version: 66.13
glider: 401
mission: 22
dive: 382
start: 8 2 117 11 10 23
data:
$ID,401
$MISSION,22
$DIVE,382
$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,33
$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
$GPS1,020817,110217,5955.8970,-17157.5234,5,0.7,13,7.9,0.0,58.2,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-46.5
$GPS2,020817,110916,5955.9258,-17157.5000,7,1.0,52,7.9,0.3,73.0,8,3.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338187,-0.025468
$KALMAN_X,48570.898438,-2001.916016,-638.485657,-133031.234375,37.623901
$KALMAN_Y,25688.583984,1460.280884,293.722809,47758.585938,80.299927
$MHEAD_RNG_PITCHd_Wd,257.8,44088,-11.3,-9.091,-15.01,6407
$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,-388.9,231,1893,2030,4092,0.0,0.0,0,21,10.95,0.00,0.00,0.000,2049,0.107,0.000,1138,1889,2030,2030,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.27,49.37
$GC,23,-1.61,-388.9,1137,1889,2030,4094,1.0,0.0,1,50,7.55,1.77,-8.55,0.000,18948,0.048,1.299,1838,1261,2956,2956,4095,0,0,0,0,0,0,25.96,24.84,26.03,10.27,49.09
$GC,172,-1.61,-388.9,1837,1260,2958,4095,12.2,-14.4,22,182,0.00,1.58,0.00,0.000,1030,0.000,0.027,1838,1898,2958,2958,4094,0,0,0,0,0,0,26.00,25.98,26.02,10.48,48.07
$GC,219,-1.61,-388.9,1837,1898,2958,4094,18.2,-11.6,28,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1899,2959,2959,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.48,48.26
$GC,265,-1.61,-388.9,1837,1898,2961,4095,23.5,-11.6,34,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1898,2960,2960,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.46,47.87
$GC,311,-1.61,-388.9,1837,1900,2961,4095,28.1,-10.1,40,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1901,2961,2961,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.43,47.36
$GC,357,-1.61,-388.9,1837,1901,2961,4094,33.0,-10.7,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1901,2962,2962,4095,0,0,0,0,0,0,26.35,26.37,26.36,10.40,46.29
$GC,400,-1.61,-388.9,1837,1901,2963,4095,37.8,-10.8,52,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1901,2963,2963,4095,0,0,0,0,0,0,26.38,26.40,26.39,10.38,45.43
$GC,445,-1.61,-388.9,1837,1901,2964,4095,42.7,-10.9,58,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1901,2964,2964,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,44.56
$GC,489,-1.61,-388.9,1837,1901,2963,4095,47.5,-11.1,64,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1901,2964,2964,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.37,44.80
$GC,534,-1.61,-388.9,1837,1901,2965,4095,52.5,-11.4,70,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1901,2965,2965,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.37,43.89
$GC,578,-1.61,-388.9,1837,1901,2966,4094,57.4,-11.4,76,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1901,2966,2966,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.35,43.81
$STATE,602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,602,begin apogee
$GC,608,-0.45,0.0,1837,2040,2967,4095,60.3,-11.5,79,643,4.00,0.00,22.70,1.270,10244,0.057,0.000,2205,2040,2503,2503,4094,0,0,0,0,0,0,26.21,25.27,24.54,10.35,43.58
$STATE,644,end apogee,CONTROL_FINISHED_OK
$STATE,644,begin climb
$GC,646,1.61,388.9,2205,2040,2503,4094,62.8,0.0,83,682,6.97,0.00,22.75,1.252,11270,0.034,0.000,2864,2040,2046,2046,4094,0,0,0,0,0,0,25.71,25.87,24.12,10.25,43.69
$GC,719,1.61,388.9,2863,2040,2046,4094,57.6,10.7,92,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2045,2045,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.15,42.91
$GC,765,1.61,388.9,2863,2040,2044,4094,52.2,12.0,98,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2044,2044,4095,0,0,0,0,0,0,25.79,25.81,25.81,10.14,42.67
$GC,811,1.61,388.9,2863,2040,2043,4095,46.7,11.9,104,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2043,2043,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.13,43.10
$GC,854,1.61,388.9,2863,2040,2042,4094,41.5,11.7,110,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2042,2042,4095,0,0,0,0,0,0,25.98,26.00,26.00,10.13,43.26
$GC,899,1.61,388.9,2863,2040,2041,4095,36.3,11.7,116,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2040,2041,2041,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.12,43.77
$GC,943,1.61,388.9,2863,2040,2040,4094,31.1,11.7,122,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2039,2039,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,44.32
$GC,987,1.61,388.9,2863,2040,2038,4094,26.0,11.7,128,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2041,2039,2039,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.13,44.32
$GC,1032,1.61,388.9,2863,2040,2037,4095,20.9,11.2,134,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2040,2037,2037,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.15,45.07
$GC,1076,1.61,388.9,2863,2040,2036,4094,16.4,10.1,140,1085,0.00,1.80,0.00,0.000,516,0.000,0.060,2864,1376,2036,2036,4094,0,0,0,0,0,0,26.25,25.93,26.27,10.18,46.41
$GC,1154,1.61,388.9,2863,1376,2034,4094,8.6,9.9,151,1163,0.00,1.50,0.00,0.000,1030,0.000,0.027,2864,1995,2034,2034,4094,0,0,0,0,0,0,26.14,26.10,26.14,10.21,48.22
$GC,1199,1.61,388.9,2863,1995,2033,4094,4.3,9.7,157,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1996,2033,2033,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.22,49.48
$STATE,1227,end climb,FINISH_DEPTH_REACHED
$STATE,1228,begin subsurface finish
$FINISH1,1.4,1.024111,104
$GC,1233,0.16,103.8,2863,1995,2032,4094,1.4,9.6,161,1244,4.88,0.00,-3.05,0.000,20486,0.058,0.000,2410,2001,2386,2386,4094,0,0,0,0,0,0,26.15,25.22,26.19,10.22,49.29
$FINISH2,0.3
$STATE,1245,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1245,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,094837
$TT8_MAMPS,0.025466,0.244923
$HUMID,49.40
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.12,9.244
$10V_AH,10.20,11.860
$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,34.350,6.925,45.450,0.000,0.000,22.118,16.370,231.409,0.000,0.000,53.803,453.757,0.000,137.618,995.795,100.397,33.456,413.461,0.000,393.611,0.000,0.543,0.000
$DEVICE_MAMPS,107.100,1298.970,1269.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.527,440.123,348.368,516.296,673.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,14363,162
$CAP_FILE_SIZE,34760,0
$CFSIZE,1024409600,1000718336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,110916,5955.926,-17157.500,7,1.0,52,7.9,0.3,73.0,8,3.0