version: 66.13
glider: 401
mission: 22
dive: 362
start: 8 2 117 2 29 50
data:
$ID,401
$MISSION,22
$DIVE,362
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,020817,020511,5955.2417,-17151.7988,7,1.0,18,8.0,0.5,62.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-3.0
$GPS2,020817,020511,5955.2417,-17151.7988,7,1.0,18,8.0,0.5,62.6,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338406,-0.029906
$KALMAN_X,45852.609375,-2128.831055,-571.231323,-124868.812500,206.233337
$KALMAN_Y,25306.617188,1870.734619,709.676025,46057.726562,70.015564
$MHEAD_RNG_PITCHd_Wd,256.9,49486,-11.3,-9.091,-14.98,6433
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.61,-390.0,2412,1886,2382,4092,0.0,0.0,0,21,5.88,0.00,-4.53,0.000,20482,0.029,0.000,1846,1886,2876,2876,4094,0,0,0,0,0,0,26.18,28.83,26.20,10.31,49.92
$GC,23,-1.61,-390.0,1846,1886,2876,4094,0.1,0.0,1,33,0.00,1.75,-0.73,0.000,16900,0.000,1.311,1846,1264,2960,2960,4094,0,0,0,0,0,0,26.39,25.03,26.32,10.41,50.63
$GC,82,-1.61,-390.0,1846,1264,2961,4094,6.3,-12.6,9,91,0.00,1.55,0.00,0.000,1030,0.000,0.028,1846,1892,2961,2961,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.44,50.03
$GC,129,-1.61,-390.0,1846,1892,2962,4094,12.5,-13.7,15,138,0.00,1.73,0.00,0.000,260,0.000,0.050,1846,2535,2962,2962,4095,0,0,0,0,0,0,26.30,25.99,26.32,10.43,49.80
$GC,175,-1.61,-390.0,1846,2535,2963,4095,17.9,-11.2,21,185,0.00,1.62,0.00,0.000,1030,0.000,0.030,1846,1903,2963,2963,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.43,49.56
$GC,222,-1.61,-390.0,1846,1903,2964,4094,23.3,-11.3,27,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1903,2964,2964,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.41,49.80
$GC,268,-1.61,-390.0,1846,1903,2965,4094,28.1,-10.3,33,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1903,2965,2965,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.38,48.85
$GC,311,-1.61,-390.0,1846,1903,2966,4094,32.8,-10.6,39,321,0.00,1.73,0.00,0.000,260,0.000,0.048,1846,2540,2966,2966,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.37,47.48
$GC,363,-1.61,-390.0,1846,2539,2967,4095,38.3,-10.6,46,372,0.00,1.60,0.00,0.000,1030,0.000,0.030,1846,1913,2967,2967,4094,0,0,0,0,0,0,26.22,26.18,26.21,10.35,47.32
$GC,409,-1.61,-390.0,1845,1913,2968,4094,43.1,-10.8,52,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1913,2968,2968,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,46.73
$GC,453,-1.61,-390.0,1845,1912,2969,4095,47.9,-10.7,58,462,0.00,1.75,0.00,0.000,516,0.000,0.062,1846,1253,2969,2969,4095,0,0,0,0,0,0,26.48,26.15,26.49,10.33,45.55
$GC,524,-1.61,-390.0,1846,1253,2970,4095,56.1,-11.5,68,534,0.00,1.60,0.00,0.000,1030,0.000,0.028,1846,1908,2971,2971,4095,0,0,0,0,0,0,26.31,26.28,26.32,10.32,45.94
$STATE,561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,566,-0.45,0.0,1846,2033,2971,4094,60.0,-10.2,73,602,3.92,0.00,22.92,1.278,10244,0.059,0.000,2204,2033,2501,2501,4094,0,0,0,0,0,0,26.24,25.26,24.58,10.32,45.11
$STATE,603,end apogee,CONTROL_FINISHED_OK
$STATE,603,begin climb
$GC,605,1.61,390.0,2205,2032,2501,4094,62.4,0.0,77,641,7.00,0.00,22.83,1.252,11270,0.035,0.000,2864,2033,2043,2043,4094,0,0,0,0,0,0,25.72,25.89,24.12,10.22,45.31
$GC,678,1.61,390.0,2863,2033,2042,4094,57.2,10.6,86,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2033,2042,2042,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.11,44.21
$GC,724,1.61,390.0,2863,2033,2041,4094,51.7,12.3,92,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2034,2041,2041,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.11,43.93
$GC,767,1.61,390.0,2863,2033,2040,4094,46.3,11.5,98,777,0.00,1.85,0.00,0.000,516,0.000,0.061,2863,1364,2040,2040,4095,0,0,0,0,0,0,25.89,25.58,25.90,10.10,45.03
$GC,859,1.61,390.0,2862,1363,2038,4095,35.7,11.9,111,869,0.00,1.55,0.00,0.000,1030,0.000,0.027,2863,1991,2037,2037,4095,0,0,0,0,0,0,25.85,25.82,25.84,10.10,44.72
$GC,906,1.61,390.0,2863,1992,2036,4095,30.2,11.8,117,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1992,2036,2036,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.09,45.07
$GC,952,1.61,390.0,2862,1991,2035,4094,25.1,11.1,123,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1992,2035,2035,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.10,46.06
$GC,998,1.61,390.0,2863,1991,2034,4094,20.2,10.7,129,1007,0.00,1.83,0.00,0.000,260,0.000,0.054,2863,2665,2034,2034,4095,0,0,0,0,0,0,26.20,25.89,26.21,10.14,46.25
$GC,1062,1.61,390.0,2863,2665,2032,4095,12.7,11.6,138,1072,0.00,1.70,0.00,0.000,1030,0.000,0.031,2863,2002,2031,2031,4094,0,0,0,0,0,0,26.03,26.02,26.06,10.17,47.95
$GC,1108,1.61,390.0,2863,2002,2030,4094,8.3,9.3,144,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2003,2031,2031,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.18,48.89
$GC,1152,1.61,390.0,2863,2002,2030,4094,4.1,9.4,150,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2002,2030,2030,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.20,49.25
$STATE,1176,end climb,FINISH_DEPTH_REACHED
$STATE,1176,begin subsurface finish
$FINISH1,1.8,1.024072,106
$GC,1182,0.16,106.5,2863,2002,2029,4094,1.8,9.4,153,1200,4.95,1.75,-3.03,0.000,20996,0.070,1.304,2420,1372,2375,2375,4094,0,0,0,0,0,0,26.03,24.96,26.13,10.20,49.44
$FINISH2,0.1
$STATE,1201,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1202,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,004126
$TT8_MAMPS,0.025466,0.242676
$HUMID,50.11
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.12,8.771
$10V_AH,10.20,11.196
$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,21.750,22.525,45.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.987,0.000,128.533,646.856,42.320,33.432,386.438,0.000,375.771,0.000,0.543,0.000
$DEVICE_MAMPS,69.615,1311.210,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.992,421.102,333.364,494.049,644.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330948
$DATA_FILE_SIZE,14357,155
$CAP_FILE_SIZE,30550,0
$CFSIZE,1024409600,1001717760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,020511,5955.242,-17151.799,7,1.0,18,8.0,0.5,62.6,10,4.8