version: 66.13
glider: 401
mission: 22
dive: 374
start: 8 2 117 7 42 1
data:
$ID,401
$MISSION,22
$DIVE,374
$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,25
$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
$GPS1,020817,071513,5955.1504,-17153.9043,7,0.8,15,7.9,0.0,146.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-3.5
$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,-0.313394,0.129415
$KALMAN_X,48094.253906,-1749.455688,-314.343964,-129745.679688,-20.964172
$KALMAN_Y,24997.050781,1523.854370,277.086304,46978.742188,-111.811768
$MHEAD_RNG_PITCHd_Wd,284.5,47575,-11.3,-9.091,-15.01,6403
$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,-388.7,2419,1898,2377,4092,0.0,0.0,0,20,5.93,0.00,-3.72,0.000,20482,0.026,0.000,1841,1898,2783,2783,4094,0,0,0,0,0,0,26.08,28.83,26.12,10.33,49.88
$GC,23,-1.61,-388.7,1841,1899,2783,4094,0.1,0.0,1,33,0.00,1.80,-1.58,0.000,16644,0.000,1.271,1841,2546,2954,2954,4094,0,0,0,0,0,0,26.27,24.95,26.24,10.41,50.43
$GC,48,-1.61,-388.7,1840,2547,2955,4094,0.1,-0.2,4,58,0.00,1.67,0.00,0.000,1030,0.000,0.036,1841,1908,2955,2955,4095,0,0,0,0,0,0,25.92,25.88,25.95,10.44,50.00
$GC,95,-1.61,-388.7,1840,1908,2956,4095,4.2,-11.9,10,103,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1908,2956,2956,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.45,49.92
$GC,140,-1.61,-388.7,1840,1908,2957,4094,10.1,-12.6,16,150,0.00,1.75,0.00,0.000,516,0.000,0.061,1841,1255,2957,2957,4095,0,0,0,0,0,0,26.25,25.93,26.26,10.45,49.37
$GC,324,-1.61,-388.7,1840,1255,2961,4095,31.3,-9.2,43,332,0.00,1.58,0.00,0.000,1030,0.000,0.027,1841,1908,2961,2961,4095,0,0,0,0,0,0,26.20,26.16,26.21,10.40,48.93
$GC,369,-1.61,-390.0,1840,1909,2962,4095,34.8,-7.6,49,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1909,2961,2961,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,48.03
$GC,414,-1.61,-390.0,1840,1909,2962,4094,38.4,-8.2,55,423,0.00,1.65,0.00,0.000,260,0.000,0.047,1841,2532,2962,2962,4095,0,0,0,0,0,0,26.44,26.14,26.45,10.37,46.65
$GC,487,-1.61,-390.0,1840,2531,2963,4095,44.7,-9.2,65,496,0.00,1.60,0.00,0.000,1030,0.000,0.030,1841,1901,2963,2963,4094,0,0,0,0,0,0,26.28,26.22,26.25,10.35,45.74
$GC,534,-1.61,-390.0,1840,1901,2963,4094,49.0,-9.3,71,543,0.00,1.70,0.00,0.000,516,0.000,0.063,1841,1256,2965,2965,4094,0,0,0,0,0,0,26.49,26.17,26.51,10.35,45.82
$GC,651,-1.61,-390.0,1840,1256,2965,4094,59.8,-8.8,88,660,0.00,1.50,0.00,0.000,1030,0.000,0.028,1840,1885,2966,2966,4095,0,0,0,0,0,0,26.34,26.32,26.36,10.33,45.58
$STATE,668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,668,begin apogee
$GC,674,-0.45,0.0,1840,2039,2966,4095,61.4,-8.8,90,708,3.92,0.00,22.75,1.274,10244,0.055,0.000,2206,2040,2500,2500,4094,0,0,0,0,0,0,26.27,25.29,24.61,10.34,45.66
$STATE,709,end apogee,CONTROL_FINISHED_OK
$STATE,709,begin climb
$GC,711,1.61,390.0,2206,2039,2500,4094,63.1,0.0,94,746,6.95,0.00,22.55,1.255,11270,0.034,0.000,2863,2040,2045,2045,4095,0,0,0,0,0,0,25.75,25.92,24.15,10.23,45.23
$GC,783,1.63,403.9,2862,2039,2044,4095,58.9,8.9,103,793,0.00,0.00,2.60,0.327,8198,0.000,0.000,2863,2040,2030,2030,4095,0,0,0,0,0,0,25.65,25.02,24.36,10.13,44.01
$GC,830,1.63,403.9,2862,2039,2029,4095,54.3,10.1,109,838,0.00,1.62,0.00,0.000,260,0.000,0.050,2863,2638,2029,2029,4094,0,0,0,0,0,0,25.79,25.51,25.81,10.12,44.21
$GC,946,1.63,403.9,2862,2637,2027,4094,41.5,10.9,126,955,0.00,1.60,0.00,0.000,1030,0.000,0.030,2863,2017,2026,2026,4094,0,0,0,0,0,0,25.82,25.78,25.84,10.11,45.51
$GC,991,1.63,403.9,2862,2017,2025,4094,36.8,10.0,132,1001,0.00,1.73,0.00,0.000,516,0.000,0.062,2863,1375,2025,2025,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.11,45.55
$GC,1043,1.63,403.9,2863,1374,2024,4094,31.5,10.4,139,1052,0.00,1.52,0.00,0.000,1030,0.000,0.028,2863,1997,2024,2024,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.11,45.82
$GC,1090,1.63,403.9,2862,1996,2023,4094,27.1,9.4,145,1098,0.00,1.77,0.00,0.000,260,0.000,0.053,2863,2655,2023,2023,4094,0,0,0,0,0,0,26.20,25.90,26.22,10.12,45.62
$GC,1173,1.63,403.9,2862,2654,2021,4094,18.6,10.0,157,1182,0.00,1.60,0.00,0.000,1030,0.000,0.029,2863,2028,2021,2021,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.15,47.32
$GC,1219,1.66,421.8,2862,2028,2020,4094,14.4,8.8,163,1228,0.00,0.00,2.50,0.195,8198,0.000,0.000,2863,2028,2006,2006,4095,0,0,0,0,0,0,26.31,25.76,25.29,10.17,48.03
$GC,1263,1.80,511.3,2862,2028,2005,4095,11.0,7.7,169,1274,0.47,0.00,6.20,0.568,10246,0.039,0.000,2915,2028,1903,1903,4094,0,0,0,0,0,0,26.10,25.89,25.29,10.18,49.33
$GC,1311,1.82,525.2,2914,2028,1902,4094,6.8,8.9,175,1321,0.00,0.00,2.58,0.192,8198,0.000,0.000,2915,2028,1886,1886,4094,0,0,0,0,0,0,26.29,25.76,25.35,10.17,49.33
$GC,1358,1.85,547.3,2915,2028,1885,4094,2.8,8.7,181,1368,0.10,0.00,2.70,0.210,10246,0.075,0.000,2932,2028,1865,1865,4094,0,0,0,0,0,0,26.11,25.79,25.40,10.18,50.19
$STATE,1376,end climb,FINISH_DEPTH_REACHED
$STATE,1376,begin subsurface finish
$FINISH1,0.9,1.024088,105
$GC,1382,0.16,105.4,2932,2027,1865,4094,0.9,8.4,183,1400,5.38,0.00,-4.60,0.000,20486,0.026,0.000,2413,2027,2383,2383,4095,0,0,0,0,0,0,26.10,25.59,26.15,10.19,49.72
$FINISH2,0.1
$STATE,1401,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1401,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,054955
$TT8_MAMPS,0.025466,0.242676
$HUMID,50.43
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.15,9.055
$10V_AH,10.20,11.600
$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,22.750,24.700,61.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,514.143,0.000,129.833,769.744,45.610,33.428,402.278,0.000,446.192,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,1270.665,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,127.233,502.642,398.087,589.914,766.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330944
$DATA_FILE_SIZE,17684,185
$CAP_FILE_SIZE,34891,0
$CFSIZE,1024409600,1001095168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,071513,5955.150,-17153.904,7,0.8,15,7.9,0.0,146.9,11,4.9