version: 66.13
glider: 401
mission: 22
dive: 377
start: 8 2 117 9 1 1
data:
$ID,401
$MISSION,22
$DIVE,377
$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,27
$R_STBD_OVSHOOT,32
$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
$GPS1,020817,083745,5955.2119,-17155.2207,7,0.8,15,7.9,0.0,48.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.3
$GPS2,020817,083745,5955.2119,-17155.2207,7,0.8,15,7.9,0.0,48.3,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.328598,0.086796
$KALMAN_X,48191.980469,-1813.177490,-420.297089,-130921.125000,-27.840759
$KALMAN_Y,24821.839844,1419.528809,196.133682,47453.269531,-51.348587
$MHEAD_RNG_PITCHd_Wd,276.9,46351,-11.3,-9.091,-14.98,6439
$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,6,begin dive
$GC,8,-1.61,-390.0,2412,1893,2382,4092,0.0,0.0,0,21,5.70,0.00,-4.80,0.000,20482,0.025,0.000,1867,1893,2911,2911,4094,0,0,0,0,0,0,26.02,28.83,26.06,10.32,49.56
$GC,23,-1.61,-390.0,1866,1893,2911,4094,0.2,0.0,1,33,0.00,1.77,-0.43,0.000,16900,0.000,1.291,1866,1262,2960,2960,4094,0,0,0,0,0,0,26.25,24.90,26.16,10.43,50.23
$GC,160,-1.61,-390.0,1866,1262,2963,4094,15.2,-12.0,21,169,0.00,1.55,0.00,0.000,1030,0.000,0.028,1866,1895,2962,2962,4094,0,0,0,0,0,0,26.03,26.00,26.05,10.45,49.52
$GC,205,-1.61,-390.0,1866,1894,2964,4094,20.2,-10.8,27,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1895,2964,2964,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.44,49.37
$GC,249,-1.61,-390.0,1866,1894,2964,4094,24.7,-10.1,33,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1895,2964,2964,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.43,48.74
$GC,294,-1.61,-390.0,1866,1896,2964,4094,29.0,-9.5,39,303,0.00,1.70,0.00,0.000,260,0.000,0.047,1867,2533,2965,2965,4095,0,0,0,0,0,0,26.34,26.05,26.35,10.40,48.66
$GC,339,-1.61,-390.0,1866,2532,2966,4095,33.2,-9.1,45,349,0.00,1.60,0.00,0.000,1030,0.000,0.029,1866,1906,2966,2966,4095,0,0,0,0,0,0,26.14,26.11,26.16,10.38,47.91
$GC,386,-1.61,-390.0,1866,1906,2966,4095,37.3,-9.5,51,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1906,2967,2967,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.37,46.65
$GC,430,-1.61,-390.0,1866,1906,2968,4095,41.9,-10.0,57,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1906,2968,2968,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.36,46.02
$GC,474,-1.61,-390.0,1865,1906,2969,4095,46.3,-10.1,63,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1906,2969,2969,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,45.70
$GC,519,-1.61,-390.0,1866,1906,2969,4095,50.8,-10.1,69,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,1906,2969,2969,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.34,45.23
$GC,563,-1.61,-390.0,1866,1906,2970,4095,55.3,-10.4,75,575,0.00,1.67,0.00,0.000,260,0.000,0.048,1866,2537,2969,2969,4095,0,0,0,0,0,0,26.48,26.18,26.50,10.33,44.99
$STATE,609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,609,begin apogee
$GC,615,-0.45,0.0,1866,2009,2971,4095,60.2,-10.4,81,649,3.65,0.00,22.95,1.274,10244,0.056,0.000,2205,2009,2502,2502,4095,0,0,0,0,0,0,26.22,25.25,24.54,10.33,45.66
$STATE,650,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,652,1.61,390.0,2205,2009,2502,4095,62.3,0.0,85,688,7.00,0.00,22.75,1.248,11270,0.035,0.000,2864,2009,2045,2045,4094,0,0,0,0,0,0,25.71,25.87,24.12,10.23,44.56
$GC,725,1.61,390.0,2864,2008,2045,4094,57.5,10.0,94,734,0.00,1.80,0.00,0.000,260,0.000,0.050,2864,2657,2044,2044,4094,0,0,0,0,0,0,25.63,25.36,25.65,10.13,44.13
$GC,776,1.61,390.0,2864,2657,2043,4094,51.3,12.3,101,786,0.00,1.67,0.00,0.000,1030,0.000,0.029,2864,2014,2043,2043,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.11,44.48
$GC,823,1.61,390.0,2864,2014,2042,4094,46.0,11.7,107,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.12,44.17
$GC,868,1.61,390.0,2864,2014,2041,4094,40.5,11.6,113,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2014,2041,2041,4094,0,0,0,0,0,0,26.00,26.02,26.01,10.11,44.52
$GC,912,1.61,390.0,2864,2014,2040,4094,35.3,11.7,119,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2014,2040,2040,4095,0,0,0,0,0,0,26.07,26.08,26.08,10.11,44.99
$GC,956,1.61,390.0,2864,2014,2038,4095,30.2,11.5,125,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2014,2039,2039,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.10,44.84
$GC,1000,1.61,390.0,2864,2014,2037,4095,25.3,10.8,131,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,2037,2037,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,44.92
$GC,1045,1.61,390.0,2864,2014,2036,4094,20.3,10.9,137,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,2036,2036,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,46.14
$GC,1089,1.61,390.0,2864,2014,2035,4094,15.7,10.4,143,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,2035,2035,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,47.59
$GC,1135,1.61,390.0,2863,2014,2034,4094,11.5,9.2,149,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2014,2034,2034,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,48.11
$GC,1180,1.62,395.5,2864,2014,2033,4094,7.3,9.0,155,1189,0.00,1.73,0.00,0.000,516,0.000,0.063,2864,1369,2033,2033,4094,0,0,0,0,0,0,26.33,26.01,26.34,10.20,48.85
$STATE,1236,end climb,FINISH_DEPTH_REACHED
$STATE,1236,begin subsurface finish
$FINISH1,1.5,1.024099,105
$GC,1244,0.16,104.6,2864,2024,2031,4094,1.5,9.7,163,1254,4.82,0.00,-3.17,0.000,20486,0.052,0.000,2414,2032,2385,2385,4094,0,0,0,0,0,0,26.13,25.24,26.18,10.21,49.88
$FINISH2,0.2
$STATE,1255,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1255,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,070952
$TT8_MAMPS,0.026215,0.216461
$HUMID,49.76
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.12,9.128
$10V_AH,10.26,11.691
$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,21.175,18.475,45.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.600,0.000,133.082,691.387,41.402,33.426,401.305,0.000,247.526,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,1290.555,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.612,445.594,0.000,522.874,684.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330840
$DATA_FILE_SIZE,14333,164
$CAP_FILE_SIZE,31235,0
$CFSIZE,1024409600,1000980480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,563.50,0x236162,0,24
$GPS,020817,083745,5955.212,-17155.221,7,0.8,15,7.9,0.0,48.3,10,4.8