version: 66.13
glider: 401
mission: 22
dive: 385
start: 8 2 117 12 26 38
data:
$ID,401
$MISSION,22
$DIVE,385
$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,25
$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
$GPS1,020817,121818,5956.2690,-17158.2715,5,1.0,24,7.9,0.0,30.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-47.2
$GPS2,020817,122531,5956.2969,-17158.2207,7,0.9,24,7.9,0.5,35.6,10,4.7
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.336405,-0.043797
$KALMAN_X,49142.933594,-2013.643677,-651.023621,-134265.687500,93.475220
$KALMAN_Y,26334.041016,1512.018066,375.497955,47667.152344,93.009644
$MHEAD_RNG_PITCHd_Wd,254.7,43349,-11.3,-9.091,-15.00,6411
$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,-389.2,230,1891,2030,4092,0.0,0.0,0,21,11.00,0.00,0.00,0.000,2049,0.110,0.000,1134,1889,2029,2029,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.27,49.05
$GC,23,-1.61,-389.2,1134,1889,2029,4094,1.0,0.0,1,51,7.65,1.77,-8.62,0.000,18948,0.051,1.298,1839,1257,2958,2958,4095,0,0,0,0,0,0,25.94,24.82,26.00,10.28,48.81
$GC,159,-1.61,-389.2,1838,1257,2960,4095,12.2,-14.3,20,168,0.00,1.58,0.00,0.000,1030,0.000,0.027,1839,1891,2961,2961,4094,0,0,0,0,0,0,25.98,25.92,25.96,10.48,48.42
$GC,205,-1.61,-389.2,1838,1890,2961,4094,18.3,-12.3,26,215,0.00,1.75,0.00,0.000,260,0.000,0.047,1839,2545,2961,2961,4094,0,0,0,0,0,0,26.20,25.90,26.21,10.48,47.67
$GC,244,-1.61,-389.2,1838,2545,2962,4094,23.3,-12.3,31,253,0.00,1.70,0.00,0.000,1030,0.000,0.028,1839,1882,2962,2962,4094,0,0,0,0,0,0,26.04,25.97,26.04,10.47,47.51
$GC,291,-1.61,-389.2,1838,1882,2963,4094,28.3,-11.1,37,299,0.00,1.67,0.00,0.000,516,0.000,0.060,1839,1255,2964,2964,4095,0,0,0,0,0,0,26.27,25.96,26.29,10.44,46.92
$GC,342,-1.61,-389.2,1838,1254,2964,4095,34.1,-10.9,44,351,0.00,1.55,0.00,0.000,1030,0.000,0.026,1839,1895,2964,2964,4094,0,0,0,0,0,0,26.13,26.09,26.13,10.41,46.06
$GC,388,-1.61,-389.2,1838,1894,2965,4094,38.9,-10.7,50,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2965,2965,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.39,46.02
$GC,433,-1.61,-389.2,1838,1895,2966,4095,43.9,-10.9,56,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1894,2966,2966,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,45.03
$GC,476,-1.61,-389.2,1838,1894,2967,4095,48.6,-11.0,62,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2967,2967,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.37,44.17
$GC,521,-1.61,-389.2,1838,1894,2968,4094,53.6,-11.3,68,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2968,2968,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,44.25
$GC,564,-1.61,-389.2,1838,1894,2969,4095,58.5,-11.4,74,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2969,2969,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,43.54
$STATE,582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,582,begin apogee
$GC,587,-0.45,0.0,1839,2036,2969,4095,60.5,-11.1,76,623,3.97,0.00,22.90,1.273,10244,0.057,0.000,2204,2037,2502,2502,4095,0,0,0,0,0,0,26.18,25.20,24.51,10.35,44.36
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.61,389.2,2203,2036,2502,4095,63.0,0.0,80,662,7.00,0.00,22.80,1.254,11270,0.034,0.000,2863,2037,2045,2045,4094,0,0,0,0,0,0,25.68,25.84,24.08,10.26,43.69
$GC,699,1.61,389.2,2863,2036,2044,4094,57.8,10.7,89,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2044,2044,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.15,42.83
$GC,743,1.61,389.2,2863,2036,2042,4094,52.3,11.9,95,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2042,2042,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.14,42.99
$GC,787,1.61,389.2,2862,2036,2041,4094,46.9,12.2,101,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.13,43.46
$GC,832,1.61,389.2,2863,2036,2041,4094,41.6,11.7,107,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2040,2040,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.13,43.34
$GC,878,1.61,389.2,2863,2036,2039,4094,36.4,11.8,113,886,0.00,1.80,0.00,0.000,516,0.000,0.058,2863,1375,2039,2039,4094,0,0,0,0,0,0,26.06,25.74,26.06,10.12,44.21
$GC,922,1.61,389.2,2863,1375,2038,4094,30.9,11.8,119,932,0.00,1.52,0.00,0.000,1030,0.000,0.027,2863,1998,2038,2038,4094,0,0,0,0,0,0,25.91,25.91,25.92,10.12,43.97
$GC,967,1.61,389.2,2863,1997,2037,4094,25.9,11.2,125,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1998,2036,2036,4095,0,0,0,0,0,0,26.16,26.17,26.17,10.12,44.48
$GC,1012,1.61,389.2,2863,1998,2035,4095,21.1,10.3,131,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1998,2035,2035,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.16,45.98
$GC,1056,1.61,389.2,2863,1998,2035,4094,16.5,11.0,137,1065,0.00,1.70,0.00,0.000,516,0.000,0.060,2863,1373,2034,2034,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.18,46.85
$GC,1095,1.61,389.2,2863,1372,2034,4094,12.4,10.5,142,1104,0.00,1.60,0.00,0.000,1030,0.000,0.027,2864,2028,2033,2033,4094,0,0,0,0,0,0,26.07,26.05,26.09,10.20,47.44
$GC,1141,1.61,389.2,2863,2028,2033,4094,8.3,9.1,148,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2028,2032,2032,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.21,48.70
$GC,1186,1.61,389.2,2863,2028,2031,4094,4.0,9.5,154,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2028,2031,2031,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.21,48.93
$STATE,1208,end climb,FINISH_DEPTH_REACHED
$STATE,1208,begin subsurface finish
$FINISH1,1.7,1.024113,104
$GC,1213,0.16,103.6,2863,2028,2030,4094,1.7,9.6,157,1224,5.00,0.00,-3.15,0.000,20486,0.074,0.000,2417,2034,2385,2385,4094,0,0,0,0,0,0,26.05,25.22,26.15,10.23,49.52
$FINISH2,0.5
$STATE,1225,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1225,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,110350
$TT8_MAMPS,0.024717,0.207473
$HUMID,49.05
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.08,9.313
$10V_AH,10.27,11.950
$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,34.625,16.925,45.700,0.000,0.000,26.296,18.915,259.616,0.000,0.000,25.596,445.962,0.000,140.781,996.260,98.585,33.454,419.416,0.000,240.882,0.000,0.545,0.000
$DEVICE_MAMPS,110.160,1298.205,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.976,429.230,0.000,503.595,656.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,14375,158
$CAP_FILE_SIZE,36761,0
$CFSIZE,1024409600,1000570880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,122531,5956.297,-17158.221,7,0.9,24,7.9,0.5,35.6,10,4.7