version: 66.13
glider: 401
mission: 22
dive: 373
start: 8 2 117 7 16 20
data:
$ID,401
$MISSION,22
$DIVE,373
$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,19
$R_STBD_OVSHOOT,23
$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
$GPS1,020817,070808,5955.1885,-17153.8750,5,0.8,44,7.9,0.4,57.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-43.5
$GPS2,020817,071513,5955.1504,-17153.9043,7,0.8,15,7.9,0.0,146.9,11,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.295295,0.168004
$KALMAN_X,47907.531250,-1817.123169,-355.313416,-129428.781250,-16.901306
$KALMAN_Y,25074.041016,1594.474854,343.205811,46767.976562,-166.602966
$MHEAD_RNG_PITCHd_Wd,291.7,47575,-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,8,-1.61,-390.0,230,1895,1952,4092,0.0,0.0,0,21,11.02,0.00,0.00,0.000,2049,0.095,0.000,1161,1896,1952,1952,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.26,48.74
$GC,23,-1.61,-390.0,1160,1896,1952,4094,0.8,0.0,1,51,7.25,1.80,-9.23,0.000,18948,0.044,1.302,1837,1256,2958,2958,4095,0,0,0,0,0,0,25.90,24.81,25.97,10.26,48.62
$GC,284,-1.61,-390.0,1836,1256,2963,4095,24.7,-9.7,39,293,0.00,1.60,0.00,0.000,1030,0.000,0.027,1837,1917,2963,2963,4095,0,0,0,0,0,0,26.07,26.05,26.10,10.46,47.20
$GC,330,-1.61,-390.0,1836,1917,2964,4095,28.9,-8.9,45,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1919,2964,2964,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.44,46.85
$GC,374,-1.61,-390.0,1836,1919,2964,4094,33.0,-9.0,51,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1920,2965,2965,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.42,46.29
$GC,419,-1.61,-390.0,1836,1919,2965,4094,36.6,-8.3,57,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1920,2965,2965,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.40,45.86
$GC,463,-1.61,-390.0,1836,1920,2966,4094,40.5,-8.9,63,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1921,2966,2966,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,45.15
$GC,508,-1.61,-390.0,1836,1920,2966,4095,44.5,-9.0,69,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1920,2967,2967,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.38,44.88
$GC,553,-1.61,-390.0,1836,1920,2968,4095,48.5,-8.8,75,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1921,2968,2968,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.37,44.64
$GC,596,-1.61,-390.0,1836,1921,2967,4095,52.4,-9.1,81,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1921,2968,2968,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.37,44.17
$GC,640,-1.61,-390.0,1836,1921,2969,4095,56.5,-9.3,87,649,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1921,2969,2969,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,43.62
$STATE,676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,676,begin apogee
$GC,682,-0.45,0.0,1837,2038,2970,4095,60.0,-9.4,92,716,3.97,0.00,22.95,1.263,10244,0.058,0.000,2205,2038,2500,2500,4095,0,0,0,0,0,0,26.22,25.23,24.57,10.36,44.09
$STATE,717,end apogee,CONTROL_FINISHED_OK
$STATE,717,begin climb
$GC,719,1.61,390.0,2204,2038,2500,4095,62.1,0.0,96,755,6.97,0.00,22.70,1.246,11270,0.034,0.000,2864,2038,2044,2044,4094,0,0,0,0,0,0,25.72,25.87,24.13,10.25,43.30
$GC,792,1.61,390.0,2863,2037,2043,4094,57.6,9.4,105,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2038,2044,2044,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.15,42.59
$GC,837,1.61,390.0,2863,2037,2042,4094,53.0,10.0,111,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2038,2042,2042,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.14,43.10
$GC,881,1.61,390.0,2863,2038,2042,4094,48.6,10.1,117,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2038,2041,2041,4094,0,0,0,0,0,0,25.90,25.92,25.91,10.14,43.38
$GC,926,1.61,390.0,2863,2038,2041,4094,44.1,10.0,123,935,0.00,1.60,0.00,0.000,260,0.000,0.050,2864,2628,2040,2040,4094,0,0,0,0,0,0,25.98,25.70,26.00,10.13,43.46
$GC,997,1.61,390.0,2863,2627,2038,4094,36.8,10.5,133,1006,0.00,1.60,0.00,0.000,1030,0.000,0.029,2864,2006,2039,2039,4094,0,0,0,0,0,0,25.87,25.84,25.89,10.12,44.05
$GC,1042,1.61,390.0,2863,2006,2038,4094,32.2,9.7,139,1052,0.00,1.70,0.00,0.000,516,0.000,0.062,2864,1373,2037,2037,4094,0,0,0,0,0,0,26.15,25.83,26.16,10.12,44.17
$GC,1133,1.61,390.0,2863,1372,2036,4094,23.6,9.3,152,1142,0.00,1.45,0.00,0.000,1030,0.000,0.027,2864,1978,2035,2035,4094,0,0,0,0,0,0,26.04,26.02,26.06,10.15,45.27
$GC,1178,1.61,390.0,2863,1977,2035,4094,19.5,9.2,158,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1977,2035,2035,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.17,46.14
$GC,1223,1.64,407.8,2863,1977,2034,4094,15.4,8.8,164,1233,0.00,1.80,2.33,0.144,8452,0.000,0.048,2864,2654,2023,2023,4094,0,0,0,0,0,0,26.31,25.77,25.29,10.19,48.11
$GC,1308,1.64,407.8,2863,2654,2022,4094,7.9,9.1,176,1318,0.00,1.67,0.03,0.004,9222,0.000,0.029,2864,1996,2022,2022,4095,0,0,0,0,0,0,26.14,26.10,26.16,10.21,48.66
$GC,1355,1.82,529.1,2863,1995,2021,4095,4.4,7.2,182,1374,0.47,1.62,7.70,0.559,10756,0.039,0.058,2916,1374,1881,1881,4094,0,0,0,0,0,0,26.15,25.97,25.39,10.22,49.37
$STATE,1389,end climb,FINISH_DEPTH_REACHED
$STATE,1389,begin subsurface finish
$FINISH1,1.7,1.024075,106
$GC,1396,0.16,106.3,2916,2019,1880,4094,1.7,7.2,186,1416,5.50,1.83,-4.10,0.000,20996,0.063,1.300,2419,1372,2379,2379,4094,0,0,0,0,0,0,26.03,24.96,26.10,10.20,49.64
$FINISH2,0.3
$STATE,1417,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1417,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,054955
$TT8_MAMPS,0.025466,0.215712
$HUMID,50.00
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.13,9.037
$10V_AH,10.26,11.560
$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,35.200,18.475,55.700,0.000,0.000,26.374,27.187,257.355,0.000,0.000,16.737,509.522,0.997,142.672,1114.984,96.931,33.454,439.169,0.000,283.354,0.000,0.544,0.000
$DEVICE_MAMPS,94.860,1302.030,1263.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,128.047,510.776,0.000,599.191,782.659,0.000,0.000,0.000,0.000,0.000
$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,17726,188
$CAP_FILE_SIZE,38229,0
$CFSIZE,1024409600,1001144320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,071513,5955.150,-17153.904,7,0.8,15,7.9,0.0,146.9,11,4.9