version: 66.13
glider: 401
mission: 22
dive: 380
start: 8 2 117 10 17 41
data:
$ID,401
$MISSION,22
$DIVE,380
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,020817,095325,5955.5508,-17156.4883,6,0.7,12,7.9,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.6
$GPS2,020817,095325,5955.5508,-17156.4883,6,0.7,12,7.9,0.0,0.0,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339305,0.003326
$KALMAN_X,48381.230469,-1879.416992,-509.925903,-132154.656250,-19.501526
$KALMAN_Y,25169.851562,1404.825439,218.545853,47724.695312,54.887024
$MHEAD_RNG_PITCHd_Wd,262.7,45104,-11.3,-9.091,-15.00,6415
$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,-389.4,2413,1898,2383,4093,0.0,0.0,0,21,5.88,0.00,-5.25,0.000,20486,0.028,0.000,1846,1898,2958,2958,4094,0,0,0,0,0,0,26.22,25.28,26.25,10.32,50.07
$GC,23,-1.61,-389.4,1845,1898,2958,4094,0.1,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1898,2958,2958,4095,0,0,0,0,0,0,26.41,26.42,26.43,10.45,49.84
$GC,67,-1.61,-389.4,1845,1898,2959,4095,4.2,-10.5,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1898,2959,2959,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.44,49.96
$GC,111,-1.61,-389.4,1845,1898,2960,4094,10.1,-13.7,13,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1898,2960,2960,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.46,50.47
$GC,156,-1.61,-389.4,1845,1898,2961,4094,16.0,-13.0,19,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1898,2961,2961,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.44,49.37
$GC,200,-1.61,-389.4,1845,1898,2962,4095,21.2,-12.0,25,209,0.00,1.70,0.00,0.000,516,0.000,0.060,1846,1256,2962,2962,4094,0,0,0,0,0,0,26.51,26.19,26.53,10.43,48.89
$GC,251,-1.61,-389.4,1845,1256,2963,4094,27.0,-11.2,32,261,0.00,1.55,0.00,0.000,1030,0.000,0.028,1846,1897,2964,2964,4094,0,0,0,0,0,0,26.32,26.30,26.36,10.41,48.50
$GC,298,-1.61,-389.4,1845,1897,2964,4094,31.8,-10.6,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1898,2964,2964,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.38,48.46
$GC,344,-1.61,-389.4,1845,1898,2965,4094,36.7,-10.6,44,354,0.00,1.70,0.00,0.000,260,0.000,0.048,1845,2540,2965,2965,4094,0,0,0,0,0,0,26.57,26.26,26.58,10.37,47.20
$GC,424,-1.61,-389.4,1845,2540,2966,4094,45.1,-10.7,55,433,0.00,1.62,0.00,0.000,1030,0.000,0.030,1846,1898,2966,2966,4094,0,0,0,0,0,0,26.37,26.33,26.39,10.35,45.90
$GC,470,-1.61,-389.4,1845,1897,2967,4094,50.2,-11.0,61,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1897,2968,2968,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.34,46.14
$GC,516,-1.61,-389.4,1845,1897,2969,4094,55.2,-10.9,67,524,0.00,1.70,0.00,0.000,516,0.000,0.062,1845,1253,2969,2969,4094,0,0,0,0,0,0,26.62,26.30,26.63,10.34,46.02
$STATE,560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,560,begin apogee
$GC,567,-0.45,0.0,1845,2020,2969,4095,60.4,-11.5,73,602,3.92,0.00,22.85,1.285,10244,0.060,0.000,2206,2021,2500,2500,4094,0,0,0,0,0,0,26.34,25.36,24.66,10.33,44.99
$STATE,603,end apogee,CONTROL_FINISHED_OK
$STATE,603,begin climb
$GC,605,1.61,389.4,2206,2020,2500,4094,63.1,0.0,77,641,6.93,0.00,22.60,1.258,11270,0.035,0.000,2862,2021,2045,2045,4094,0,0,0,0,0,0,25.82,25.98,24.21,10.23,44.92
$GC,678,1.61,389.4,2862,2020,2045,4094,58.0,10.6,86,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2020,2045,2045,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.12,44.48
$GC,724,1.61,389.4,2861,2020,2044,4094,52.6,11.8,92,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2044,2044,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.12,44.29
$GC,770,1.61,389.4,2861,2020,2043,4094,47.2,11.6,98,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2043,2043,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.11,44.88
$GC,816,1.61,389.4,2862,2020,2041,4094,41.9,11.3,104,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2041,2041,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.11,45.03
$GC,859,1.61,389.4,2861,2020,2040,4094,36.5,11.9,110,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2040,2040,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,45.03
$GC,903,1.61,389.4,2862,2021,2039,4094,31.0,12.7,116,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2039,2039,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.10,45.35
$GC,948,1.61,389.4,2861,2021,2038,4094,25.7,11.8,122,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2037,2037,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.10,45.43
$GC,992,1.61,389.4,2862,2021,2037,4094,20.7,10.7,128,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2021,2037,2037,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.13,45.66
$GC,1036,1.61,389.4,2862,2021,2036,4094,16.4,9.6,134,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2022,2035,2035,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,46.85
$GC,1081,1.64,406.3,2861,2021,2035,4094,12.4,8.8,140,1090,0.00,1.73,2.38,0.155,8708,0.000,0.058,2862,1367,2023,2023,4094,0,0,0,0,0,0,26.31,25.77,25.32,10.17,47.91
$GC,1152,1.64,406.3,2862,1367,2022,4094,5.7,9.4,150,1161,0.00,1.58,0.00,0.000,1030,0.000,0.028,2862,2013,2022,2022,4094,0,0,0,0,0,0,26.14,26.12,26.19,10.19,49.37
$STATE,1197,end climb,FINISH_DEPTH_REACHED
$STATE,1197,begin subsurface finish
$FINISH1,1.5,1.024113,104
$GC,1203,0.16,103.6,2862,2013,2021,4094,1.5,9.4,156,1213,4.78,0.00,-3.28,0.000,20486,0.046,0.000,2414,2020,2385,2385,4094,0,0,0,0,0,0,26.14,25.26,26.20,10.21,50.35
$FINISH2,0.1
$STATE,1214,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,083211
$TT8_MAMPS,0.025466,0.265146
$HUMID,50.51
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.21,9.194
$10V_AH,10.18,11.793
$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,21.500,13.775,47.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.531,0.000,130.577,655.740,43.329,33.430,390.416,0.000,380.113,0.000,0.542,0.000
$DEVICE_MAMPS,59.670,64.260,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.339,426.497,337.648,500.436,653.032,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,14354,157
$CAP_FILE_SIZE,30496,0
$CFSIZE,1024409600,1000833024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,095325,5955.551,-17156.488,6,0.7,12,7.9,0.0,0.0,11,4.8