version: 66.13
glider: 401
mission: 22
dive: 364
start: 8 2 117 3 22 55
data:
$ID,401
$MISSION,22
$DIVE,364
$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,12
$R_STBD_OVSHOOT,49
$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
$GPS1,020817,031434,5955.4287,-17151.7578,5,0.8,15,8.0,0.5,162.9,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-44.5
$GPS2,020817,032147,5955.4131,-17151.5977,6,0.8,15,8.0,0.3,59.2,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338287,0.034576
$KALMAN_X,46696.660156,-2046.164307,-480.497192,-125697.914062,275.743225
$KALMAN_Y,25673.861328,1891.215576,713.252686,45978.820312,-25.092102
$MHEAD_RNG_PITCHd_Wd,267.8,49632,-11.3,-9.091,-14.97,6448
$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,-390.0,229,1910,2029,4092,0.0,0.0,0,21,11.27,0.00,0.00,0.000,2049,0.103,0.000,1164,1908,2029,2029,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.28,48.89
$GC,23,-1.61,-390.0,1164,1908,2029,4094,0.9,0.0,1,51,7.32,1.90,-8.55,0.000,18948,0.050,1.302,1838,1245,2958,2958,4094,0,0,0,0,0,0,25.86,24.76,25.94,10.28,49.29
$GC,159,-1.61,-390.0,1837,1245,2961,4094,12.4,-13.4,20,169,0.00,1.58,0.00,0.000,1030,0.000,0.026,1838,1886,2961,2961,4094,0,0,0,0,0,0,25.90,25.89,25.92,10.48,48.26
$GC,205,-1.61,-390.0,1837,1886,2962,4094,17.7,-11.3,26,214,0.00,1.75,0.00,0.000,260,0.000,0.047,1838,2538,2961,2961,4095,0,0,0,0,0,0,26.15,25.85,26.17,10.47,47.91
$GC,283,-1.61,-390.0,1837,2538,2963,4095,26.6,-10.9,37,291,0.00,1.62,0.00,0.000,1030,0.000,0.028,1838,1903,2964,2964,4095,0,0,0,0,0,0,26.01,25.98,26.04,10.45,47.24
$GC,327,-1.61,-390.0,1837,1903,2964,4095,31.2,-10.4,43,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1904,2964,2964,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.41,46.49
$GC,372,-1.61,-390.0,1837,1903,2965,4095,35.9,-10.9,49,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1903,2965,2965,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.39,45.55
$GC,415,-1.61,-390.0,1838,1903,2966,4095,40.7,-10.5,55,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1903,2966,2966,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.38,44.76
$GC,460,-1.61,-390.0,1838,1903,2967,4095,45.3,-10.7,61,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1904,2967,2967,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.38,44.25
$GC,504,-1.61,-390.0,1838,1903,2968,4095,50.1,-11.1,67,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1903,2968,2968,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.36,44.25
$GC,549,-1.61,-390.0,1838,1903,2968,4094,54.6,-9.6,73,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1903,2969,2969,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.36,43.46
$GC,593,-1.61,-390.0,1837,1904,2969,4095,59.4,-11.4,79,602,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1904,2969,2969,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.35,43.50
$STATE,609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,609,begin apogee
$GC,615,-0.45,0.0,1838,2036,2970,4094,61.3,-10.9,81,649,4.03,0.00,23.08,1.278,10244,0.058,0.000,2206,2036,2499,2499,4094,0,0,0,0,0,0,26.16,25.19,24.51,10.35,43.26
$STATE,650,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,652,1.61,390.0,2205,2036,2500,4094,63.4,0.0,85,688,6.97,0.00,22.67,1.258,11270,0.035,0.000,2863,2037,2043,2043,4094,0,0,0,0,0,0,25.65,25.81,24.06,10.24,43.22
$GC,725,1.61,390.0,2862,2036,2042,4094,58.4,10.5,94,735,0.00,1.65,0.00,0.000,260,0.000,0.050,2863,2635,2042,2042,4094,0,0,0,0,0,0,25.59,25.31,25.60,10.14,42.40
$GC,777,1.61,390.0,2862,2635,2041,4094,51.9,12.4,101,786,0.00,1.60,0.00,0.000,1030,0.000,0.028,2862,2019,2041,2041,4094,0,0,0,0,0,0,25.58,25.53,25.58,10.14,42.83
$GC,822,1.61,390.0,2862,2019,2040,4094,46.2,12.7,107,831,0.00,1.75,0.00,0.000,516,0.000,0.060,2863,1374,2039,2039,4094,0,0,0,0,0,0,25.88,25.56,25.89,10.13,43.54
$GC,894,1.61,390.0,2862,1373,2038,4094,37.6,12.1,117,904,0.00,1.48,0.00,0.000,1030,0.000,0.026,2863,1978,2038,2038,4094,0,0,0,0,0,0,25.82,25.79,25.83,10.12,43.50
$GC,941,1.61,390.0,2863,1977,2037,4094,31.9,12.4,123,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1978,2036,2036,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.12,43.97
$GC,987,1.61,390.0,2861,1977,2035,4094,26.6,11.3,129,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1978,2035,2035,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.12,44.95
$GC,1033,1.61,390.0,2862,1978,2034,4094,21.1,11.9,135,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1979,2034,2034,4095,0,0,0,0,0,0,26.18,26.20,26.19,10.15,44.80
$GC,1079,1.61,390.0,2862,1979,2033,4095,15.8,11.5,141,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1980,2033,2033,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.17,46.18
$GC,1124,1.61,390.0,2862,1979,2031,4095,11.1,9.7,147,1134,0.00,1.80,0.00,0.000,260,0.000,0.051,2862,2648,2031,2031,4094,0,0,0,0,0,0,26.26,25.94,26.27,10.19,47.44
$GC,1209,1.61,390.0,2862,2648,2029,4094,2.8,9.6,159,1218,0.00,1.65,0.00,0.000,1030,0.000,0.029,2863,1999,2029,2029,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.21,48.46
$STATE,1226,end climb,FINISH_DEPTH_REACHED
$STATE,1226,begin subsurface finish
$FINISH1,1.1,1.024062,107
$GC,1232,0.16,107.2,2862,1995,2029,4094,1.1,9.5,161,1251,4.62,1.73,-3.12,0.000,20996,0.027,1.302,2414,1374,2381,2381,4095,0,0,0,0,0,0,26.10,24.98,26.15,10.22,48.97
$FINISH2,0.1
$STATE,1253,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1253,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,020008
$TT8_MAMPS,0.025466,0.264397
$HUMID,49.29
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.06,8.825
$10V_AH,10.19,11.263
$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,34.225,18.850,45.750,0.000,0.000,23.846,19.617,273.750,0.000,0.000,17.149,457.974,0.109,138.154,1014.753,99.095,33.453,413.824,0.000,396.292,0.000,0.542,0.000
$DEVICE_MAMPS,103.275,1302.030,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.333,442.845,350.553,519.266,677.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,17770,163
$CAP_FILE_SIZE,35657,0
$CFSIZE,1024409600,1001586688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,032147,5955.413,-17151.598,6,0.8,15,8.0,0.3,59.2,11,4.8