version: 66.13
glider: 401
mission: 22
dive: 378
start: 8 2 117 9 23 59
data:
$ID,401
$MISSION,22
$DIVE,378
$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,29
$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
$GPS1,020817,083745,5955.2119,-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,0.13
$_SM_ANGLEo,-1.8
$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,-0.330895,0.077888
$KALMAN_X,48592.308594,-1825.054932,-439.513733,-131288.843750,102.317139
$KALMAN_Y,24748.500000,1398.586914,184.669891,47558.792969,-57.008865
$MHEAD_RNG_PITCHd_Wd,275.3,46351,-11.3,-9.091,-14.97,6443
$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,-390.0,2413,1890,2385,4092,0.0,0.0,0,21,5.85,0.00,-5.22,0.000,20486,0.027,0.000,1845,1891,2960,2960,4095,0,0,0,0,0,0,26.20,25.28,26.24,10.30,50.55
$GC,23,-1.61,-390.0,1845,1891,2959,4095,0.1,0.0,1,32,0.00,1.67,0.00,0.000,516,0.000,0.063,1845,1264,2960,2960,4094,0,0,0,0,0,0,26.41,26.11,26.42,10.44,50.31
$GC,107,-1.61,-390.0,1844,1263,2962,4094,10.2,-14.4,13,116,0.00,1.52,0.00,0.000,1030,0.000,0.029,1845,1890,2961,2961,4095,0,0,0,0,0,0,26.26,26.25,26.29,10.43,50.43
$GC,154,-1.61,-390.0,1844,1890,2963,4095,16.1,-12.7,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1890,2963,2963,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.43,49.92
$GC,199,-1.61,-390.0,1845,1890,2964,4094,21.8,-12.2,25,209,0.00,1.75,0.00,0.000,260,0.000,0.050,1845,2547,2964,2964,4095,0,0,0,0,0,0,26.51,26.20,26.53,10.43,49.33
$GC,246,-1.61,-390.0,1844,2547,2965,4095,26.8,-10.5,31,255,0.00,1.62,0.00,0.000,1030,0.000,0.030,1845,1908,2965,2965,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.40,49.29
$GC,293,-1.61,-390.0,1844,1908,2966,4095,31.7,-10.3,37,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1908,2966,2966,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.38,48.77
$GC,339,-1.61,-390.0,1844,1908,2967,4095,36.3,-10.3,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1908,2966,2966,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.37,47.75
$GC,385,-1.61,-390.0,1845,1908,2968,4095,41.1,-10.3,49,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1908,2968,2968,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.35,47.20
$GC,430,-1.61,-390.0,1844,1908,2968,4094,45.9,-10.3,55,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1908,2968,2968,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.34,46.73
$GC,476,-1.61,-390.0,1844,1908,2969,4094,50.8,-10.8,61,486,0.00,1.70,0.00,0.000,260,0.000,0.048,1845,2540,2969,2969,4094,0,0,0,0,0,0,26.60,26.32,26.62,10.33,46.41
$GC,523,-1.61,-390.0,1844,2540,2970,4094,55.8,-10.9,67,532,0.00,1.60,0.00,0.000,1030,0.000,0.030,1845,1909,2970,2970,4094,0,0,0,0,0,0,26.38,26.36,26.41,10.33,45.58
$STATE,560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,560,begin apogee
$GC,565,-0.45,0.0,1845,2053,2972,4095,60.2,-11.1,72,601,3.90,0.05,22.95,1.281,10244,0.058,0.058,2204,2013,2500,2500,4094,0,0,0,0,0,0,26.34,25.36,24.67,10.33,45.62
$STATE,602,end apogee,CONTROL_FINISHED_OK
$STATE,602,begin climb
$GC,604,1.61,390.0,2204,2012,2500,4094,62.5,0.0,76,640,6.97,0.00,22.67,1.254,11270,0.035,0.000,2863,2013,2044,2044,4095,0,0,0,0,0,0,25.82,25.99,24.20,10.23,44.95
$GC,678,1.61,390.0,2863,2012,2044,4095,57.7,10.2,85,687,0.00,1.75,0.00,0.000,260,0.000,0.050,2863,2640,2043,2043,4095,0,0,0,0,0,0,25.70,25.41,25.71,10.12,44.09
$GC,742,1.61,390.0,2863,2639,2041,4095,49.8,12.3,94,752,0.00,1.60,0.00,0.000,1030,0.000,0.028,2863,2023,2041,2041,4095,0,0,0,0,0,0,25.67,25.65,25.72,10.11,44.52
$GC,787,1.61,390.0,2863,2022,2041,4095,44.4,11.8,100,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2023,2040,2040,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.11,44.84
$GC,832,1.61,390.0,2863,2023,2039,4094,39.1,12.0,106,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2023,2039,2039,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.10,45.19
$GC,876,1.61,390.0,2863,2023,2038,4094,33.8,12.1,112,885,0.00,1.75,0.00,0.000,516,0.000,0.061,2864,1371,2038,2038,4094,0,0,0,0,0,0,26.11,25.80,26.13,10.10,44.92
$GC,921,1.61,390.0,2863,1371,2037,4094,28.3,12.0,118,931,0.00,1.52,0.00,0.000,1030,0.000,0.027,2863,1995,2037,2037,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.10,45.43
$GC,966,1.61,390.0,2863,1994,2036,4094,23.2,11.3,124,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1995,2035,2035,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.11,46.22
$GC,1010,1.61,390.0,2863,1994,2035,4094,18.9,9.9,130,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1994,2034,2034,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.14,46.14
$GC,1054,1.63,400.8,2862,1994,2034,4094,14.8,8.9,136,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1995,2034,2034,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.16,47.51
$GC,1099,1.63,400.8,2863,1995,2033,4094,10.5,9.8,142,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1996,2033,2033,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,48.54
$GC,1143,1.63,400.8,2863,1995,2032,4094,6.4,9.1,148,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1996,2031,2031,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.20,49.40
$GC,1187,1.63,400.8,2863,1996,2031,4094,2.3,9.5,154,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1997,2030,2030,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.20,49.48
$STATE,1203,end climb,SURFACE_DEPTH_REACHED
$STATE,1203,begin surface coast
$FINISH,0.1,1.012010
$STATE,1225,end surface coast,CONTROL_FINISHED_OK
$STATE,1225,begin surface
$SM_CCo,1321,0.00,0.000,0,0,2029,405.26
$SM_GC,0.87,27.50,0.25,0.00,0.023,0.052,0.000,238,1889,2029,-6.61,1.05,405.26,0,0,0,0,0,0,26.18,26.20,26.22
$IRIDIUM_FIX,5955.74,-17228.01,020817,070952
$TT8_MAMPS,0.025466,0.255409
$HUMID,50.03
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.20,9.145
$10V_AH,10.20,11.727
$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,44.225,17.425,45.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.490,60.019,156.014,666.177,46.917,33.413,422.045,0.000,384.492,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,62.730,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.739,431.934,341.962,507.021,663.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330840
$DATA_FILE_SIZE,14249,159
$CAP_FILE_SIZE,33032,0
$CFSIZE,1024409600,1000914944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,094702,5955.536,-17156.467,5,0.7,28,7.9,0.0,62.8,11,4.9