version: 66.13
glider: 401
mission: 22
dive: 346
start: 8 1 117 19 32 10
data:
$ID,401
$MISSION,22
$DIVE,346
$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,28
$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
$GPS1,010817,192429,5952.6001,-17147.9043,5,0.8,15,8.0,0.5,292.3,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-44.4
$GPS2,010817,193103,5952.5903,-17148.0156,7,0.9,17,8.0,0.0,244.6,9,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.317217,0.120750
$KALMAN_X,43254.699219,-2095.368652,-795.495361,-118467.320312,-193.090759
$KALMAN_Y,20947.224609,1428.414185,227.344452,46425.949219,-30.952850
$MHEAD_RNG_PITCHd_Wd,282.8,53776,-11.3,-9.091,-14.99,6419
$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,-389.7,240,1886,2035,4092,0.0,0.0,0,21,10.95,0.00,0.00,0.000,2049,0.105,0.000,1147,1883,2035,2035,4095,0,0,0,0,0,0,26.17,28.83,28.83,10.25,50.70
$GC,23,-1.61,-389.7,1147,1883,2035,4095,0.9,0.0,1,51,7.47,1.75,-8.55,0.000,18948,0.050,1.300,1837,1266,2958,2958,4095,0,0,0,0,0,0,25.90,24.79,25.96,10.25,49.72
$GC,80,-1.61,-390.0,1836,1266,2958,4095,2.6,-8.1,8,90,0.00,1.60,0.00,0.000,1030,0.000,0.028,1837,1913,2959,2959,4094,0,0,0,0,0,0,25.81,25.76,25.82,10.44,49.64
$GC,127,-1.61,-390.0,1836,1913,2960,4094,8.3,-12.9,14,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1913,2960,2960,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.45,49.17
$GC,173,-1.61,-390.0,1836,1913,2961,4095,14.6,-13.5,20,181,0.00,1.67,0.00,0.000,260,0.000,0.050,1837,2536,2961,2961,4094,0,0,0,0,0,0,26.13,25.82,26.13,10.43,48.97
$GC,210,-1.61,-390.0,1836,2535,2962,4094,18.9,-10.8,25,219,0.00,1.62,0.00,0.000,1030,0.000,0.030,1837,1905,2962,2962,4095,0,0,0,0,0,0,25.91,25.91,26.01,10.40,48.62
$GC,256,-1.61,-390.0,1836,1905,2962,4095,23.8,-11.0,31,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,2963,2963,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.38,47.51
$GC,302,-1.61,-390.0,1836,1905,2964,4094,28.8,-11.0,37,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,2964,2964,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.37,46.96
$GC,348,-1.61,-390.0,1836,1905,2964,4095,33.7,-10.6,43,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,2964,2964,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.35,45.98
$GC,394,-1.61,-390.0,1836,1905,2966,4094,38.6,-10.5,49,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,2966,2966,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.35,46.02
$GC,440,-1.61,-390.0,1836,1905,2966,4094,43.6,-10.5,55,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,2966,2966,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.34,44.99
$GC,486,-1.61,-390.0,1836,1905,2966,4094,48.5,-10.9,61,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,2967,2967,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.34,44.88
$GC,532,-1.61,-390.0,1836,1905,2968,4094,53.6,-10.7,67,541,0.00,1.70,0.00,0.000,260,0.000,0.050,1837,2534,2968,2968,4095,0,0,0,0,0,0,26.41,26.10,26.41,10.32,44.80
$GC,583,-1.61,-390.0,1836,2534,2969,4095,58.9,-9.7,74,592,0.00,1.60,0.00,0.000,1030,0.000,0.031,1837,1909,2969,2969,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.32,45.19
$STATE,600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,600,begin apogee
$GC,606,-0.45,0.0,1837,2029,2969,4094,60.9,-10.3,76,641,4.05,0.00,23.10,1.290,10244,0.060,0.000,2206,2030,2499,2499,4094,0,0,0,0,0,0,26.15,25.17,24.48,10.32,44.84
$STATE,642,end apogee,CONTROL_FINISHED_OK
$STATE,642,begin climb
$GC,644,1.61,390.0,2206,2029,2500,4094,63.0,0.0,80,680,7.03,0.00,22.80,1.265,11270,0.036,0.000,2863,2030,2044,2044,4094,0,0,0,0,0,0,25.64,25.80,24.05,10.22,44.29
$GC,717,1.61,390.0,2862,2029,2043,4094,58.2,9.9,89,727,0.00,1.67,0.00,0.000,260,0.000,0.048,2863,2640,2043,2043,4094,0,0,0,0,0,0,25.58,25.33,25.59,10.11,43.81
$GC,775,1.61,390.0,2862,2639,2042,4094,51.2,12.2,97,785,0.00,1.62,0.03,0.004,9222,0.000,0.028,2863,2015,2041,2041,4094,0,0,0,0,0,0,25.60,25.53,25.59,10.10,43.89
$GC,823,1.61,390.0,2862,2015,2041,4094,45.5,11.7,103,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2015,2042,2042,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.10,44.56
$GC,869,1.61,390.0,2862,2015,2039,4094,39.9,12.6,109,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2015,2039,2039,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.10,44.52
$GC,914,1.61,390.0,2862,2015,2038,4094,34.3,12.1,115,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2016,2038,2038,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.09,45.55
$GC,960,1.61,390.0,2862,2015,2037,4094,28.9,11.9,121,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2015,2037,2037,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.09,45.35
$GC,1006,1.61,390.0,2862,2015,2035,4094,23.5,11.6,127,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2015,2035,2035,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.09,45.15
$GC,1052,1.61,390.0,2862,2015,2034,4094,18.5,10.7,133,1060,0.00,1.73,0.00,0.000,516,0.000,0.062,2863,1373,2034,2034,4094,0,0,0,0,0,0,26.20,25.89,26.20,10.10,45.51
$GC,1116,1.61,390.0,2862,1372,2033,4094,11.4,10.9,142,1125,0.00,1.60,0.00,0.000,1030,0.000,0.028,2862,2022,2033,2033,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.12,46.73
$GC,1161,1.65,414.9,2862,2021,2032,4094,7.3,8.7,148,1170,0.00,0.00,2.62,0.212,8198,0.000,0.000,2863,2022,2014,2014,4094,0,0,0,0,0,0,26.28,25.74,25.32,10.16,47.83
$GC,1208,1.68,432.1,2862,2024,2013,4094,3.2,8.8,154,1218,0.10,0.00,2.70,0.213,10246,0.075,0.000,2879,2024,1994,1994,4094,0,0,0,0,0,0,26.11,25.77,25.37,10.17,48.77
$STATE,1226,end climb,FINISH_DEPTH_REACHED
$STATE,1226,begin subsurface finish
$FINISH1,1.3,1.024108,104
$GC,1231,0.16,103.9,2879,2023,1993,4094,1.3,9.0,156,1251,4.82,1.83,-3.40,0.000,20996,0.026,1.304,2414,1373,2385,2385,4094,0,0,0,0,0,0,26.07,24.94,26.13,10.17,49.13
$FINISH2,0.3
$STATE,1252,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1252,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,180811
$TT8_MAMPS,0.026215,0.238182
$HUMID,49.68
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.05,8.395
$10V_AH,10.20,10.667
$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,34.425,18.650,51.250,0.000,0.000,23.636,19.817,238.096,0.000,0.000,18.215,462.500,0.000,148.670,957.471,100.222,33.454,436.605,0.000,384.175,0.000,0.543,0.000
$DEVICE_MAMPS,104.805,1303.560,1289.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.825,429.169,339.930,503.147,658.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14373,158
$CAP_FILE_SIZE,38091,0
$CFSIZE,1024409600,1002487808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,193103,5952.590,-17148.016,7,0.9,17,8.0,0.0,244.6,9,4.6