version: 66.13
glider: 401
mission: 22
dive: 344
start: 8 1 117 18 36 43
data:
$ID,401
$MISSION,22
$DIVE,344
$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,21
$R_STBD_OVSHOOT,45
$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
$GPS1,010817,181312,5952.3594,-17145.6836,7,0.8,15,8.0,0.0,232.3,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-0.9
$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,-0.311784,0.133298
$KALMAN_X,44045.058594,-1853.602051,-543.148743,-117583.164062,-120.948547
$KALMAN_Y,20894.035156,1429.452759,212.741714,46072.753906,-64.498703
$MHEAD_RNG_PITCHd_Wd,285.1,55979,-11.3,-9.091,-15.01,6404
$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,-388.8,2412,1927,2384,4092,0.0,0.0,0,21,5.80,0.05,-5.30,0.000,20486,0.029,1.397,1860,1907,2957,2957,4095,0,0,0,0,0,0,26.03,24.96,26.06,10.30,50.15
$GC,24,-1.61,-388.8,1859,1904,2958,4095,0.2,0.0,1,32,0.00,2.10,0.00,0.000,516,0.000,0.070,1860,1140,2958,2958,4095,0,0,0,0,0,0,26.25,25.93,26.27,10.42,50.11
$GC,93,-1.61,-388.8,1859,1140,2958,4095,4.8,-11.9,11,102,0.00,1.85,0.00,0.000,1030,0.000,0.030,1860,1877,2958,2958,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.42,50.98
$GC,139,-1.61,-388.8,1859,1877,2960,4095,10.5,-13.0,17,148,0.00,2.10,0.00,0.000,260,0.000,0.054,1859,2657,2960,2960,4095,0,0,0,0,0,0,26.34,26.03,26.36,10.42,50.19
$GC,197,-1.61,-388.8,1859,2656,2961,4095,17.3,-10.7,25,206,0.00,1.92,0.00,0.000,1030,0.000,0.031,1860,1906,2961,2961,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.40,49.64
$GC,244,-1.61,-388.8,1859,1905,2962,4094,21.9,-10.3,31,252,0.00,2.08,0.00,0.000,516,0.000,0.067,1860,1139,2962,2962,4094,0,0,0,0,0,0,26.41,26.07,26.42,10.38,49.21
$GC,281,-1.61,-388.8,1859,1138,2962,4094,26.2,-10.7,36,291,0.00,1.88,0.00,0.000,1030,0.000,0.030,1860,1894,2963,2963,4094,0,0,0,0,0,0,26.22,26.19,26.25,10.37,48.81
$GC,328,-1.61,-388.8,1859,1894,2964,4094,30.6,-9.8,42,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1895,2964,2964,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,47.55
$GC,372,-1.61,-388.8,1859,1894,2964,4095,34.9,-9.7,48,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1895,2964,2964,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.34,47.36
$GC,416,-1.61,-388.8,1859,1894,2964,4094,39.4,-10.0,54,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1895,2965,2965,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.33,46.45
$GC,460,-1.61,-388.8,1859,1894,2966,4094,44.1,-10.7,60,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1895,2966,2966,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.32,46.22
$GC,504,-1.61,-388.8,1859,1895,2967,4094,48.5,-10.3,66,512,0.00,2.00,0.00,0.000,260,0.000,0.052,1860,2647,2966,2966,4095,0,0,0,0,0,0,26.52,26.20,26.53,10.32,45.66
$GC,562,-1.61,-388.8,1859,2647,2968,4095,54.3,-10.5,74,571,0.00,1.95,0.00,0.000,1030,0.000,0.031,1860,1879,2968,2968,4095,0,0,0,0,0,0,26.31,26.30,26.33,10.31,45.74
$GC,609,-1.61,-388.8,1859,1879,2969,4095,59.2,-10.3,80,617,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1879,2969,2969,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.31,45.58
$STATE,625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,625,begin apogee
$GC,630,-0.45,0.0,1860,2057,2969,4094,61.4,-10.6,82,667,3.78,0.08,22.83,1.295,10244,0.057,0.062,2206,2006,2503,2503,4094,0,0,0,0,0,0,26.27,25.28,24.60,10.31,45.39
$STATE,668,end apogee,CONTROL_FINISHED_OK
$STATE,668,begin climb
$GC,669,1.61,388.8,2205,2005,2503,4094,63.7,0.0,86,706,6.97,0.00,22.75,1.273,11270,0.034,0.000,2862,2005,2046,2046,4094,0,0,0,0,0,0,25.75,25.92,24.13,10.21,45.39
$GC,743,1.61,388.8,2862,2005,2046,4094,59.0,9.7,95,752,0.00,2.03,0.00,0.000,260,0.000,0.052,2862,2735,2045,2045,4094,0,0,0,0,0,0,25.64,25.34,25.65,10.11,44.36
$GC,814,1.61,388.8,2862,2734,2044,4094,50.4,12.3,105,823,0.00,1.85,0.00,0.000,1030,0.000,0.030,2862,2027,2043,2043,4094,0,0,0,0,0,0,25.65,25.61,25.66,10.10,44.72
$GC,860,1.61,388.8,2862,2026,2043,4094,45.0,12.3,111,869,0.00,2.08,0.00,0.000,516,0.000,0.065,2862,1264,2043,2043,4094,0,0,0,0,0,0,25.95,25.62,25.96,10.09,45.19
$GC,918,1.61,388.8,2862,1264,2041,4094,37.8,11.9,119,927,0.00,1.75,0.00,0.000,1030,0.000,0.028,2862,1968,2041,2041,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.09,45.55
$GC,965,1.61,388.8,2862,1967,2040,4094,32.5,11.5,125,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1967,2040,2040,4095,0,0,0,0,0,0,26.10,26.12,26.11,10.09,45.31
$GC,1010,1.61,388.8,2862,1967,2039,4095,27.2,11.6,131,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1967,2038,2038,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.08,45.70
$GC,1056,1.61,388.8,2862,1967,2038,4095,21.8,11.4,137,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1967,2037,2037,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.09,46.06
$GC,1102,1.61,388.8,2862,1967,2037,4094,17.2,9.9,143,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1967,2036,2036,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.09,46.33
$GC,1148,1.61,388.8,2862,1969,2036,4094,12.3,11.2,149,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1970,2035,2035,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.12,47.67
$GC,1194,1.63,397.6,2862,1970,2034,4094,8.0,8.9,155,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1970,2034,2034,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.14,48.54
$GC,1237,1.63,397.6,2862,1970,2034,4094,3.8,9.2,161,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1971,2033,2033,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.16,49.25
$STATE,1261,end climb,FINISH_DEPTH_REACHED
$STATE,1261,begin subsurface finish
$FINISH1,1.6,1.024106,104
$GC,1267,0.16,104.1,2862,1971,2033,4094,1.6,9.2,164,1286,4.90,2.15,-3.17,0.000,20740,0.061,1.301,2412,2730,2384,2384,4094,0,0,0,0,0,0,26.12,24.97,26.17,10.17,49.72
$FINISH2,0.2
$STATE,1288,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1288,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,165037
$TT8_MAMPS,0.026215,0.250166
$HUMID,49.96
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,24.13,8.343
$10V_AH,10.20,10.599
$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,21.450,27.800,45.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,471.000,0.833,141.040,687.079,46.674,33.431,416.298,0.000,401.003,0.000,0.542,0.000
$DEVICE_MAMPS,61.200,1396.890,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.699,450.905,357.112,529.175,684.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330960
$DATA_FILE_SIZE,17952,166
$CAP_FILE_SIZE,33832,0
$CFSIZE,1024409600,1002569728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,181312,5952.359,-17145.684,7,0.8,15,8.0,0.0,232.3,10,4.9