version: 66.13
glider: 401
mission: 22
dive: 383
start: 8 2 117 11 33 12
data:
$ID,401
$MISSION,22
$DIVE,383
$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,33
$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
$GPS1,020817,110916,5955.9258,-17157.5000,7,1.0,52,7.9,0.3,73.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,0.7
$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,-0.338696,-0.030735
$KALMAN_X,48784.296875,-1930.578247,-568.151978,-133404.812500,27.376160
$KALMAN_Y,25743.515625,1450.706665,299.432495,47718.261719,88.417908
$MHEAD_RNG_PITCHd_Wd,256.9,44088,-11.3,-9.091,-14.97,6449
$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,-390.0,2410,1891,2385,4092,0.0,0.0,0,20,5.68,0.00,-4.65,0.000,20482,0.026,0.000,1860,1891,2892,2892,4095,0,0,0,0,0,0,26.19,28.83,26.22,10.32,49.68
$GC,22,-1.61,-390.0,1859,1891,2892,4095,0.1,0.0,1,32,0.00,1.80,-0.60,0.000,16644,0.000,1.290,1860,2533,2959,2959,4094,0,0,0,0,0,0,26.41,25.06,26.34,10.43,50.03
$GC,107,-1.61,-390.0,1859,2533,2961,4094,8.5,-12.4,13,116,0.00,1.60,0.00,0.000,1030,0.000,0.029,1860,1908,2961,2961,4095,0,0,0,0,0,0,26.10,26.06,26.11,10.45,49.80
$GC,153,-1.61,-390.0,1859,1908,2962,4095,14.4,-13.6,19,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1908,2962,2962,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.45,50.00
$GC,197,-1.61,-390.0,1859,1908,2963,4095,19.5,-10.7,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1908,2964,2964,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.44,49.21
$GC,241,-1.61,-390.0,1859,1908,2964,4095,24.6,-11.5,31,250,0.00,1.73,0.00,0.000,516,0.000,0.061,1860,1260,2964,2964,4094,0,0,0,0,0,0,26.40,26.08,26.41,10.43,49.21
$GC,299,-1.61,-390.0,1859,1259,2965,4094,30.7,-10.2,39,309,0.00,1.60,0.00,0.000,1030,0.000,0.028,1860,1919,2965,2965,4095,0,0,0,0,0,0,26.23,26.21,26.25,10.39,48.50
$GC,344,-1.61,-390.0,1859,1918,2966,4095,35.2,-10.1,45,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1918,2966,2966,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.38,47.75
$GC,389,-1.61,-390.0,1859,1918,2967,4095,39.6,-9.9,51,398,0.00,1.62,0.00,0.000,260,0.000,0.048,1860,2530,2967,2967,4095,0,0,0,0,0,0,26.48,26.17,26.48,10.37,46.41
$GC,447,-1.61,-390.0,1859,2530,2968,4095,45.4,-9.6,59,456,0.00,1.52,0.00,0.000,1030,0.000,0.029,1860,1928,2968,2968,4095,0,0,0,0,0,0,26.28,26.25,26.30,10.35,46.22
$GC,492,-1.61,-390.0,1859,1928,2969,4095,49.8,-10.1,65,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1928,2969,2969,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.35,45.15
$GC,537,-1.61,-390.0,1859,1928,2969,4095,54.4,-10.4,71,546,0.00,1.77,0.00,0.000,516,0.000,0.061,1860,1256,2970,2970,4095,0,0,0,0,0,0,26.53,26.22,26.55,10.34,45.11
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,594,-0.45,0.0,1859,2011,2971,4095,60.1,-11.2,78,629,3.75,0.00,22.90,1.281,10244,0.057,0.000,2204,2012,2501,2501,4094,0,0,0,0,0,0,26.27,25.28,24.58,10.34,44.60
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,632,1.61,390.0,2204,2012,2502,4094,62.5,0.0,82,668,6.95,0.00,22.55,1.256,11270,0.034,0.000,2862,2012,2050,2050,4095,0,0,0,0,0,0,25.76,25.92,24.14,10.23,44.36
$GC,706,1.61,390.0,2861,2012,2049,4095,57.4,10.9,91,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2048,2048,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.13,43.81
$GC,750,1.61,390.0,2861,2012,2047,4094,52.0,11.9,97,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2047,2047,4095,0,0,0,0,0,0,25.82,25.83,25.82,10.12,43.77
$GC,794,1.61,390.0,2861,2012,2046,4095,46.7,12.0,103,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2046,2046,4094,0,0,0,0,0,0,25.92,25.93,25.93,10.11,44.17
$GC,839,1.61,390.0,2861,2012,2045,4094,41.3,12.0,109,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2045,2045,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.11,45.11
$GC,883,1.61,390.0,2861,2012,2044,4094,35.8,12.2,115,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2043,2043,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.11,44.64
$GC,927,1.61,390.0,2861,2012,2043,4094,30.7,11.7,121,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2042,2042,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.11,45.15
$GC,972,1.61,390.0,2861,2012,2041,4095,25.5,11.9,127,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2013,2041,2041,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.12,45.23
$GC,1016,1.61,390.0,2861,2013,2041,4094,20.6,10.4,133,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2013,2040,2040,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.15,45.82
$GC,1059,1.61,390.0,2861,2013,2038,4094,16.2,10.0,139,1069,0.00,1.73,0.00,0.000,516,0.000,0.060,2862,1377,2039,2039,4094,0,0,0,0,0,0,26.26,25.96,26.27,10.17,46.85
$GC,1132,1.61,390.0,2861,1376,2038,4094,8.9,9.8,149,1142,0.00,1.58,0.00,0.000,1030,0.000,0.028,2862,2020,2037,2037,4094,0,0,0,0,0,0,26.09,26.08,26.13,10.20,49.01
$GC,1178,1.61,390.0,2861,2020,2036,4094,4.5,9.6,155,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2020,2036,2036,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.21,49.21
$STATE,1206,end climb,FINISH_DEPTH_REACHED
$STATE,1206,begin subsurface finish
$FINISH1,1.6,1.024104,104
$GC,1212,0.16,104.3,2861,2022,2035,4094,1.6,9.3,159,1223,4.97,0.00,-3.10,0.000,20486,0.074,0.000,2419,2026,2384,2384,4094,0,0,0,0,0,0,26.06,25.22,26.15,10.22,50.23
$FINISH2,0.5
$STATE,1224,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1224,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,094837
$TT8_MAMPS,0.025466,0.205975
$HUMID,49.84
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.14,9.261
$10V_AH,10.27,11.885
$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,21.350,17.100,45.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.572,0.000,129.842,673.079,40.263,33.430,393.953,0.000,241.846,0.000,0.543,0.000
$DEVICE_MAMPS,74.205,1289.790,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.803,434.707,0.000,510.099,666.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330968
$DATA_FILE_SIZE,14308,160
$CAP_FILE_SIZE,30779,0
$CFSIZE,1024409600,1000685568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,110916,5955.926,-17157.500,7,1.0,52,7.9,0.3,73.0,8,3.0