version: 66.13
glider: 401
mission: 22
dive: 350
start: 8 1 117 21 18 34
data:
$ID,401
$MISSION,22
$DIVE,350
$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
$GPS1,010817,205458,5953.0752,-17150.0996,7,0.9,16,8.0,0.0,280.5,9,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-5.1
$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,-0.338589,0.025065
$KALMAN_X,43100.289062,-2263.953369,-939.089722,-120013.257812,-102.633667
$KALMAN_Y,21361.705078,1416.124878,271.601379,46884.808594,77.156189
$MHEAD_RNG_PITCHd_Wd,266.2,51702,-11.3,-9.091,-14.99,6423
$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,-390.0,2410,1898,2385,4092,0.0,0.0,0,21,5.68,0.00,-5.12,0.000,20482,0.024,0.000,1857,1897,2942,2942,4094,0,0,0,0,0,0,26.17,28.83,26.20,10.28,50.98
$GC,23,-1.61,-390.0,1857,1897,2942,4094,0.3,0.0,1,33,0.00,1.83,-0.10,0.000,16900,0.000,1.316,1857,1257,2957,2957,4095,0,0,0,0,0,0,26.36,25.01,26.09,10.40,50.19
$GC,70,-1.61,-390.0,1857,1257,2957,4095,4.3,-11.4,7,79,0.00,1.58,0.00,0.000,1030,0.000,0.029,1857,1894,2958,2958,4095,0,0,0,0,0,0,26.01,25.98,26.05,10.40,50.39
$GC,114,-1.61,-390.0,1857,1894,2958,4095,10.3,-13.3,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1894,2959,2959,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.41,50.03
$GC,158,-1.61,-390.0,1857,1894,2959,4094,15.9,-12.8,19,166,0.00,1.75,0.00,0.000,260,0.000,0.050,1857,2543,2960,2960,4095,0,0,0,0,0,0,26.29,25.98,26.31,10.39,49.68
$GC,202,-1.61,-390.0,1857,2543,2961,4095,20.7,-10.6,25,211,0.00,1.65,0.00,0.000,1030,0.000,0.031,1857,1902,2961,2961,4094,0,0,0,0,0,0,26.10,26.10,26.13,10.38,49.01
$GC,247,-1.61,-390.0,1857,1901,2961,4094,25.5,-10.6,31,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1902,2962,2962,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.36,48.97
$GC,291,-1.61,-390.0,1856,1902,2962,4094,30.1,-10.2,37,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1902,2962,2962,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.34,47.87
$GC,335,-1.61,-390.0,1857,1902,2963,4095,34.5,-10.5,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1902,2963,2963,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.33,47.63
$GC,379,-1.61,-390.0,1856,1901,2964,4095,39.2,-10.7,49,388,0.00,1.75,0.00,0.000,260,0.000,0.049,1857,2546,2964,2964,4094,0,0,0,0,0,0,26.43,26.11,26.44,10.32,46.49
$GC,431,-1.61,-390.0,1857,2546,2965,4094,44.7,-10.6,56,440,0.00,1.62,0.00,0.000,1030,0.000,0.030,1857,1911,2965,2965,4095,0,0,0,0,0,0,26.22,26.17,26.22,10.31,46.57
$GC,477,-1.61,-390.0,1857,1910,2966,4095,49.5,-10.8,62,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1911,2966,2966,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.31,46.65
$GC,523,-1.61,-390.0,1856,1910,2966,4095,54.6,-11.0,68,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1911,2967,2967,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.30,45.47
$GC,569,-1.61,-390.0,1856,1910,2968,4095,59.6,-10.9,74,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1911,2968,2968,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.30,45.62
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,591,-0.45,0.0,1857,2043,2968,4094,61.7,-10.7,76,626,3.83,0.00,22.75,1.300,10244,0.059,0.000,2206,2044,2505,2505,4094,0,0,0,0,0,0,26.24,25.25,24.56,10.30,45.82
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,629,1.61,390.0,2206,2043,2505,4094,64.0,0.0,80,666,6.97,1.62,23.00,1.278,10500,0.034,0.054,2865,2640,2045,2045,4094,0,0,0,0,0,0,25.67,25.60,24.09,10.19,45.27
$GC,721,1.61,390.0,2865,2639,2043,4094,56.7,11.6,92,731,0.00,1.62,0.00,0.000,1030,0.000,0.029,2865,2021,2043,2043,4094,0,0,0,0,0,0,25.47,25.44,25.48,10.09,44.95
$GC,766,1.61,390.0,2864,2020,2043,4094,51.5,11.5,98,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2021,2042,2042,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.09,44.88
$GC,811,1.61,390.0,2865,2020,2042,4094,46.4,11.7,104,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2021,2041,2041,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.09,44.80
$GC,855,1.61,390.0,2865,2020,2041,4094,41.2,11.8,110,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2020,2040,2040,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.08,45.47
$GC,899,1.61,390.0,2865,2020,2039,4094,35.9,12.0,116,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2021,2039,2039,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.08,45.58
$GC,944,1.61,390.0,2865,2020,2038,4094,30.5,12.2,122,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2020,2038,2038,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.07,46.29
$GC,988,1.61,390.0,2865,2020,2037,4094,25.2,12.0,128,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2020,2036,2036,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.07,45.66
$GC,1032,1.61,390.0,2865,2020,2035,4095,20.0,11.5,134,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2020,2035,2035,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.08,46.77
$GC,1076,1.61,390.0,2865,2020,2035,4094,15.2,10.5,140,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2021,2034,2034,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.10,46.14
$GC,1121,1.64,408.0,2865,2020,2034,4094,11.1,8.8,146,1130,0.00,0.00,2.33,0.142,8198,0.000,0.000,2865,2021,2023,2023,4094,0,0,0,0,0,0,26.27,25.71,25.27,10.12,47.63
$GC,1167,1.64,408.0,2865,2020,2022,4094,6.9,9.4,152,1176,0.00,1.73,0.00,0.000,516,0.000,0.062,2865,1369,2022,2022,4094,0,0,0,0,0,0,26.29,25.97,26.30,10.15,48.85
$STATE,1223,end climb,FINISH_DEPTH_REACHED
$STATE,1223,begin subsurface finish
$FINISH1,1.3,1.024098,105
$GC,1231,0.16,104.6,2865,2007,2021,4094,1.3,10.1,160,1250,4.70,1.80,-3.28,0.000,20996,0.029,1.314,2412,1373,2384,2384,4094,0,0,0,0,0,0,26.10,24.96,26.15,10.17,49.84
$FINISH2,0.3
$STATE,1251,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1251,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,192605
$TT8_MAMPS,0.025466,0.266644
$HUMID,50.51
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,24.09,8.489
$10V_AH,10.18,10.803
$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,21.175,19.100,48.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,446.740,0.000,141.572,674.836,45.491,33.424,417.542,0.000,391.219,0.000,0.541,0.000
$DEVICE_MAMPS,58.905,1315.800,1299.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.930,440.002,348.470,516.690,672.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,14390,162
$CAP_FILE_SIZE,32585,0
$CFSIZE,1024409600,1002307584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,205458,5953.075,-17150.100,7,0.9,16,8.0,0.0,280.5,9,4.6