version: 66.13
glider: 401
mission: 22
dive: 351
start: 8 1 117 21 41 29
data:
$ID,401
$MISSION,22
$DIVE,351
$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,18
$R_STBD_OVSHOOT,32
$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,0.25
$_SM_ANGLEo,-4.5
$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,-0.339678,0.017105
$KALMAN_X,43526.050781,-2298.565674,-959.842773,-120381.523438,52.466797
$KALMAN_Y,21322.962891,1422.299683,286.578705,46902.136719,56.838165
$MHEAD_RNG_PITCHd_Wd,264.9,51702,-11.3,-9.091,-14.96,6450
$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,-390.0,2411,1940,2384,4092,0.0,0.0,0,21,5.90,0.00,-5.18,0.000,20482,0.029,0.000,1848,1940,2945,2945,4094,0,0,0,0,0,0,26.03,28.83,26.05,10.27,50.90
$GC,23,-1.61,-390.0,1848,1940,2945,4094,0.1,0.0,1,33,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1848,1940,2959,2959,4094,0,0,0,0,0,0,26.23,25.44,25.95,10.39,50.86
$GC,69,-1.61,-390.0,1847,1940,2959,4094,2.3,-7.9,7,77,0.00,1.88,0.00,0.000,516,0.000,0.061,1848,1247,2959,2959,4095,0,0,0,0,0,0,26.10,25.77,26.12,10.40,50.78
$GC,132,-1.61,-390.0,1847,1247,2961,4095,10.7,-13.5,16,141,0.00,1.60,0.00,0.000,1030,0.000,0.031,1848,1895,2961,2961,4095,0,0,0,0,0,0,25.98,25.95,26.00,10.40,51.37
$GC,178,-1.61,-390.0,1847,1894,2962,4095,16.3,-12.2,22,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,2962,2962,4095,0,0,0,0,0,0,26.22,26.22,26.23,10.39,50.03
$GC,221,-1.61,-390.0,1847,1896,2963,4095,21.3,-10.9,28,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,2963,2963,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.37,50.55
$GC,266,-1.61,-390.0,1848,1897,2964,4094,25.5,-8.3,34,276,0.00,1.73,0.00,0.000,260,0.000,0.048,1848,2538,2963,2963,4094,0,0,0,0,0,0,26.29,26.02,26.30,10.36,48.93
$GC,331,-1.61,-390.0,1848,2538,2964,4094,30.8,-8.3,43,341,0.00,1.65,0.00,0.000,1030,0.000,0.031,1848,1897,2964,2964,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.33,47.63
$GC,378,-1.61,-390.0,1847,1896,2965,4094,34.6,-8.3,49,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,2966,2966,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.32,47.00
$GC,423,-1.61,-390.0,1847,1896,2966,4095,38.6,-8.7,55,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1896,2966,2966,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.31,47.08
$GC,468,-1.61,-390.0,1847,1896,2966,4095,42.5,-8.8,61,477,0.00,1.73,0.00,0.000,260,0.000,0.047,1848,2538,2967,2967,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.30,46.45
$GC,553,-1.61,-390.0,1847,2538,2969,4095,49.9,-8.7,73,562,0.00,1.65,0.00,0.000,1030,0.000,0.031,1848,1893,2968,2968,4094,0,0,0,0,0,0,26.22,26.19,26.25,10.30,46.65
$GC,598,-1.61,-390.0,1847,1893,2970,4094,53.8,-8.7,79,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1893,2969,2969,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.30,46.61
$GC,643,-1.61,-390.0,1847,1893,2969,4095,57.7,-8.7,85,651,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1893,2970,2970,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.29,46.02
$STATE,673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,673,begin apogee
$GC,678,-0.45,0.0,1847,2039,2970,4095,60.4,-8.6,89,713,3.88,0.00,23.02,1.287,10244,0.058,0.000,2205,2039,2501,2501,4094,0,0,0,0,0,0,26.22,25.21,24.55,10.29,46.73
$STATE,714,end apogee,CONTROL_FINISHED_OK
$STATE,714,begin climb
$GC,716,1.61,390.0,2205,2038,2501,4094,62.4,0.0,93,752,6.93,1.80,22.80,1.265,10756,0.036,0.057,2861,1374,2045,2045,4094,0,0,0,0,0,0,25.64,25.58,24.09,10.19,45.94
$GC,769,1.79,507.8,2860,1374,2045,4094,60.0,7.2,99,788,0.50,1.58,8.18,1.025,11270,0.036,0.027,2911,2004,1907,1907,4094,0,0,0,0,0,0,25.29,25.29,24.10,10.09,45.15
$GC,825,1.79,507.8,2910,2003,1907,4094,54.0,11.7,106,835,0.00,1.75,0.00,0.000,516,0.000,0.062,2911,1373,1907,1907,4094,0,0,0,0,0,0,25.61,25.31,25.63,10.05,45.66
$GC,1060,1.79,507.8,2911,1372,1900,4094,25.8,11.9,141,1070,0.00,1.40,0.00,0.000,1030,0.000,0.028,2911,1951,1900,1900,4094,0,0,0,0,0,0,25.91,25.86,25.92,10.03,46.61
$GC,1107,1.79,507.8,2910,1951,1899,4094,20.6,11.1,147,1116,0.00,1.90,0.00,0.000,260,0.000,0.054,2911,2651,1899,1899,4094,0,0,0,0,0,0,26.15,25.85,26.16,10.06,46.61
$GC,1152,1.79,507.8,2911,2651,1898,4094,15.4,11.3,153,1161,0.00,1.77,0.00,0.000,1030,0.000,0.032,2911,1967,1897,1897,4094,0,0,0,0,0,0,25.96,25.92,26.00,10.06,47.16
$GC,1197,1.79,507.8,2911,1967,1896,4094,10.6,10.6,159,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1967,1896,1896,4095,0,0,0,0,0,0,26.22,26.24,26.24,10.10,48.58
$GC,1241,1.79,507.8,2911,1967,1895,4095,5.4,11.6,165,1251,0.00,1.58,0.00,0.000,516,0.000,0.064,2911,1378,1895,1895,4094,0,0,0,0,0,0,26.26,25.94,26.27,10.12,49.40
$STATE,1271,end climb,SURFACE_DEPTH_REACHED
$STATE,1271,begin surface coast
$FINISH,0.2,1.003803
$STATE,1292,end surface coast,CONTROL_FINISHED_OK
$STATE,1293,begin surface
$SM_CCo,1390,0.00,0.000,0,0,1893,522.03
$SM_GC,1.04,28.23,1.27,0.00,0.024,0.032,0.000,230,1902,1893,-6.65,-1.91,522.03,0,0,0,0,0,0,25.96,26.09,26.06
$IRIDIUM_FIX,5955.74,-17228.01,010817,192605
$TT8_MAMPS,0.025466,0.213465
$HUMID,51.22
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,1.70
$XPDR_PINGS,0
$24V_AH,24.09,8.508
$10V_AH,10.26,10.830
$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,45.425,24.900,54.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.325,60.319,151.671,720.184,41.568,33.414,411.314,0.000,258.927,0.000,0.540,0.000
$DEVICE_MAMPS,58.140,64.260,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.909,467.233,0.000,548.364,713.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,14450,172
$CAP_FILE_SIZE,33686,0
$CFSIZE,1024409600,1002242048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010817,220527,5953.754,-17151.455,5,0.7,14,8.0,0.0,47.9,11,5.0