version: 66.13
glider: 401
mission: 22
dive: 349
start: 8 1 117 20 56 6
data:
$ID,401
$MISSION,22
$DIVE,349
$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,34
$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
$GPS1,010817,204702,5953.0454,-17150.0000,5,0.9,41,8.0,0.3,313.4,9,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-44.0
$GPS2,010817,205458,5953.0752,-17150.0996,7,0.9,16,8.0,0.0,280.5,9,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.337683,0.036068
$KALMAN_X,42903.851562,-2310.059082,-1006.026367,-119668.257812,-110.460327
$KALMAN_Y,21352.265625,1436.756470,274.705811,46855.992188,64.038391
$MHEAD_RNG_PITCHd_Wd,268.1,51702,-11.3,-9.091,-14.99,6427
$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,-390.0,240,1898,2017,4092,0.0,0.0,0,21,10.95,0.00,0.00,0.000,2049,0.108,0.000,1138,1895,2017,2017,4094,0,0,0,0,0,0,26.13,28.83,28.83,10.24,49.88
$GC,23,-1.61,-390.0,1138,1895,2017,4094,1.0,0.0,1,51,7.55,1.83,-8.75,0.000,18948,0.046,1.300,1837,1256,2959,2959,4095,0,0,0,0,0,0,25.86,24.74,25.92,10.25,49.44
$GC,88,-1.61,-390.0,1836,1256,2959,4095,2.7,-9.9,9,97,0.00,1.60,0.00,0.000,1030,0.000,0.028,1837,1901,2959,2959,4094,0,0,0,0,0,0,25.78,25.76,25.81,10.45,49.44
$GC,133,-1.61,-390.0,1837,1901,2960,4094,8.7,-13.1,15,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1901,2961,2961,4095,0,0,0,0,0,0,26.06,26.07,26.06,10.46,48.66
$GC,177,-1.61,-390.0,1836,1902,2961,4095,14.8,-13.6,21,186,0.00,1.73,0.00,0.000,260,0.000,0.049,1837,2540,2962,2962,4095,0,0,0,0,0,0,26.11,25.81,26.12,10.43,47.95
$GC,235,-1.61,-390.0,1837,2539,2963,4095,21.4,-10.9,29,244,0.00,1.65,0.00,0.000,1030,0.000,0.029,1837,1898,2963,2963,4095,0,0,0,0,0,0,25.95,25.91,25.98,10.40,47.36
$GC,281,-1.61,-390.0,1837,1898,2964,4095,26.3,-10.9,35,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1898,2964,2964,4095,0,0,0,0,0,0,26.21,26.23,26.22,10.38,47.28
$GC,326,-1.61,-390.0,1836,1898,2964,4095,31.1,-10.5,41,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1898,2964,2964,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.37,45.66
$GC,370,-1.61,-390.0,1836,1898,2965,4094,35.8,-10.9,47,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1899,2966,2966,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.35,45.39
$GC,413,-1.61,-390.0,1836,1898,2966,4095,40.7,-11.4,53,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1898,2966,2966,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.34,45.11
$GC,458,-1.61,-390.0,1837,1898,2967,4095,45.8,-11.4,59,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1898,2967,2967,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.35,45.51
$GC,502,-1.61,-390.0,1836,1898,2968,4095,50.8,-11.5,65,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1898,2968,2968,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.33,44.44
$GC,546,-1.61,-390.0,1836,1898,2969,4095,56.0,-11.9,71,556,0.00,1.73,0.00,0.000,260,0.000,0.048,1837,2535,2969,2969,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.33,44.64
$STATE,583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,583,begin apogee
$GC,589,-0.45,0.0,1837,2012,2970,4095,60.5,-11.6,76,623,4.00,0.00,23.12,1.282,10244,0.058,0.000,2206,2012,2499,2499,4095,0,0,0,0,0,0,26.13,25.14,24.50,10.32,43.97
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,626,1.61,390.0,2206,2012,2500,4095,62.9,0.0,80,662,7.00,0.00,22.75,1.261,11270,0.035,0.000,2862,2012,2045,2045,4094,0,0,0,0,0,0,25.63,25.78,24.03,10.22,44.68
$GC,699,1.61,390.0,2861,2012,2043,4094,57.9,10.7,89,708,0.00,1.80,0.00,0.000,260,0.000,0.050,2862,2653,2044,2044,4094,0,0,0,0,0,0,25.56,25.27,25.58,10.12,44.01
$GC,750,1.61,390.0,2861,2653,2043,4094,51.7,11.8,96,759,0.00,1.67,0.03,0.006,9222,0.000,0.029,2862,2012,2042,2042,4094,0,0,0,0,0,0,25.53,25.49,25.56,10.11,44.32
$GC,797,1.61,390.0,2861,2012,2041,4094,46.5,11.7,102,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2041,2041,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.11,44.09
$GC,841,1.61,390.0,2861,2012,2040,4094,40.9,11.7,108,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2040,2040,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.10,44.25
$GC,885,1.61,390.0,2861,2012,2039,4094,35.6,12.0,114,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2039,2039,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.10,45.31
$GC,930,1.61,390.0,2861,2012,2038,4094,30.3,11.9,120,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2038,2038,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.09,44.95
$GC,973,1.61,390.0,2861,2012,2036,4094,25.2,11.8,126,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2037,2037,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.09,45.03
$GC,1017,1.61,390.0,2861,2012,2035,4094,20.1,11.0,132,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2035,2035,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.10,45.90
$GC,1062,1.61,390.0,2861,2012,2034,4094,15.2,10.4,138,1070,0.00,1.73,0.00,0.000,516,0.000,0.063,2862,1369,2034,2034,4095,0,0,0,0,0,0,26.22,25.90,26.22,10.11,45.74
$GC,1099,1.61,390.0,2861,1368,2034,4095,11.5,9.8,143,1109,0.00,1.58,0.00,0.000,1030,0.000,0.028,2862,2011,2034,2034,4095,0,0,0,0,0,0,26.03,26.06,26.06,10.13,47.08
$GC,1145,1.62,398.7,2861,2010,2032,4095,7.5,9.0,149,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2010,2032,2032,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,47.91
$GC,1191,1.62,398.7,2861,2011,2031,4094,3.4,9.1,155,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2011,2031,2031,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.18,49.25
$STATE,1207,end climb,FINISH_DEPTH_REACHED
$STATE,1208,begin subsurface finish
$FINISH1,1.7,1.024114,104
$GC,1213,0.16,103.6,2862,2014,2030,4094,1.7,9.2,157,1224,4.90,0.00,-2.95,0.000,20486,0.060,0.000,2410,2019,2385,2385,4094,0,0,0,0,0,0,26.11,25.18,26.15,10.18,48.81
$FINISH2,0.4
$STATE,1225,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1225,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,192605
$TT8_MAMPS,0.025466,0.207473
$HUMID,49.33
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,24.03,8.471
$10V_AH,10.26,10.767
$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,34.400,16.650,45.900,0.000,0.000,21.137,37.006,301.258,0.000,0.000,17.591,443.747,0.000,145.231,1035.403,99.867,33.478,426.347,0.000,240.799,0.000,0.543,0.000
$DEVICE_MAMPS,107.865,1299.735,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.230,429.222,0.000,503.414,653.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329432
$DATA_FILE_SIZE,14284,158
$CAP_FILE_SIZE,37750,0
$CFSIZE,1024409600,1002340352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010817,205458,5953.075,-17150.100,7,0.9,16,8.0,0.0,280.5,9,4.6