version: 66.13
glider: 401
mission: 22
dive: 369
start: 8 2 117 5 25 2
data:
$ID,401
$MISSION,22
$DIVE,369
$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,32
$R_STBD_OVSHOOT,52
$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,0.17
$_SM_ANGLEo,-2.0
$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,-0.333499,0.064873
$KALMAN_X,47969.132812,-1754.724121,-228.060715,-127753.179688,193.894180
$KALMAN_Y,25670.748047,1759.114258,521.089539,46254.507812,-55.594696
$MHEAD_RNG_PITCHd_Wd,273.0,49406,-11.3,-9.091,-14.98,6434
$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,-390.0,2413,1897,2382,4092,0.0,0.0,0,20,5.70,0.00,-4.60,0.000,20482,0.024,0.000,1858,1898,2887,2887,4094,0,0,0,0,0,0,26.20,28.83,26.24,10.31,50.19
$GC,22,-1.61,-390.0,1858,1898,2887,4094,0.2,0.0,1,32,0.00,1.77,-0.65,0.000,16900,0.000,1.310,1858,1266,2960,2960,4095,0,0,0,0,0,0,26.41,25.06,26.31,10.42,50.07
$GC,139,-1.61,-390.0,1857,1266,2961,4095,10.9,-13.5,18,149,0.00,1.50,0.00,0.000,1030,0.000,0.028,1858,1881,2962,2962,4094,0,0,0,0,0,0,26.13,26.08,26.15,10.44,49.84
$GC,186,-1.61,-390.0,1857,1881,2963,4094,16.5,-12.1,24,195,0.00,1.75,0.00,0.000,260,0.000,0.050,1858,2536,2963,2963,4095,0,0,0,0,0,0,26.36,26.07,26.37,10.44,50.00
$GC,252,-1.61,-390.0,1857,2536,2964,4095,23.8,-10.1,33,261,0.00,1.55,0.00,0.000,1030,0.000,0.030,1858,1927,2964,2964,4095,0,0,0,0,0,0,26.19,26.15,26.21,10.43,49.40
$GC,297,-1.61,-390.0,1857,1927,2965,4095,28.6,-10.2,39,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1927,2966,2966,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.40,49.25
$GC,342,-1.61,-390.0,1857,1927,2967,4094,32.9,-9.9,45,351,0.00,1.77,0.00,0.000,516,0.000,0.060,1858,1257,2966,2966,4094,0,0,0,0,0,0,26.46,26.13,26.46,10.38,47.87
$GC,387,-1.61,-390.0,1858,1257,2967,4094,37.5,-10.2,51,397,0.00,1.55,0.00,0.000,1030,0.000,0.027,1858,1899,2967,2967,4095,0,0,0,0,0,0,26.29,26.24,26.29,10.37,47.75
$GC,434,-1.61,-390.0,1857,1898,2968,4095,42.0,-10.3,57,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1898,2968,2968,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.35,46.49
$GC,478,-1.61,-390.0,1858,1898,2969,4094,46.7,-10.2,63,488,0.00,1.70,0.00,0.000,260,0.000,0.048,1858,2540,2969,2969,4095,0,0,0,0,0,0,26.51,26.20,26.52,10.35,45.90
$GC,537,-1.61,-390.0,1857,2539,2970,4095,52.6,-10.3,71,546,0.00,1.62,0.00,0.000,1030,0.000,0.030,1858,1902,2970,2970,4095,0,0,0,0,0,0,26.30,26.27,26.34,10.34,45.27
$GC,583,-1.61,-390.0,1857,1902,2971,4095,57.4,-10.8,77,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1902,2971,2971,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.33,45.35
$STATE,606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,606,begin apogee
$GC,612,-0.45,0.0,1858,2044,2971,4094,60.3,-10.8,80,648,3.80,0.00,22.85,1.275,10244,0.059,0.000,2206,2044,2501,2501,4094,0,0,0,0,0,0,26.27,25.30,24.61,10.33,45.15
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,651,1.61,390.0,2206,2044,2501,4094,62.6,0.0,84,686,6.95,0.00,22.67,1.251,11270,0.034,0.000,2863,2044,2045,2045,4094,0,0,0,0,0,0,25.77,25.93,24.17,10.23,45.19
$GC,724,1.61,390.0,2862,2044,2044,4094,57.6,10.5,93,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2044,2044,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.12,44.09
$GC,767,1.61,390.0,2863,2044,2043,4094,52.3,11.7,99,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2045,2043,2043,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.12,43.97
$GC,811,1.61,390.0,2863,2044,2042,4094,46.9,12.0,105,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2042,2042,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.11,43.97
$GC,855,1.61,390.0,2863,2044,2041,4094,41.6,12.1,111,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2044,2041,2041,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.11,44.29
$GC,899,1.61,390.0,2863,2044,2040,4094,36.2,12.1,117,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2044,2039,2039,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.10,44.60
$GC,944,1.61,390.0,2863,2044,2038,4094,30.8,11.9,123,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2045,2038,2038,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,45.07
$GC,988,1.61,390.0,2863,2044,2037,4094,26.0,11.0,129,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2045,2037,2037,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.10,44.95
$GC,1032,1.61,390.0,2863,2045,2036,4094,21.0,11.2,135,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2045,2036,2036,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,45.62
$GC,1077,1.61,390.0,2863,2045,2035,4094,16.2,10.7,141,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2045,2034,2034,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.16,47.36
$GC,1121,1.61,390.0,2863,2045,2034,4094,11.8,10.2,147,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2045,2034,2034,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.18,48.89
$GC,1165,1.61,390.0,2863,2045,2033,4094,7.5,9.7,153,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2045,2034,2034,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.20,48.77
$GC,1209,1.61,390.0,2863,2045,2032,4094,3.5,9.2,159,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2045,2031,2031,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.21,49.48
$STATE,1225,end climb,SURFACE_DEPTH_REACHED
$STATE,1226,begin surface coast
$FINISH,0.3,1.024066
$STATE,1247,end surface coast,CONTROL_FINISHED_OK
$STATE,1247,begin surface
$SM_CCo,1343,0.00,0.000,0,0,2030,404.40
$SM_GC,0.90,27.65,0.40,0.00,0.024,0.057,0.000,230,1898,2030,-6.65,0.91,404.40,0,0,0,0,0,0,26.02,26.10,26.14
$IRIDIUM_FIX,5955.74,-17228.01,020817,031608
$TT8_MAMPS,0.026215,0.211967
$HUMID,49.96
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.17,8.929
$10V_AH,10.26,11.416
$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,44.100,14.175,45.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.971,60.817,155.193,690.607,43.434,33.416,424.725,0.000,247.501,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1310.445,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.569,445.531,0.000,523.113,683.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,14396,164
$CAP_FILE_SIZE,32839,0
$CFSIZE,1024409600,1001357312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,054818,5955.330,-17152.729,5,0.9,19,7.9,0.2,159.2,10,4.9