version: 66.13
glider: 401
mission: 22
dive: 372
start: 8 2 117 6 43 7
data:
$ID,401
$MISSION,22
$DIVE,372
$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,23
$R_STBD_OVSHOOT,36
$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,0.15
$_SM_ANGLEo,-2.3
$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,-0.324100,0.102208
$KALMAN_X,48320.058594,-1718.344849,-244.161636,-128940.679688,127.869400
$KALMAN_Y,25354.560547,1631.860962,381.779846,46653.941406,-96.627411
$MHEAD_RNG_PITCHd_Wd,279.6,48638,-11.3,-9.091,-14.98,6438
$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,-390.0,2418,1916,2376,4092,0.0,0.0,0,21,5.93,0.00,-5.32,0.000,20482,0.023,0.000,1843,1917,2958,2958,4095,0,0,0,0,0,0,26.06,28.83,26.08,10.31,50.51
$GC,23,-1.61,-390.0,1842,1916,2958,4095,0.2,0.0,1,32,0.00,1.67,0.00,0.000,260,0.000,0.047,1843,2536,2958,2958,4094,0,0,0,0,0,0,26.24,25.96,26.25,10.44,50.47
$GC,139,-1.61,-390.0,1842,2536,2959,4094,4.7,-12.0,18,148,0.00,1.62,0.00,0.000,1030,0.000,0.030,1843,1901,2959,2959,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.44,50.15
$GC,185,-1.61,-390.0,1842,1901,2961,4095,10.6,-13.6,24,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,2961,2961,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.45,49.72
$GC,229,-1.61,-390.0,1842,1901,2961,4095,16.2,-11.8,30,238,0.00,1.73,0.00,0.000,516,0.000,0.063,1842,1256,2962,2962,4094,0,0,0,0,0,0,26.41,26.08,26.41,10.45,49.13
$GC,490,-1.61,-390.0,1842,1256,2967,4094,44.7,-11.2,69,499,0.00,1.50,0.00,0.000,1030,0.000,0.027,1842,1882,2967,2967,4094,0,0,0,0,0,0,26.33,26.30,26.34,10.36,46.33
$GC,535,-1.61,-390.0,1842,1882,2967,4094,49.3,-9.7,75,544,0.00,1.70,0.00,0.000,516,0.000,0.061,1842,1251,2968,2968,4094,0,0,0,0,0,0,26.55,26.22,26.55,10.35,46.25
$STATE,636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,637,begin apogee
$GC,643,-0.45,0.0,1842,2013,2970,4094,60.3,-11.0,90,679,3.95,0.00,22.90,1.268,10244,0.060,0.000,2204,2013,2499,2499,4094,0,0,0,0,0,0,26.28,25.32,24.65,10.33,45.62
$STATE,680,end apogee,CONTROL_FINISHED_OK
$STATE,680,begin climb
$GC,682,1.61,390.0,2204,2013,2500,4094,62.7,0.0,94,718,6.90,1.75,22.58,1.248,10500,0.034,0.050,2864,2668,2045,2045,4094,0,0,0,0,0,0,25.74,25.67,24.18,10.23,44.64
$GC,970,1.61,390.0,2863,2668,2039,4094,33.8,11.3,136,980,0.00,1.65,0.00,0.000,1030,0.000,0.029,2864,2024,2038,2038,4094,0,0,0,0,0,0,25.91,25.87,25.94,10.10,45.31
$GC,1015,1.61,390.0,2863,2024,2038,4094,28.8,10.6,142,1025,0.00,1.75,0.00,0.000,260,0.000,0.051,2864,2663,2038,2038,4094,0,0,0,0,0,0,26.17,25.87,26.19,10.11,45.66
$GC,1240,1.65,417.0,2863,2663,2033,4094,6.9,8.7,175,1250,0.00,1.58,2.67,0.220,9222,0.000,0.028,2864,2041,2012,2012,4094,0,0,0,0,0,0,26.15,26.11,25.40,10.20,49.21
$GC,1287,1.73,467.7,2863,2041,2011,4094,3.0,8.3,181,1297,0.22,0.00,4.30,0.407,10246,0.046,0.000,2892,2041,1953,1953,4094,0,0,0,0,0,0,26.17,25.98,25.44,10.21,49.92
$STATE,1305,end climb,SURFACE_DEPTH_REACHED
$STATE,1305,begin surface coast
$FINISH,0.1,1.024060
$STATE,1326,end surface coast,CONTROL_FINISHED_OK
$STATE,1326,begin surface
$SM_CCo,1423,0.00,0.000,0,0,1952,471.37
$SM_GC,0.95,27.90,0.38,0.00,0.022,0.064,0.000,230,1896,1952,-6.65,0.77,471.37,0,0,0,0,0,0,26.00,26.08,26.12
$IRIDIUM_FIX,5955.74,-17228.01,020817,043309
$TT8_MAMPS,0.025466,0.235935
$HUMID,50.07
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.18,8.999
$10V_AH,10.22,11.525
$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,44.900,18.525,52.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,502.536,60.732,111.737,773.428,37.027,33.418,326.355,0.000,448.086,0.000,0.543,0.000
$DEVICE_MAMPS,59.670,64.260,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,129.250,505.352,400.068,593.657,773.538,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330852
$DATA_FILE_SIZE,17756,186
$CAP_FILE_SIZE,25853,0
$CFSIZE,1024409600,1001209856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,070808,5955.188,-17153.875,5,0.8,44,7.9,0.4,57.0,11,4.9