version: 66.13
glider: 401
mission: 22
dive: 368
start: 8 2 117 5 2 2
data:
$ID,401
$MISSION,22
$DIVE,368
$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,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
$GPS1,020817,043810,5955.3823,-17151.8496,7,0.9,15,8.0,0.0,83.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.1
$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,-0.331581,0.074751
$KALMAN_X,47624.453125,-1785.727905,-247.416794,-127358.085938,125.941910
$KALMAN_Y,25703.568359,1786.340942,554.544800,46161.035156,-60.663452
$MHEAD_RNG_PITCHd_Wd,274.7,49406,-11.3,-9.091,-14.97,6441
$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,6,begin dive
$GC,8,-1.61,-390.0,2415,1897,2381,4092,0.0,0.0,0,21,5.90,0.00,-4.65,0.000,20482,0.028,0.000,1844,1897,2892,2892,4094,0,0,0,0,0,0,26.19,28.83,26.22,10.32,49.80
$GC,24,-1.61,-390.0,1844,1897,2893,4094,0.1,0.0,1,33,0.00,1.83,-0.60,0.000,16900,0.000,1.309,1844,1251,2960,2960,4094,0,0,0,0,0,0,26.39,25.03,26.32,10.43,50.07
$GC,128,-1.61,-390.0,1843,1250,2961,4094,9.3,-14.3,16,137,0.00,1.60,0.00,0.000,1030,0.000,0.028,1844,1896,2961,2961,4094,0,0,0,0,0,0,26.10,26.07,26.15,10.45,49.21
$GC,174,-1.61,-390.0,1844,1896,2962,4094,15.4,-13.0,22,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1896,2963,2963,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.45,49.05
$GC,220,-1.61,-390.0,1844,1897,2963,4095,20.8,-11.3,28,229,0.00,1.73,0.00,0.000,260,0.000,0.049,1844,2542,2964,2964,4095,0,0,0,0,0,0,26.37,26.06,26.38,10.44,49.17
$GC,285,-1.61,-390.0,1843,2542,2965,4095,27.7,-10.2,37,294,0.00,1.60,0.00,0.000,1030,0.000,0.029,1844,1915,2964,2964,4094,0,0,0,0,0,0,26.18,26.14,26.20,10.40,48.93
$GC,330,-1.61,-390.0,1843,1914,2966,4094,32.2,-10.2,43,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2966,2966,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.39,47.59
$GC,374,-1.61,-390.0,1843,1914,2966,4094,36.7,-9.9,49,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1914,2966,2966,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.38,47.40
$GC,418,-1.61,-390.0,1843,1914,2967,4094,41.2,-10.3,55,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1914,2968,2968,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.36,46.53
$GC,463,-1.61,-390.0,1844,1914,2968,4095,45.5,-9.5,61,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2968,2968,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.35,45.35
$GC,507,-1.61,-390.0,1843,1914,2969,4095,50.3,-11.3,67,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2969,2969,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.34,45.27
$GC,551,-1.61,-390.0,1843,1914,2970,4095,55.0,-10.9,73,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1914,2970,2970,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.34,45.51
$GC,594,-1.61,-390.0,1844,1914,2971,4094,59.7,-10.9,79,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2971,2971,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.33,44.64
$STATE,610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,610,begin apogee
$GC,616,-0.45,0.0,1844,2050,2971,4094,61.8,-11.0,81,652,3.90,0.05,22.98,1.287,10244,0.058,0.058,2202,2010,2500,2500,4094,0,0,0,0,0,0,26.27,25.28,24.59,10.33,44.92
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,653,begin climb
$GC,655,1.61,390.0,2201,2010,2501,4094,64.0,0.0,85,690,7.00,0.00,22.65,1.261,11270,0.034,0.000,2863,2010,2045,2045,4094,0,0,0,0,0,0,25.75,25.91,24.14,10.23,44.32
$GC,727,1.61,390.0,2863,2010,2044,4094,59.0,10.9,94,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2010,2044,2044,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.13,43.38
$GC,773,1.61,390.0,2863,2010,2043,4094,53.2,12.7,100,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2010,2042,2042,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.12,43.77
$GC,819,1.61,390.0,2863,2010,2041,4094,47.4,12.8,106,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2010,2042,2042,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.12,44.40
$GC,865,1.61,390.0,2863,2010,2041,4094,41.9,11.6,112,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2010,2040,2040,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.11,44.88
$GC,911,1.61,390.0,2863,2010,2039,4094,36.3,12.1,118,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2010,2039,2039,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.10,44.25
$GC,957,1.61,390.0,2863,2010,2038,4095,30.6,12.7,124,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2010,2038,2038,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.11,44.92
$GC,1002,1.61,390.0,2863,2010,2037,4094,25.4,11.1,130,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,2037,2037,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.12,44.92
$GC,1046,1.61,390.0,2863,2010,2035,4094,20.4,11.2,136,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2010,2035,2035,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.13,45.70
$GC,1090,1.61,390.0,2863,2010,2034,4094,15.6,10.5,142,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2010,2034,2034,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.16,47.00
$GC,1135,1.61,390.0,2863,2010,2033,4094,11.2,9.7,148,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2010,2033,2033,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,47.87
$GC,1179,1.61,390.0,2863,2010,2032,4094,6.8,9.9,154,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2010,2032,2032,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.20,49.60
$GC,1223,1.61,390.0,2863,2010,2032,4094,2.5,9.5,160,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2010,2031,2031,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.21,48.93
$STATE,1239,end climb,FINISH_DEPTH_REACHED
$STATE,1239,begin subsurface finish
$FINISH1,0.7,1.024063,107
$GC,1245,0.16,107.1,2863,2009,2030,4094,0.7,9.7,162,1256,4.65,0.00,-3.15,0.000,20486,0.031,0.000,2413,2010,2383,2383,4094,0,0,0,0,0,0,26.14,25.24,26.19,10.21,49.25
$FINISH2,0.1
$STATE,1257,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1257,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,031608
$TT8_MAMPS,0.025466,0.244923
$HUMID,49.64
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.14,8.912
$10V_AH,10.21,11.391
$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,21.450,7.325,45.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,451.409,0.000,135.993,680.533,45.619,33.429,409.681,0.000,393.385,0.000,0.543,0.000
$DEVICE_MAMPS,58.140,1308.915,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.375,442.821,350.575,519.572,678.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,14347,163
$CAP_FILE_SIZE,31420,0
$CFSIZE,1024409600,1001422848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,043810,5955.382,-17151.850,7,0.9,15,8.0,0.0,83.2,10,5.0