version: 66.13
glider: 401
mission: 22
dive: 365
start: 8 2 117 3 45 52
data:
$ID,401
$MISSION,22
$DIVE,365
$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,20
$R_STBD_OVSHOOT,48
$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
$GPS1,020817,032147,5955.4131,-17151.5977,6,0.8,15,8.0,0.3,59.2,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-2.6
$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,-0.338986,0.012441
$KALMAN_X,46894.980469,-1936.478516,-372.245087,-126112.187500,200.029358
$KALMAN_Y,25717.484375,1861.268311,661.659790,46021.515625,13.327698
$MHEAD_RNG_PITCHd_Wd,264.1,49632,-11.3,-9.091,-15.00,6410
$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,-389.1,2414,1932,2381,4092,0.0,0.0,0,21,5.90,0.00,-5.05,0.000,20482,0.024,0.000,1845,1933,2936,2936,4095,0,0,0,0,0,0,26.03,28.83,26.06,10.32,49.64
$GC,23,-1.61,-389.1,1845,1932,2936,4095,0.3,0.0,1,33,0.00,1.90,-0.15,0.000,16900,0.000,1.283,1845,1256,2957,2957,4094,0,0,0,0,0,0,26.23,24.90,26.03,10.43,49.56
$GC,82,-1.61,-389.1,1844,1256,2959,4094,6.4,-12.8,9,91,0.00,1.55,0.00,0.000,1030,0.000,0.028,1845,1885,2958,2958,4095,0,0,0,0,0,0,25.93,25.90,25.94,10.44,49.96
$GC,127,-1.61,-389.1,1844,1886,2959,4095,12.5,-13.2,15,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1886,2960,2960,4095,0,0,0,0,0,0,26.18,26.19,26.19,10.45,49.29
$GC,171,-1.61,-389.1,1844,1886,2960,4095,18.0,-12.1,21,181,0.00,1.75,0.00,0.000,260,0.000,0.049,1845,2537,2961,2961,4094,0,0,0,0,0,0,26.22,25.92,26.23,10.43,48.85
$GC,236,-1.61,-389.1,1845,2536,2962,4094,24.9,-10.2,30,245,0.00,1.65,0.00,0.000,1030,0.000,0.030,1845,1893,2962,2962,4095,0,0,0,0,0,0,26.05,26.01,26.08,10.41,48.50
$GC,283,-1.61,-389.1,1844,1893,2963,4095,29.6,-10.3,36,292,0.00,1.73,0.00,0.000,516,0.000,0.063,1845,1250,2964,2964,4094,0,0,0,0,0,0,26.32,25.99,26.32,10.39,48.70
$GC,334,-1.61,-389.1,1845,1249,2964,4094,35.3,-10.8,43,344,0.00,1.52,0.00,0.000,1030,0.000,0.028,1845,1876,2964,2964,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.38,47.20
$GC,381,-1.61,-389.1,1844,1875,2965,4094,40.0,-10.6,49,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1876,2964,2964,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.35,47.04
$GC,425,-1.61,-389.1,1844,1878,2965,4094,44.8,-10.1,55,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1879,2966,2966,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.35,45.86
$GC,470,-1.61,-389.1,1844,1878,2966,4094,49.5,-10.9,61,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1879,2966,2966,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.34,45.23
$GC,514,-1.61,-389.1,1844,1879,2967,4094,54.3,-10.4,67,523,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1879,2968,2968,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.34,45.19
$GC,558,-1.61,-389.1,1844,1879,2968,4095,58.9,-10.4,73,568,0.00,1.75,0.00,0.000,260,0.000,0.048,1845,2534,2968,2968,4095,0,0,0,0,0,0,26.47,26.16,26.48,10.33,45.15
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,583,-0.45,0.0,1845,2012,2969,4094,61.0,-10.9,75,618,3.92,0.00,22.90,1.281,10244,0.059,0.000,2203,2013,2501,2501,4095,0,0,0,0,0,0,26.20,25.20,24.53,10.32,44.60
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,621,1.61,389.1,2203,2013,2501,4095,63.6,0.0,79,657,7.03,0.00,22.67,1.258,11270,0.035,0.000,2862,2013,2046,2046,4094,0,0,0,0,0,0,25.68,25.84,24.08,10.22,44.68
$GC,694,1.61,389.1,2862,2012,2045,4094,58.5,10.6,88,704,0.00,1.80,0.00,0.000,260,0.000,0.052,2862,2653,2045,2045,4094,0,0,0,0,0,0,25.60,25.32,25.62,10.13,44.05
$GC,746,1.61,389.1,2861,2652,2044,4094,52.3,12.0,95,755,0.00,1.65,0.00,0.000,1030,0.000,0.029,2862,2020,2044,2044,4094,0,0,0,0,0,0,25.58,25.54,25.60,10.11,44.05
$GC,792,1.61,389.1,2862,2020,2043,4094,46.7,12.6,101,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2020,2043,2043,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.11,44.01
$GC,837,1.61,389.1,2861,2019,2041,4094,41.1,12.2,107,846,0.00,1.73,0.00,0.000,516,0.000,0.060,2861,1376,2041,2041,4094,0,0,0,0,0,0,25.98,25.66,25.98,10.11,44.05
$GC,914,1.61,389.1,2862,1376,2040,4094,31.5,12.7,118,924,0.00,1.55,0.00,0.000,1030,0.000,0.028,2862,2004,2039,2039,4094,0,0,0,0,0,0,25.89,25.86,25.90,10.10,44.64
$GC,960,1.61,389.1,2862,2004,2038,4094,26.3,10.8,124,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2004,2038,2038,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,45.19
$GC,1004,1.61,389.1,2862,2003,2037,4094,21.5,11.1,130,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2004,2037,2037,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,46.02
$GC,1048,1.61,389.1,2862,2004,2036,4094,16.6,10.9,136,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2004,2036,2036,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.16,46.69
$GC,1093,1.74,477.9,2861,2004,2035,4094,12.6,7.7,142,1103,0.35,0.00,5.85,0.568,10246,0.044,0.000,2900,2005,1941,1941,4094,0,0,0,0,0,0,26.02,25.83,25.21,10.17,47.79
$GC,1141,1.79,508.6,2899,2005,1940,4094,8.8,8.6,148,1150,0.10,0.00,3.33,0.334,10246,0.086,0.000,2915,2005,1906,1906,4094,0,0,0,0,0,0,26.01,25.84,25.26,10.17,48.93
$GC,1187,1.79,508.6,2915,2005,1904,4094,4.1,10.6,154,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2005,1904,1904,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.17,49.25
$STATE,1203,end climb,FINISH_DEPTH_REACHED
$STATE,1204,begin subsurface finish
$FINISH1,1.9,1.024061,107
$GC,1209,0.16,107.2,2915,2005,1904,4095,1.9,11.2,156,1228,5.53,0.00,-4.20,0.000,20486,0.065,0.000,2414,2011,2379,2379,4095,0,0,0,0,0,0,26.03,25.53,26.08,10.18,49.48
$FINISH2,0.1
$STATE,1229,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1229,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,020008
$TT8_MAMPS,0.026215,0.213465
$HUMID,49.44
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.08,8.844
$10V_AH,10.26,11.288
$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,22.825,21.200,54.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.216,0.000,137.482,665.916,41.444,33.429,410.567,0.000,239.014,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1282.905,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.217,429.263,0.000,503.676,659.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330968
$DATA_FILE_SIZE,14276,158
$CAP_FILE_SIZE,32568,0
$CFSIZE,1024409600,1001570304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,032147,5955.413,-17151.598,6,0.8,15,8.0,0.3,59.2,11,4.8