version: 66.13
glider: 401
mission: 22
dive: 359
start: 8 2 117 1 11 51
data:
$ID,401
$MISSION,22
$DIVE,359
$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,21
$R_STBD_OVSHOOT,33
$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
$GPS1,020817,004716,5954.9180,-17152.0020,7,0.8,21,7.9,0.0,109.6,11,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-1.8
$GPS2,020817,004716,5954.9180,-17152.0020,7,0.8,21,7.9,0.0,109.6,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.331339,-0.074568
$KALMAN_X,44852.031250,-2319.357910,-802.998840,-123637.929688,223.004089
$KALMAN_Y,24567.873047,1821.620483,695.678040,46259.660156,128.330017
$MHEAD_RNG_PITCHd_Wd,249.4,49381,-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,7,-1.61,-390.0,2418,1897,2382,4092,0.0,0.0,0,21,5.78,0.00,-5.30,0.000,20486,0.027,0.000,1864,1897,2960,2960,4095,0,0,0,0,0,0,26.16,25.25,26.19,10.30,49.84
$GC,23,-1.61,-390.0,1863,1897,2960,4095,0.2,0.0,1,32,0.00,1.75,0.00,0.000,516,0.000,0.072,1864,1256,2960,2960,4094,0,0,0,0,0,0,26.38,26.06,26.39,10.43,50.27
$GC,68,-1.61,-390.0,1863,1256,2961,4094,2.9,-9.7,7,77,0.00,1.58,0.00,0.000,1030,0.000,0.029,1864,1908,2961,2961,4094,0,0,0,0,0,0,26.22,26.22,26.24,10.42,50.00
$GC,114,-1.61,-390.0,1863,1907,2962,4094,8.2,-11.8,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1907,2962,2962,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.43,50.51
$GC,159,-1.61,-390.0,1863,1907,2962,4095,14.1,-12.7,19,167,0.00,1.65,0.00,0.000,260,0.000,0.049,1864,2526,2963,2963,4094,0,0,0,0,0,0,26.46,26.15,26.48,10.43,50.47
$GC,211,-1.61,-390.0,1863,2526,2964,4094,19.2,-10.1,26,219,0.00,1.60,0.00,0.000,1030,0.000,0.031,1864,1900,2964,2964,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.42,49.25
$GC,255,-1.61,-390.0,1863,1900,2964,4095,23.9,-10.0,32,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2964,2964,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.40,48.89
$GC,300,-1.61,-390.0,1863,1900,2965,4095,28.5,-10.0,38,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2966,2966,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.37,48.30
$GC,344,-1.61,-390.0,1863,1900,2966,4095,32.8,-9.8,44,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2966,2966,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.35,47.44
$GC,388,-1.61,-390.0,1863,1900,2967,4095,37.2,-9.9,50,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2967,2967,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.34,46.65
$GC,432,-1.61,-390.0,1863,1900,2968,4094,41.7,-10.1,56,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1899,2968,2968,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.34,45.90
$GC,476,-1.61,-390.0,1863,1899,2969,4095,46.0,-10.1,62,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2969,2969,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.32,46.10
$GC,520,-1.61,-390.0,1864,1900,2969,4095,50.4,-10.2,68,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2969,2969,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.32,45.39
$GC,565,-1.61,-390.0,1863,1899,2970,4094,55.2,-10.7,74,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2971,2971,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.31,45.98
$GC,609,-1.61,-390.0,1863,1899,2971,4094,59.8,-10.5,80,618,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,1900,2971,2971,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.31,45.11
$STATE,626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,626,begin apogee
$GC,631,-0.45,0.0,1864,2031,2972,4094,61.7,-10.4,82,666,3.70,0.00,22.92,1.296,10244,0.060,0.000,2206,2031,2502,2502,4094,0,0,0,0,0,0,26.33,25.34,24.64,10.31,45.70
$STATE,667,end apogee,CONTROL_FINISHED_OK
$STATE,667,begin climb
$GC,668,1.61,390.0,2205,2031,2502,4094,63.7,0.0,86,704,6.97,0.00,22.67,1.268,11270,0.037,0.000,2862,2031,2045,2045,4094,0,0,0,0,0,0,25.79,25.96,24.18,10.21,44.72
$GC,742,1.61,390.0,2862,2030,2045,4094,58.4,10.8,95,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2031,2044,2044,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.11,43.93
$GC,786,1.61,390.0,2862,2030,2044,4094,52.9,12.1,101,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2031,2043,2043,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.10,44.21
$GC,830,1.61,390.0,2862,2030,2042,4094,47.7,11.3,107,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2031,2042,2042,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.10,44.52
$GC,875,1.61,390.0,2862,2030,2041,4094,42.7,11.5,113,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2031,2041,2041,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.10,45.23
$GC,919,1.61,390.0,2862,2030,2041,4094,37.6,11.6,119,928,0.00,1.80,0.00,0.000,516,0.000,0.061,2863,1374,2040,2040,4094,0,0,0,0,0,0,26.06,25.74,26.07,10.09,44.95
$GC,972,1.61,390.0,2862,1374,2038,4094,31.5,11.8,126,981,0.00,1.55,0.00,0.000,1030,0.000,0.027,2862,2001,2039,2039,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.08,45.27
$GC,1017,1.61,390.0,2862,2000,2038,4094,26.1,11.3,132,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2001,2038,2038,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.08,45.19
$GC,1062,1.61,390.0,2862,2000,2036,4094,21.5,10.1,138,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2001,2036,2036,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.10,45.62
$GC,1106,1.61,390.0,2862,2000,2035,4094,16.7,10.5,144,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2001,2035,2035,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.13,46.29
$GC,1151,1.61,390.0,2862,2001,2034,4094,12.0,10.6,150,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2001,2033,2033,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.15,47.75
$GC,1195,1.70,448.2,2862,2002,2034,4094,8.1,8.2,156,1205,0.15,0.00,4.25,0.438,10246,0.060,0.000,2884,2002,1977,1977,4094,0,0,0,0,0,0,26.11,25.75,25.32,10.17,48.62
$GC,1242,1.70,448.2,2883,2002,1976,4094,3.6,10.0,162,1252,0.00,1.77,0.00,0.000,260,0.000,0.054,2884,2658,1976,1976,4095,0,0,0,0,0,0,26.31,26.00,26.32,10.18,49.29
$STATE,1260,end climb,FINISH_DEPTH_REACHED
$STATE,1260,begin subsurface finish
$FINISH1,1.7,1.024074,106
$GC,1268,0.16,106.4,2884,2020,1975,4094,1.7,9.6,164,1285,4.88,0.00,-3.40,0.000,20486,0.031,0.000,2413,2020,2377,2377,4094,0,0,0,0,0,0,26.10,25.58,26.15,10.17,49.33
$FINISH2,0.5
$STATE,1286,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1286,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010817,232236
$TT8_MAMPS,0.025466,0.20972
$HUMID,50.15
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.18,8.703
$10V_AH,10.25,11.094
$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,21.475,13.900,49.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.904,0.000,147.829,697.596,44.713,33.431,438.081,0.000,250.430,0.000,0.542,0.000
$DEVICE_MAMPS,59.670,71.910,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.705,450.977,0.000,528.750,689.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14379,166
$CAP_FILE_SIZE,33942,0
$CFSIZE,1024409600,1001848832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,004716,5954.918,-17152.002,7,0.8,21,7.9,0.0,109.6,11,5.0