version: 66.13
glider: 401
mission: 22
dive: 384
start: 8 2 117 11 55 38
data:
$ID,401
$MISSION,22
$DIVE,384
$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,34
$R_STBD_OVSHOOT,30
$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,0.18
$_SM_ANGLEo,-3.4
$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,-0.336938,-0.038844
$KALMAN_X,49183.121094,-1935.048950,-572.196899,-133793.687500,144.917725
$KALMAN_Y,25774.958984,1454.839722,311.072144,47671.082031,85.462311
$MHEAD_RNG_PITCHd_Wd,255.5,44088,-11.3,-9.091,-15.00,6408
$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,-389.0,2419,1891,2383,4092,0.0,0.0,0,21,5.90,0.00,-4.88,0.000,20482,0.025,0.000,1843,1891,2938,2938,4094,0,0,0,0,0,0,26.23,28.83,26.25,10.31,50.19
$GC,23,-1.61,-389.0,1843,1891,2938,4094,0.0,0.0,1,33,0.00,1.83,-0.08,0.000,16644,0.000,1.292,1843,2540,2951,2951,4094,0,0,0,0,0,0,26.41,25.06,26.05,10.43,50.55
$GC,94,-1.61,-389.0,1843,2539,2952,4094,8.4,-13.2,11,104,0.00,1.62,0.00,0.000,1030,0.000,0.031,1844,1908,2952,2952,4095,0,0,0,0,0,0,26.06,26.03,26.06,10.43,50.59
$GC,141,-1.61,-389.0,1843,1907,2954,4095,14.7,-14.4,17,150,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,2954,2954,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.45,50.00
$GC,187,-1.61,-389.0,1842,1907,2955,4094,20.1,-11.0,23,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,2954,2954,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.44,50.07
$GC,233,-1.61,-389.0,1842,1907,2955,4095,25.1,-10.6,29,242,0.00,1.73,0.00,0.000,516,0.000,0.061,1844,1256,2955,2955,4095,0,0,0,0,0,0,26.39,26.07,26.40,10.41,49.37
$GC,280,-1.61,-389.0,1843,1256,2956,4095,30.2,-11.3,35,289,0.00,1.65,0.00,0.000,1030,0.000,0.028,1843,1926,2956,2956,4094,0,0,0,0,0,0,26.21,26.19,26.23,10.39,48.62
$GC,326,-1.61,-389.0,1842,1926,2957,4094,35.2,-10.8,41,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1927,2957,2957,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.37,48.11
$GC,372,-1.61,-389.0,1842,1927,2958,4094,40.3,-11.5,47,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1928,2958,2958,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.36,47.32
$GC,418,-1.61,-389.0,1842,1927,2959,4095,45.5,-11.0,53,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1927,2959,2959,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.34,46.69
$GC,464,-1.61,-389.0,1843,1927,2960,4095,50.4,-11.0,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1927,2959,2959,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,46.02
$GC,510,-1.61,-389.0,1842,1927,2961,4095,55.5,-10.9,65,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1928,2960,2960,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.34,45.70
$STATE,554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,554,begin apogee
$GC,559,-0.45,0.0,1843,2043,2961,4095,60.6,-10.9,71,595,3.95,0.00,22.58,1.278,10244,0.058,0.000,2205,2044,2501,2501,4095,0,0,0,0,0,0,26.26,25.29,24.59,10.33,45.27
$STATE,596,end apogee,CONTROL_FINISHED_OK
$STATE,596,begin climb
$GC,598,1.61,389.0,2205,2043,2501,4095,63.1,0.0,75,634,6.95,0.00,22.75,1.258,11270,0.034,0.000,2861,2044,2044,2044,4094,0,0,0,0,0,0,25.75,25.92,24.15,10.23,45.15
$GC,671,1.61,389.0,2861,2044,2043,4094,57.9,11.0,84,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2043,2043,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.12,43.89
$GC,717,1.61,389.0,2861,2044,2042,4094,52.5,11.9,90,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2042,2042,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.11,44.09
$GC,763,1.61,389.0,2861,2044,2041,4094,47.1,11.3,96,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2044,2041,2041,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.11,44.29
$GC,809,1.61,389.0,2861,2044,2040,4094,41.7,11.9,102,818,0.00,1.83,0.00,0.000,516,0.000,0.058,2861,1377,2039,2039,4094,0,0,0,0,0,0,26.01,25.67,26.02,10.11,44.40
$GC,867,1.61,389.0,2861,1376,2038,4094,34.5,11.9,110,876,0.00,1.50,0.00,0.000,1030,0.000,0.027,2861,1989,2038,2038,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.10,45.27
$GC,914,1.61,389.0,2861,1989,2037,4094,29.3,11.4,116,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2037,2037,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.10,45.15
$GC,957,1.61,389.0,2861,1989,2037,4094,24.1,11.4,122,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2035,2035,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.11,45.39
$GC,1001,1.61,389.0,2861,1989,2035,4094,19.5,10.2,128,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1991,2034,2034,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,46.69
$GC,1045,1.61,389.0,2861,1990,2034,4094,14.5,11.3,134,1055,0.00,1.67,0.00,0.000,516,0.000,0.062,2861,1374,2034,2034,4095,0,0,0,0,0,0,26.27,25.96,26.28,10.17,47.40
$GC,1078,1.61,389.0,2861,1373,2033,4095,11.4,9.6,138,1087,0.00,1.58,0.00,0.000,1030,0.000,0.028,2861,2015,2033,2033,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.18,48.89
$GC,1123,1.62,394.3,2860,2014,2032,4094,7.3,9.0,144,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2015,2031,2031,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,49.05
$GC,1167,1.62,394.3,2861,2014,2031,4094,3.2,9.3,150,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2015,2030,2030,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.20,49.21
$STATE,1184,end climb,SURFACE_DEPTH_REACHED
$STATE,1184,begin surface coast
$FINISH,0.4,1.024111
$STATE,1205,end surface coast,CONTROL_FINISHED_OK
$STATE,1205,begin surface
$SM_CCo,1302,0.00,0.000,0,0,2029,404.40
$SM_GC,1.14,27.62,0.32,0.00,0.024,0.056,0.000,231,1892,2029,-6.65,0.87,404.40,0,0,0,0,0,0,26.08,26.13,26.16
$IRIDIUM_FIX,5955.74,-17228.01,020817,094837
$TT8_MAMPS,0.025466,0.244174
$HUMID,49.88
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.15,9.278
$10V_AH,10.22,11.920
$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,44.425,14.225,45.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.129,61.901,156.276,648.602,46.494,33.419,419.569,0.000,375.436,0.000,0.543,0.000
$DEVICE_MAMPS,58.140,1292.085,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.900,421.093,333.318,494.097,645.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330968
$DATA_FILE_SIZE,14384,155
$CAP_FILE_SIZE,32546,0
$CFSIZE,1024409600,1000636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,121818,5956.269,-17158.271,5,1.0,24,7.9,0.0,30.4,10,4.9