,0,0,2030,402.68
$SM_GC,0.83,27.70,0.30,0.00,0.024,0.061,0.000,230,1896,2030,-6.65,1.09,402.68,0,0,0,0,0,0,25.98,26.09,26.10
$IRIDIUM_FIX,5955.74,-17228.01,010817,232236
$TT8_MAMPS,0.025466,0.236684
$HUMID,50.31
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.08,8.719
$10V_AH,10.21,11.130
$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,44.575,14.350,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,459.771,60.947,152.861,675.299,45.630,33.417,412.826,0.000,392.262,0.000,0.540,0.000
$DEVICE_MAMPS,60.435,66.555,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.223,440.053,348.451,516.401,672.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14351,162
$CAP_FILE_SIZE,32199,0
$CFSIZE,1024409600,1001816064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,015835,5955.225,-17151.973,7,1.0,28,8.0,0.5,155.1,10,4.8