version: 66.13
glider: 401
mission: 22
dive: 371
start: 8 2 117 6 20 2
data:
$ID,401
$MISSION,22
$DIVE,371
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,020817,055516,5955.2832,-17152.7109,7,0.9,30,7.9,0.6,64.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.0
$GPS2,020817,055516,5955.2832,-17152.7109,7,0.9,30,7.9,0.6,64.4,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.319993,0.111624
$KALMAN_X,47952.074219,-1725.615723,-236.703125,-128573.500000,28.088959
$KALMAN_Y,25429.667969,1664.067993,414.924805,46513.660156,-97.009247
$MHEAD_RNG_PITCHd_Wd,281.3,48638,-11.3,-9.091,-15.02,6396
$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,-388.3,2417,1875,2382,4092,0.0,0.0,0,20,5.93,0.00,-4.47,0.000,20482,0.030,0.000,1846,1875,2876,2876,4094,0,0,0,0,0,0,26.20,28.83,26.22,10.32,50.07
$GC,22,-1.61,-388.3,1846,1875,2875,4094,0.1,0.0,1,32,0.00,1.70,-0.70,0.000,16900,0.000,1.315,1846,1274,2954,2954,4095,0,0,0,0,0,0,26.39,25.05,26.32,10.42,49.52
$GC,125,-1.61,-388.3,1846,1274,2956,4095,9.1,-13.9,16,135,0.00,1.48,0.00,0.000,1030,0.000,0.028,1846,1879,2956,2956,4095,0,0,0,0,0,0,26.10,26.09,26.12,10.45,49.48
$GC,171,-1.61,-388.3,1845,1879,2957,4095,15.1,-13.4,22,180,0.00,1.77,0.00,0.000,260,0.000,0.049,1846,2544,2957,2957,4095,0,0,0,0,0,0,26.34,26.04,26.36,10.45,49.29
$GC,229,-1.61,-388.3,1846,2543,2958,4095,22.0,-11.3,30,237,0.00,1.58,0.00,0.000,1030,0.000,0.029,1845,1928,2958,2958,4094,0,0,0,0,0,0,26.16,26.13,26.20,10.44,48.85
$GC,273,-1.61,-388.3,1845,1927,2959,4094,26.6,-10.1,36,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1927,2959,2959,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.42,49.01
$GC,318,-1.61,-388.3,1845,1927,2959,4095,31.3,-10.4,42,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1927,2960,2960,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.39,48.62
$GC,361,-1.61,-388.3,1845,1927,2961,4094,35.7,-10.6,48,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1928,2960,2960,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.38,47.16
$GC,404,-1.61,-388.3,1845,1927,2962,4094,40.2,-10.4,54,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1928,2962,2962,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.37,46.88
$GC,449,-1.61,-388.3,1845,1927,2962,4094,44.8,-10.5,60,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1927,2963,2963,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.36,46.25
$GC,493,-1.61,-388.3,1845,1927,2964,4094,49.4,-10.3,66,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1927,2964,2964,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,45.39
$GC,537,-1.61,-388.3,1845,1927,2964,4095,54.1,-10.9,72,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1927,2964,2964,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.34,45.58
$GC,582,-1.61,-388.3,1845,1927,2965,4095,59.0,-11.1,78,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1927,2965,2965,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.33,44.76
$STATE,598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,598,begin apogee
$GC,604,-0.45,0.0,1846,2045,2966,4094,61.0,-11.0,80,638,3.90,0.00,22.77,1.281,10244,0.058,0.000,2204,2045,2499,2499,4095,0,0,0,0,0,0,26.27,25.29,24.61,10.33,44.72
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.61,388.3,2203,2044,2499,4095,63.3,0.0,84,676,6.97,0.00,22.50,1.258,11270,0.035,0.000,2862,2045,2047,2047,4094,0,0,0,0,0,0,25.75,25.92,24.15,10.23,45.07
$GC,713,1.61,388.3,2861,2045,2046,4094,58.3,10.8,93,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2046,2046,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.13,43.69
$GC,758,1.61,388.3,2861,2044,2045,4094,52.7,12.2,99,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2045,2045,2045,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.13,44.21
$GC,802,1.61,388.3,2861,2045,2044,4094,47.3,12.3,105,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2043,2043,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.12,43.77
$GC,846,1.61,388.3,2861,2044,2042,4094,41.9,12.4,111,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2042,2042,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.12,44.09
$GC,890,1.61,388.3,2861,2045,2041,4094,36.4,12.4,117,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2041,2041,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.11,44.68
$GC,934,1.61,388.3,2861,2045,2040,4094,31.2,11.7,123,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2040,2040,4094,0,0,0,0,0,0,26.12,26.14,26.13,10.11,44.88
$GC,979,1.61,388.3,2861,2045,2039,4094,26.3,10.8,129,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2045,2039,2039,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.12,44.80
$GC,1023,1.61,388.3,2861,2045,2038,4095,21.1,11.9,135,1032,0.00,1.80,0.00,0.000,516,0.000,0.060,2862,1381,2037,2037,4094,0,0,0,0,0,0,26.22,25.90,26.22,10.14,45.39
$GC,1076,1.63,399.8,2861,1380,2037,4094,16.2,8.9,142,1086,0.00,1.48,0.00,0.000,1030,0.000,0.028,2861,1992,2037,2037,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.16,47.36
$GC,1122,1.73,470.2,2861,1991,2036,4094,12.5,8.0,148,1132,0.28,0.00,5.47,0.549,10246,0.043,0.000,2893,1992,1950,1950,4094,0,0,0,0,0,0,26.08,25.86,25.25,10.18,48.14
$GC,1169,1.79,506.3,2892,1991,1950,4094,8.7,8.5,154,1180,0.15,1.75,3.65,0.376,10500,0.069,0.049,2913,2657,1908,1908,4095,0,0,0,0,0,0,26.03,25.72,25.29,10.18,48.97
$GC,1217,1.79,506.3,2912,2657,1907,4095,3.9,10.8,160,1227,0.00,1.62,0.00,0.000,1030,0.000,0.030,2913,2021,1907,1907,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.18,49.05
$STATE,1235,end climb,FINISH_DEPTH_REACHED
$STATE,1235,begin subsurface finish
$FINISH1,1.7,1.024066,107
$GC,1241,0.16,106.9,2913,2020,1907,4094,1.7,11.1,162,1260,5.55,1.80,-3.83,0.000,20996,0.071,1.302,2419,1377,2376,2376,4094,0,0,0,0,0,0,25.99,24.93,26.08,10.19,49.29
$FINISH2,0.4
$STATE,1261,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1261,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,043309
$TT8_MAMPS,0.025466,0.208971
$HUMID,49.92
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.15,8.982
$10V_AH,10.27,11.485
$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,22.775,15.575,54.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.640,0.000,139.699,686.192,42.847,33.430,417.403,0.000,247.453,0.000,0.542,0.000
$DEVICE_MAMPS,71.145,1315.035,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.211,445.583,0.000,522.418,679.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330852
$DATA_FILE_SIZE,14316,164
$CAP_FILE_SIZE,33206,0
$CFSIZE,1024409600,1001259008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,055516,5955.283,-17152.711,7,0.9,30,7.9,0.6,64.4,10,5.0