version: 66.13
glider: 401
mission: 22
dive: 343
start: 8 1 117 18 14 19
data:
$ID,401
$MISSION,22
$DIVE,343
$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,35
$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,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
$GPS1,010817,180631,5952.4048,-17145.5781,5,0.8,34,8.0,1.0,242.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-45.1
$GPS2,010817,181312,5952.3594,-17145.6836,7,0.8,15,8.0,0.0,232.3,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.297757,0.163441
$KALMAN_X,43872.226562,-1905.637329,-585.112122,-117282.593750,-135.640747
$KALMAN_Y,20974.023438,1492.446899,262.374420,45877.113281,-105.128525
$MHEAD_RNG_PITCHd_Wd,290.8,55979,-11.3,-9.091,-14.98,6430
$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,-390.0,240,1896,2034,4092,0.0,0.0,0,21,10.95,0.00,0.00,0.000,2049,0.106,0.000,1145,1893,2034,2034,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,50.07
$GC,23,-1.61,-390.0,1144,1892,2034,4094,1.0,0.0,1,50,7.53,2.10,-8.57,0.000,18948,0.051,1.295,1835,1148,2961,2961,4094,0,0,0,0,0,0,25.87,24.79,25.95,10.25,49.44
$GC,98,-1.61,-390.0,1835,1148,2962,4094,5.0,-11.9,11,107,0.00,1.90,0.00,0.000,1030,0.000,0.028,1835,1900,2962,2962,4095,0,0,0,0,0,0,25.84,25.82,25.86,10.46,49.17
$GC,143,-1.61,-390.0,1835,1900,2963,4095,11.2,-13.7,17,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1900,2963,2963,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.45,48.85
$GC,187,-1.61,-390.0,1835,1901,2964,4094,16.8,-11.9,23,197,0.00,2.00,0.00,0.000,260,0.000,0.051,1835,2643,2964,2964,4095,0,0,0,0,0,0,26.16,25.88,26.17,10.44,48.22
$GC,234,-1.61,-390.0,1835,2643,2964,4095,21.7,-11.0,29,244,0.00,1.90,0.00,0.000,1030,0.000,0.030,1835,1904,2965,2965,4095,0,0,0,0,0,0,26.00,25.95,26.01,10.40,47.44
$GC,279,-1.61,-390.0,1835,1904,2966,4095,27.0,-10.9,35,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1904,2966,2966,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.39,47.32
$GC,324,-1.61,-390.0,1835,1904,2966,4094,31.9,-11.2,41,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1904,2967,2967,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.38,46.06
$GC,368,-1.61,-390.0,1835,1904,2968,4095,36.8,-10.9,47,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1904,2968,2968,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.37,45.90
$GC,412,-1.61,-390.0,1835,1904,2969,4094,41.7,-11.0,53,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1904,2968,2968,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.35,45.31
$GC,457,-1.61,-390.0,1835,1904,2969,4094,46.5,-11.1,59,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1904,2969,2969,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.35,45.07
$GC,500,-1.61,-390.0,1835,1904,2970,4095,51.5,-11.1,65,510,0.00,2.03,0.00,0.000,260,0.000,0.051,1835,2653,2970,2970,4095,0,0,0,0,0,0,26.40,26.08,26.41,10.34,44.92
$GC,547,-1.61,-390.0,1836,2652,2971,4095,56.7,-11.5,71,556,0.00,1.88,0.00,0.000,1030,0.000,0.031,1835,1917,2971,2971,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.33,44.80
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,584,-0.45,0.0,1835,2049,2972,4095,60.4,-11.2,75,620,4.05,0.05,23.15,1.284,10244,0.060,0.060,2204,2010,2501,2501,4094,0,0,0,0,0,0,26.15,25.17,24.49,10.32,44.56
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.61,390.0,2204,2010,2501,4094,63.3,0.0,79,658,7.03,0.00,22.88,1.265,11270,0.035,0.000,2862,2010,2045,2045,4094,0,0,0,0,0,0,25.65,25.81,24.03,10.23,43.85
$GC,695,1.61,390.0,2862,2010,2044,4094,58.3,11.1,88,704,0.00,2.08,0.00,0.000,260,0.000,0.052,2863,2750,2043,2043,4094,0,0,0,0,0,0,25.58,25.29,25.59,10.12,43.58
$GC,766,1.61,390.0,2862,2749,2042,4094,49.2,12.9,98,775,0.00,1.88,0.00,0.000,1030,0.000,0.030,2863,2030,2041,2041,4094,0,0,0,0,0,0,25.58,25.56,25.63,10.11,44.40
$GC,813,1.61,390.0,2861,2029,2041,4094,43.5,11.9,104,822,0.00,2.08,0.00,0.000,516,0.000,0.064,2862,1270,2040,2040,4094,0,0,0,0,0,0,25.91,25.60,25.93,10.11,44.01
$GC,864,1.61,390.0,2862,1270,2039,4094,37.1,11.9,111,874,0.00,1.80,0.00,0.000,1030,0.000,0.028,2862,1989,2039,2039,4094,0,0,0,0,0,0,25.82,25.78,25.82,10.11,44.52
$GC,911,1.61,390.0,2862,1988,2038,4094,31.8,11.9,117,921,0.00,2.12,0.00,0.000,260,0.000,0.056,2862,2768,2037,2037,4094,0,0,0,0,0,0,26.07,25.76,26.08,10.10,45.23
$GC,963,1.61,390.0,2862,2767,2036,4094,25.2,12.5,124,972,0.00,1.92,0.00,0.000,1030,0.000,0.031,2862,2022,2036,2036,4094,0,0,0,0,0,0,25.91,25.85,25.94,10.11,45.15
$GC,1009,1.61,390.0,2862,2022,2035,4094,20.0,10.7,130,1019,0.00,2.05,0.00,0.000,516,0.000,0.064,2862,1266,2035,2035,4094,0,0,0,0,0,0,26.17,25.85,26.19,10.11,46.22
$GC,1067,1.61,390.0,2862,1266,2035,4094,13.4,11.7,138,1077,0.00,1.85,0.00,0.000,1030,0.000,0.029,2862,2009,2033,2033,4094,0,0,0,0,0,0,26.06,25.99,26.04,10.13,45.98
$GC,1113,1.61,390.0,2862,2009,2032,4094,9.0,9.6,144,1122,0.00,2.08,0.00,0.000,260,0.000,0.057,2862,2773,2032,2032,4094,0,0,0,0,0,0,26.27,25.95,26.27,10.16,47.48
$GC,1177,1.61,390.0,2862,2772,2031,4094,3.0,9.7,153,1186,0.00,1.95,0.00,0.000,1030,0.000,0.029,2862,2011,2030,2030,4094,0,0,0,0,0,0,26.09,26.05,26.11,10.19,49.25
$STATE,1194,end climb,FINISH_DEPTH_REACHED
$STATE,1194,begin subsurface finish
$FINISH1,1.1,1.024100,105
$GC,1200,0.16,104.5,2862,2010,2030,4094,1.1,10.1,155,1218,4.68,2.10,-3.17,0.000,20996,0.033,1.304,2413,1266,2384,2384,4094,0,0,0,0,0,0,26.10,24.96,26.15,10.19,49.01
$FINISH2,0.2
$STATE,1219,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1219,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,165037
$TT8_MAMPS,0.026215,0.203728
$HUMID,50.31
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.03,8.325
$10V_AH,10.27,10.562
$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,34.225,34.025,46.025,0.000,0.000,27.802,20.536,241.877,0.000,0.000,16.543,446.668,0.985,140.854,960.431,94.474,33.456,418.653,0.000,239.429,0.000,0.543,0.000
$DEVICE_MAMPS,105.570,1304.325,1283.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.524,426.538,0.000,500.282,651.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329424
$DATA_FILE_SIZE,14292,157
$CAP_FILE_SIZE,37264,0
$CFSIZE,1024409600,1002635264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,181312,5952.359,-17145.684,7,0.8,15,8.0,0.0,232.3,10,4.9