version: 66.13
glider: 401
mission: 22
dive: 347
start: 8 1 117 19 55 6
data:
$ID,401
$MISSION,22
$DIVE,347
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,010817,193103,5952.5903,-17148.0156,7,0.9,17,8.0,0.0,244.6,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-3.2
$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,-0.325089,0.098290
$KALMAN_X,43437.421875,-2052.544922,-751.216858,-118778.039062,-166.843811
$KALMAN_Y,20893.382812,1381.709229,199.333328,46562.566406,-4.635986
$MHEAD_RNG_PITCHd_Wd,278.8,53776,-11.3,-9.091,-14.99,6428
$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,-390.0,2413,1913,2385,4092,0.0,0.0,0,21,5.93,0.00,-4.72,0.000,20482,0.028,0.000,1847,1913,2898,2898,4095,0,0,0,0,0,0,26.02,28.83,26.04,10.29,50.59
$GC,23,-1.61,-390.0,1847,1913,2898,4095,0.1,0.0,1,33,0.00,1.88,-0.55,0.000,16900,0.000,1.291,1847,1252,2959,2959,4095,0,0,0,0,0,0,26.22,24.89,26.15,10.39,50.39
$GC,76,-1.61,-390.0,1847,1252,2960,4095,1.1,-3.6,8,84,0.00,1.60,0.00,0.000,1030,0.000,0.030,1847,1902,2959,2959,4095,0,0,0,0,0,0,25.93,25.89,25.94,10.41,50.90
$GC,121,-1.61,-390.0,1846,1902,2961,4095,6.1,-12.0,14,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1902,2961,2961,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.42,50.74
$GC,166,-1.61,-390.0,1847,1902,2962,4095,12.3,-13.8,20,175,0.00,1.70,0.00,0.000,260,0.000,0.050,1847,2532,2962,2962,4095,0,0,0,0,0,0,26.22,25.90,26.22,10.41,50.23
$GC,236,-1.61,-390.0,1847,2531,2963,4095,20.6,-10.8,30,245,0.00,1.60,0.00,0.000,1030,0.000,0.031,1847,1908,2963,2963,4095,0,0,0,0,0,0,26.09,26.02,26.08,10.38,49.29
$GC,281,-1.61,-390.0,1847,1908,2964,4095,25.4,-11.1,36,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1908,2965,2965,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.36,48.38
$GC,326,-1.61,-390.0,1847,1908,2965,4094,28.9,-7.5,42,335,0.00,1.73,0.00,0.000,516,0.000,0.064,1847,1264,2965,2965,4095,0,0,0,0,0,0,26.34,26.01,26.34,10.34,47.67
$GC,391,-1.61,-390.0,1847,1264,2966,4095,34.7,-9.1,51,400,0.00,1.58,0.00,0.000,1030,0.000,0.028,1847,1927,2966,2966,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.33,47.00
$GC,436,-1.61,-390.0,1847,1926,2966,4095,38.8,-8.8,57,445,0.00,1.58,0.00,0.000,260,0.000,0.046,1847,2515,2966,2966,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.32,46.85
$GC,487,-1.61,-390.0,1847,2515,2967,4095,43.4,-9.0,64,497,0.00,1.50,0.00,0.000,1030,0.000,0.030,1847,1927,2968,2968,4094,0,0,0,0,0,0,26.20,26.17,26.25,10.31,46.77
$GC,535,-1.61,-390.0,1847,1927,2969,4094,47.4,-8.5,70,544,0.00,1.80,0.00,0.000,516,0.000,0.064,1847,1253,2969,2969,4094,0,0,0,0,0,0,26.45,26.12,26.46,10.31,46.22
$GC,606,-1.61,-390.0,1847,1253,2970,4094,53.6,-8.1,80,616,0.00,1.55,0.00,0.000,1030,0.000,0.031,1847,1913,2969,2969,4094,0,0,0,0,0,0,26.30,26.28,26.30,10.30,46.02
$GC,653,-1.61,-390.0,1846,1913,2970,4094,57.6,-8.8,86,662,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1913,2971,2971,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.30,46.18
$STATE,676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,676,begin apogee
$GC,681,-0.45,0.0,1847,2021,2971,4094,60.1,-8.9,89,717,3.88,0.00,22.88,1.279,10244,0.054,0.000,2204,2021,2504,2504,4095,0,0,0,0,0,0,26.23,25.25,24.56,10.30,46.18
$STATE,718,end apogee,CONTROL_FINISHED_OK
$STATE,718,begin climb
$GC,720,1.61,390.0,2204,2021,2504,4095,62.6,0.0,93,757,6.97,1.65,22.92,1.270,10500,0.032,0.053,2861,2631,2045,2045,4094,0,0,0,0,0,0,25.65,25.60,24.10,10.20,45.94
$GC,818,1.61,390.0,2861,2631,2044,4094,56.7,9.2,106,828,0.00,1.60,0.00,0.000,1030,0.000,0.030,2861,2020,2044,2044,4094,0,0,0,0,0,0,25.50,25.46,25.53,10.10,45.23
$GC,864,1.65,415.7,2861,2020,2043,4094,52.7,8.7,112,873,0.00,1.73,3.22,0.508,8708,0.000,0.060,2861,1371,2014,2014,4094,0,0,0,0,0,0,25.83,25.19,24.53,10.09,45.07
$GC,935,1.65,415.7,2861,1371,2013,4094,46.1,9.4,122,945,0.00,1.52,0.00,0.000,1030,0.000,0.028,2861,1993,2013,2013,4094,0,0,0,0,0,0,25.75,25.71,25.77,10.08,46.37
$GC,980,1.65,415.7,2861,1993,2012,4094,41.9,9.3,128,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1993,2012,2012,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.07,46.06
$GC,1025,1.65,415.7,2861,1992,2011,4094,37.8,9.3,134,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2011,2011,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.07,46.18
$GC,1069,1.65,415.7,2861,1993,2010,4094,33.8,9.2,140,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2010,2010,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.07,46.73
$GC,1114,1.65,415.7,2861,1993,2009,4094,29.7,9.2,146,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2010,2010,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.07,46.33
$GC,1158,1.67,431.1,2861,1993,2008,4094,25.7,8.8,152,1168,0.10,0.00,2.40,0.191,10246,0.076,0.000,2878,1993,1997,1997,4095,0,0,0,0,0,0,26.01,25.63,25.09,10.07,46.29
$GC,1206,1.71,458.3,2878,1992,1997,4095,21.6,8.7,158,1215,0.00,0.00,3.05,0.351,8198,0.000,0.000,2878,1993,1970,1970,4094,0,0,0,0,0,0,26.25,25.65,25.15,10.07,46.92
$GC,1252,1.81,520.3,2878,1993,1969,4094,17.8,8.1,164,1264,0.38,1.70,5.18,0.576,10756,0.044,0.061,2920,1369,1892,1892,4095,0,0,0,0,0,0,26.03,25.86,25.16,10.07,46.77
$GC,1306,1.81,520.3,2920,1368,1892,4095,12.7,9.5,171,1316,0.00,1.60,0.00,0.000,1030,0.000,0.028,2921,2021,1892,1892,4094,0,0,0,0,0,0,26.02,26.01,26.08,10.07,47.83
$GC,1353,1.83,534.5,2920,2021,1891,4094,8.6,8.9,177,1362,0.00,1.67,2.53,0.191,8452,0.000,0.051,2921,2661,1877,1877,4095,0,0,0,0,0,0,26.27,25.74,25.29,10.09,48.07
$GC,1411,1.83,534.5,2920,2661,1876,4095,3.2,9.5,185,1420,0.00,1.60,0.00,0.000,1030,0.000,0.029,2921,2034,1875,1875,4095,0,0,0,0,0,0,26.09,26.04,26.11,10.12,49.44
$STATE,1430,end climb,FINISH_DEPTH_REACHED
$STATE,1430,begin subsurface finish
$FINISH1,1.3,1.024078,106
$GC,1435,0.16,106.1,2920,2034,1875,4095,1.3,9.9,187,1455,5.40,1.83,-4.45,0.000,20996,0.044,1.309,2413,1384,2382,2382,4094,0,0,0,0,0,0,26.10,24.94,26.14,10.12,49.96
$FINISH2,0.4
$STATE,1456,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1456,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,180811
$TT8_MAMPS,0.026215,0.223202
$HUMID,50.66
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,24.10,8.415
$10V_AH,10.24,10.696
$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,22.650,32.900,62.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,525.750,0.000,148.714,792.729,46.405,33.428,452.780,0.000,283.006,0.000,0.542,0.000
$DEVICE_MAMPS,76.500,1308.915,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,129.091,513.447,0.000,602.504,785.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330924
$DATA_FILE_SIZE,17721,189
$CAP_FILE_SIZE,39459,0
$CFSIZE,1024409600,1002422272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,193103,5952.590,-17148.016,7,0.9,17,8.0,0.0,244.6,9,4.6