version: 66.13
glider: 401
mission: 22
dive: 366
start: 8 2 117 4 8 24
data:
$ID,401
$MISSION,22
$DIVE,366
$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,45
$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
$GPS1,020817,032147,5955.4131,-17151.5977,6,0.8,15,8.0,0.3,59.2,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.4
$GPS2,020817,032147,5955.4131,-17151.5977,6,0.8,15,8.0,0.3,59.2,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339589,-0.000243
$KALMAN_X,47217.484375,-1888.982544,-329.398254,-126525.507812,244.378967
$KALMAN_Y,25744.781250,1846.392334,637.080872,46033.847656,24.827576
$MHEAD_RNG_PITCHd_Wd,262.0,49632,-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,7,-1.61,-390.0,2414,1876,2379,4092,0.0,0.0,0,20,5.95,0.00,-4.40,0.000,20482,0.028,0.000,1846,1876,2864,2864,4095,0,0,0,0,0,0,26.02,28.83,26.06,10.31,49.92
$GC,22,-1.61,-390.0,1845,1876,2864,4095,0.1,0.0,1,32,0.00,1.70,-0.82,0.000,16900,0.000,1.294,1846,1281,2958,2958,4095,0,0,0,0,0,0,26.22,24.90,26.17,10.41,50.03
$GC,120,-1.61,-390.0,1845,1280,2959,4095,10.1,-13.4,15,129,0.00,1.52,0.00,0.000,1030,0.000,0.028,1845,1901,2959,2959,4095,0,0,0,0,0,0,25.98,25.94,26.00,10.44,50.51
$GC,165,-1.61,-390.0,1845,1901,2961,4095,15.7,-12.4,21,173,0.00,1.73,0.00,0.000,260,0.000,0.050,1845,2539,2960,2960,4095,0,0,0,0,0,0,26.22,25.91,26.23,10.43,49.48
$GC,235,-1.61,-390.0,1845,2539,2962,4095,23.7,-10.9,31,245,0.00,1.55,0.00,0.000,1030,0.000,0.029,1846,1935,2962,2962,4095,0,0,0,0,0,0,26.06,26.02,26.10,10.42,49.76
$GC,282,-1.61,-390.0,1845,1934,2962,4095,28.4,-10.2,37,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1935,2963,2963,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.39,48.66
$GC,325,-1.61,-390.0,1845,1935,2963,4095,33.0,-10.4,43,335,0.00,1.80,0.00,0.000,516,0.000,0.061,1846,1258,2964,2964,4094,0,0,0,0,0,0,26.34,26.03,26.36,10.38,48.34
$GC,370,-1.61,-390.0,1845,1258,2964,4094,37.8,-10.7,49,379,0.00,1.58,0.00,0.000,1030,0.000,0.028,1845,1905,2964,2964,4094,0,0,0,0,0,0,26.16,26.13,26.20,10.36,47.51
$GC,414,-1.61,-390.0,1845,1905,2965,4094,42.4,-10.4,55,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1905,2966,2966,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.35,47.04
$GC,459,-1.61,-390.0,1845,1905,2966,4094,47.1,-10.4,61,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1905,2966,2966,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.34,45.98
$GC,505,-1.61,-390.0,1845,1904,2967,4094,51.6,-10.2,67,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1905,2967,2967,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.33,45.62
$GC,551,-1.61,-390.0,1845,1905,2968,4094,56.5,-10.9,73,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1905,2968,2968,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.33,45.66
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,585,-0.45,0.0,1845,2044,2969,4095,60.0,-10.5,77,621,3.85,0.00,22.83,1.265,10244,0.058,0.000,2197,2045,2500,2500,4094,0,0,0,0,0,0,26.20,25.23,24.53,10.33,45.70
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.61,390.0,2197,2044,2500,4094,62.2,0.0,81,660,7.07,0.00,22.62,1.248,11270,0.035,0.000,2861,2044,2045,2045,4094,0,0,0,0,0,0,25.69,25.86,24.11,10.22,44.40
$GC,697,1.61,390.0,2861,2044,2044,4094,57.0,11.2,90,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2044,2044,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.12,43.97
$GC,743,1.61,390.0,2861,2044,2043,4094,51.6,11.9,96,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2043,2043,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.11,44.01
$GC,789,1.61,390.0,2861,2044,2042,4094,45.9,12.4,102,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,44.84
$GC,835,1.61,390.0,2861,2044,2041,4094,40.1,12.6,108,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2040,2040,4095,0,0,0,0,0,0,25.97,25.99,25.98,10.11,44.32
$GC,880,1.61,390.0,2861,2044,2039,4095,34.4,12.4,114,890,0.00,1.83,0.00,0.000,516,0.000,0.060,2861,1378,2039,2039,4094,0,0,0,0,0,0,26.05,25.72,26.06,10.10,44.68
$GC,965,1.61,390.0,2861,1377,2036,4094,24.5,10.7,126,974,0.00,1.50,0.00,0.000,1030,0.000,0.027,2861,1990,2037,2037,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.12,45.43
$GC,1010,1.61,390.0,2861,1990,2036,4094,19.5,11.0,132,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1990,2036,2036,4095,0,0,0,0,0,0,26.20,26.21,26.20,10.14,46.29
$GC,1055,1.61,390.0,2861,1990,2035,4095,14.7,10.4,138,1064,0.00,1.80,0.00,0.000,260,0.000,0.053,2861,2658,2035,2035,4094,0,0,0,0,0,0,26.23,25.94,26.25,10.16,47.99
$GC,1127,1.61,390.0,2861,2658,2033,4094,7.3,10.2,148,1137,0.00,1.60,0.00,0.000,1030,0.000,0.029,2862,2030,2033,2033,4094,0,0,0,0,0,0,26.07,26.04,26.10,10.19,48.54
$GC,1174,1.61,390.0,2861,2031,2031,4094,2.9,9.5,154,1183,0.00,1.75,0.00,0.000,516,0.000,0.059,2861,1373,2032,2032,4095,0,0,0,0,0,0,26.32,26.01,26.34,10.20,49.13
$STATE,1191,end climb,SURFACE_DEPTH_REACHED
$STATE,1191,begin surface coast
$FINISH,0.1,1.016464
$STATE,1212,end surface coast,CONTROL_FINISHED_OK
$STATE,1212,begin surface
$SM_CCo,1309,0.00,0.000,0,0,2031,404.40
$SM_GC,1.16,27.73,1.33,0.00,0.025,0.032,0.000,230,1905,2031,-6.65,-1.55,404.40,0,0,0,0,0,0,26.06,26.12,26.13
$IRIDIUM_FIX,5955.74,-17228.01,020817,020008
$TT8_MAMPS,0.025466,0.25466
$HUMID,50.00
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.11,8.861
$10V_AH,10.21,11.323
$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,44.600,20.200,45.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.106,60.449,149.172,663.946,44.220,33.418,402.801,0.000,385.185,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,1294.380,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.995,431.976,341.989,506.792,661.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330968
$DATA_FILE_SIZE,14310,159
$CAP_FILE_SIZE,31864,0
$CFSIZE,1024409600,1001521152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,043130,5955.411,-17151.945,5,0.8,43,8.0,0.4,128.8,10,4.9