version: 66.13
glider: 401
mission: 22
dive: 386
start: 8 2 117 12 49 6
data:
$ID,401
$MISSION,22
$DIVE,386
$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,26
$R_STBD_OVSHOOT,38
$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
$GPS1,020817,122531,5956.2969,-17158.2207,7,0.9,24,7.9,0.5,35.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.1
$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,-0.336855,-0.046259
$KALMAN_X,49353.468750,-1936.149414,-570.718994,-134647.609375,70.482666
$KALMAN_Y,26406.556641,1507.819092,380.043152,47604.785156,98.547119
$MHEAD_RNG_PITCHd_Wd,254.3,43349,-11.3,-9.091,-14.97,6446
$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,-390.0,2417,1893,2384,4092,0.0,0.0,0,21,5.80,0.00,-4.97,0.000,20482,0.029,0.000,1861,1893,2924,2924,4095,0,0,0,0,0,0,26.20,28.83,26.22,10.32,49.84
$GC,23,-1.61,-390.0,1860,1892,2924,4095,0.1,0.0,1,33,0.00,1.77,-0.30,0.000,16900,0.000,1.307,1861,1257,2959,2959,4095,0,0,0,0,0,0,26.41,25.05,26.28,10.44,50.00
$GC,194,-1.61,-390.0,1860,1257,2962,4095,16.7,-13.6,26,203,0.00,1.55,0.00,0.000,1030,0.000,0.028,1861,1895,2962,2962,4094,0,0,0,0,0,0,26.18,26.15,26.19,10.46,49.64
$GC,239,-1.61,-390.0,1860,1895,2963,4094,21.5,-10.1,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1895,2963,2963,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.45,48.85
$GC,285,-1.61,-390.0,1860,1897,2964,4094,25.9,-9.9,38,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1897,2964,2964,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.42,49.09
$GC,328,-1.61,-390.0,1860,1897,2964,4094,30.4,-9.7,44,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1898,2964,2964,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.40,48.11
$GC,373,-1.61,-390.0,1860,1897,2966,4094,34.8,-10.3,50,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1897,2965,2965,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.38,46.92
$GC,416,-1.61,-390.0,1860,1898,2966,4094,39.3,-10.3,56,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1898,2966,2966,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.37,46.22
$GC,460,-1.61,-390.0,1860,1898,2967,4095,43.8,-9.9,62,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1898,2967,2967,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.36,45.90
$GC,504,-1.61,-390.0,1860,1898,2968,4095,48.3,-10.1,68,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1898,2968,2968,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.35,45.58
$GC,549,-1.61,-390.0,1860,1898,2968,4094,52.8,-10.2,74,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1898,2969,2969,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.34,44.99
$GC,593,-1.61,-390.0,1860,1898,2969,4094,57.4,-10.4,80,602,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,1898,2969,2969,4095,0,0,0,0,0,0,26.55,26.58,26.57,10.33,45.51
$STATE,622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,628,-0.45,0.0,1860,2036,2970,4095,60.7,-10.3,84,662,3.70,0.00,22.95,1.279,10244,0.057,0.000,2201,2037,2500,2500,4094,0,0,0,0,0,0,26.29,25.31,24.62,10.33,44.76
$STATE,663,end apogee,CONTROL_FINISHED_OK
$STATE,663,begin climb
$GC,665,1.61,390.0,2201,2036,2500,4094,62.9,0.0,88,701,7.00,0.00,22.42,1.257,11270,0.035,0.000,2862,2037,2045,2045,4094,0,0,0,0,0,0,25.77,25.93,24.17,10.23,44.52
$GC,738,1.61,390.0,2862,2036,2044,4094,57.6,10.9,97,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2044,2044,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.13,43.62
$GC,784,1.61,390.0,2861,2036,2043,4094,52.2,12.1,103,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2043,2043,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.12,43.85
$GC,827,1.61,390.0,2862,2036,2042,4094,46.7,11.7,109,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2041,2041,4095,0,0,0,0,0,0,25.93,25.94,25.94,10.12,43.85
$GC,871,1.61,390.0,2861,2036,2041,4095,41.5,11.9,115,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2042,2042,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.11,44.25
$GC,916,1.61,390.0,2861,2036,2040,4094,36.2,12.1,121,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2037,2039,2039,4095,0,0,0,0,0,0,26.08,26.09,26.09,10.11,45.03
$GC,960,1.61,390.0,2861,2036,2038,4095,31.1,11.4,127,969,0.00,1.80,0.00,0.000,516,0.000,0.059,2862,1375,2038,2038,4094,0,0,0,0,0,0,26.13,25.82,26.15,10.11,45.35
$GC,1011,1.61,390.0,2861,1375,2037,4094,25.0,12.4,134,1021,0.00,1.52,0.00,0.000,1030,0.000,0.028,2862,1996,2037,2037,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.12,45.47
$GC,1058,1.61,390.0,2861,1996,2035,4094,19.7,11.9,140,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2035,2035,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.15,45.74
$GC,1104,1.61,390.0,2861,1997,2034,4094,14.6,10.7,146,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1997,2034,2034,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.17,47.75
$GC,1150,1.75,486.9,2861,1997,2034,4095,11.1,7.5,152,1161,0.35,0.00,6.18,0.574,10246,0.041,0.000,2900,1998,1931,1931,4094,0,0,0,0,0,0,26.10,25.86,25.26,10.19,49.33
$GC,1198,1.75,486.9,2900,1998,1930,4094,6.7,9.6,158,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1998,1929,1929,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.18,48.81
$GC,1243,1.75,486.9,2900,1998,1928,4094,2.0,10.3,164,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2000,1928,1928,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.19,49.25
$STATE,1260,end climb,FINISH_DEPTH_REACHED
$STATE,1260,begin subsurface finish
$FINISH1,0.1,1.002104,0
$GC,1266,0.00,0.0,2900,2003,1928,4094,0.1,10.2,166,1284,5.55,0.00,-5.20,0.000,20486,0.027,0.000,2356,2003,2503,2503,4094,0,0,0,0,0,0,26.11,25.59,26.15,10.20,49.33
$FINISH2,0.1
$STATE,1285,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1285,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,110350
$TT8_MAMPS,0.025466,0.250915
$HUMID,49.84
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.17,9.331
$10V_AH,10.21,11.987
$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,22.400,7.275,51.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,459.992,0.000,136.602,700.421,45.781,33.428,410.737,0.000,405.832,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1307.385,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.719,456.389,361.264,535.582,697.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,14411,168
$CAP_FILE_SIZE,31254,0
$CFSIZE,1024409600,1000538112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,122531,5956.297,-17158.221,7,0.9,24,7.9,0.5,35.6,10,4.7