version: 66.13
glider: 401
mission: 22
dive: 367
start: 8 2 117 4 39 18
data:
$ID,401
$MISSION,22
$DIVE,367
$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,10
$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
$GPS1,020817,043130,5955.4111,-17151.9453,5,0.8,43,8.0,0.4,128.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-45.8
$GPS2,020817,043810,5955.3823,-17151.8496,7,0.9,15,8.0,0.0,83.2,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.323219,0.105386
$KALMAN_X,47431.125000,-1885.790771,-329.976776,-126976.000000,178.735291
$KALMAN_Y,25718.279297,1837.915405,622.223083,46027.593750,-108.883179
$MHEAD_RNG_PITCHd_Wd,280.1,49406,-11.3,-9.091,-14.97,6444
$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,-390.0,230,1913,2030,4092,0.0,0.0,0,21,11.23,0.00,0.00,0.000,2049,0.101,0.000,1166,1911,2030,2030,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.27,48.77
$GC,23,-1.61,-390.0,1165,1911,2030,4094,1.0,0.0,1,51,7.28,1.90,-8.55,0.000,18948,0.049,1.297,1838,1240,2960,2960,4094,0,0,0,0,0,0,25.89,24.80,25.96,10.28,49.21
$GC,159,-1.61,-390.0,1837,1240,2962,4094,11.1,-14.3,20,168,0.00,1.62,0.00,0.000,1030,0.000,0.027,1838,1895,2962,2962,4095,0,0,0,0,0,0,25.91,25.90,25.95,10.48,48.22
$GC,205,-1.61,-390.0,1838,1894,2964,4095,17.0,-12.1,26,215,0.00,1.73,0.00,0.000,260,0.000,0.049,1838,2537,2964,2964,4094,0,0,0,0,0,0,26.17,25.86,26.18,10.47,47.99
$GC,264,-1.61,-390.0,1838,2537,2964,4094,23.6,-10.9,34,273,0.00,1.60,0.00,0.000,1030,0.000,0.028,1838,1911,2965,2965,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.46,47.08
$GC,309,-1.61,-390.0,1838,1912,2966,4095,28.4,-10.4,40,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2966,2966,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.44,46.85
$GC,353,-1.61,-390.0,1838,1912,2966,4094,33.0,-10.1,46,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2966,2966,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.40,46.22
$GC,397,-1.61,-390.0,1837,1912,2967,4094,37.5,-10.6,52,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2967,2967,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.39,45.66
$GC,442,-1.61,-390.0,1838,1912,2968,4094,42.2,-10.5,58,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2968,2968,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.38,44.48
$GC,486,-1.61,-390.0,1838,1912,2969,4095,46.8,-10.3,64,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2969,2969,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.37,44.72
$GC,531,-1.61,-390.0,1838,1912,2970,4095,51.5,-10.8,70,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2970,2970,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.36,44.32
$GC,574,-1.61,-390.0,1838,1913,2970,4094,56.3,-11.1,76,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1912,2971,2971,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.35,43.54
$STATE,610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,610,begin apogee
$GC,615,-0.45,0.0,1838,2047,2971,4094,60.5,-11.0,81,651,4.00,0.00,23.08,1.274,10244,0.058,0.000,2205,2048,2499,2499,4094,0,0,0,0,0,0,26.18,25.20,24.52,10.35,44.25
$STATE,652,end apogee,CONTROL_FINISHED_OK
$STATE,652,begin climb
$GC,654,1.61,390.0,2204,2047,2499,4094,62.8,0.0,85,689,6.97,0.00,22.67,1.248,11270,0.035,0.000,2861,2048,2045,2045,4094,0,0,0,0,0,0,25.67,25.83,24.08,10.25,43.58
$GC,726,1.61,390.0,2860,2047,2044,4094,57.4,11.1,94,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2048,2043,2043,4094,0,0,0,0,0,0,25.60,25.62,25.61,10.14,42.63
$GC,771,1.61,390.0,2861,2047,2042,4094,52.0,12.1,100,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2048,2042,2042,4094,0,0,0,0,0,0,25.77,25.77,25.77,10.14,43.06
$GC,815,1.61,390.0,2861,2047,2041,4094,46.7,11.8,106,825,0.00,1.60,0.00,0.000,260,0.000,0.050,2862,2635,2041,2041,4095,0,0,0,0,0,0,25.87,25.58,25.89,10.13,42.87
$GC,880,1.61,390.0,2861,2635,2040,4095,38.2,12.8,115,890,0.00,1.60,0.00,0.000,1030,0.000,0.028,2861,2013,2039,2039,4094,0,0,0,0,0,0,25.78,25.75,25.80,10.12,43.58
$GC,925,1.61,390.0,2861,2012,2038,4094,32.6,12.4,121,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2013,2038,2038,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.12,44.29
$GC,970,1.61,390.0,2861,2012,2037,4094,27.3,11.6,127,979,0.00,1.70,0.00,0.000,516,0.000,0.062,2861,1379,2037,2037,4094,0,0,0,0,0,0,26.12,25.81,26.13,10.13,44.09
$GC,1028,1.61,390.0,2860,1379,2035,4094,20.7,11.5,135,1037,0.00,1.50,0.00,0.000,1030,0.000,0.026,2861,1993,2035,2035,4094,0,0,0,0,0,0,25.98,25.95,25.99,10.15,44.99
$GC,1074,1.61,390.0,2861,1993,2034,4094,15.7,10.8,141,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1993,2034,2034,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.18,47.12
$GC,1119,1.61,390.0,2861,1993,2034,4094,11.0,10.2,147,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1993,2033,2033,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.20,47.87
$GC,1163,1.61,390.0,2861,1994,2032,4094,6.9,9.1,153,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1994,2032,2032,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.21,48.42
$GC,1207,1.61,390.0,2861,1994,2031,4094,2.6,9.8,159,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1995,2031,2031,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.22,48.74
$STATE,1224,end climb,FINISH_DEPTH_REACHED
$STATE,1224,begin subsurface finish
$FINISH1,0.9,1.024060,107
$GC,1230,0.16,107.3,2861,1999,2030,4094,0.9,9.6,161,1240,4.60,0.00,-3.10,0.000,20486,0.026,0.000,2416,1999,2380,2380,4094,0,0,0,0,0,0,26.10,25.21,26.15,10.22,48.58
$FINISH2,0.4
$STATE,1241,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1241,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,031608
$TT8_MAMPS,0.025466,0.204477
$HUMID,49.37
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.08,8.895
$10V_AH,10.28,11.354
$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,34.075,13.600,45.750,0.000,0.000,25.250,24.122,236.976,0.000,0.000,16.498,448.118,0.000,137.556,983.192,96.470,33.451,417.221,0.000,246.507,0.000,0.542,0.000
$DEVICE_MAMPS,100.980,1296.675,1274.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.952,440.132,0.000,516.281,675.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,14370,162
$CAP_FILE_SIZE,35764,0
$CFSIZE,1024409600,1001455616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,043810,5955.382,-17151.850,7,0.9,15,8.0,0.0,83.2,10,5.0