version: 66.13
glider: 401
mission: 22
dive: 388
start: 8 2 117 13 43 47
data:
$ID,401
$MISSION,22
$DIVE,388
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,020817,133527,5956.5371,-17158.8555,5,0.9,14,7.9,0.0,37.8,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-46.0
$GPS2,020817,134240,5956.5566,-17158.8262,6,0.8,14,7.9,0.0,268.8,10,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338654,-0.011417
$KALMAN_X,49753.941406,-1989.051514,-621.306152,-135505.203125,119.442261
$KALMAN_Y,26881.294922,1556.467285,436.601318,47498.488281,44.738403
$MHEAD_RNG_PITCHd_Wd,260.2,42744,-11.3,-9.091,-15.02,6393
$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,-388.1,238,1896,1998,4092,0.0,0.0,0,21,11.00,0.00,0.00,0.000,2049,0.112,0.000,1136,1892,1998,1998,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.27,49.56
$GC,23,-1.61,-388.1,1136,1891,1998,4094,1.0,0.0,1,51,7.60,1.77,-8.93,0.000,18948,0.050,1.294,1837,1257,2958,2958,4094,0,0,0,0,0,0,25.91,24.80,25.98,10.27,48.85
$GC,211,-1.61,-388.1,1837,1257,2962,4094,21.5,-13.4,28,221,0.00,1.58,0.00,0.000,1030,0.000,0.026,1837,1903,2962,2962,4095,0,0,0,0,0,0,25.99,26.01,26.02,10.47,47.71
$GC,258,-1.61,-388.1,1837,1903,2963,4095,26.7,-10.6,34,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1903,2964,2964,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.43,47.48
$GC,301,-1.61,-388.1,1837,1904,2963,4094,31.3,-10.5,40,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1904,2964,2964,4095,0,0,0,0,0,0,26.29,26.29,26.29,10.41,46.92
$GC,346,-1.61,-388.1,1837,1905,2964,4095,36.0,-10.6,46,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1905,2965,2965,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.39,45.86
$GC,389,-1.61,-388.1,1836,1905,2965,4094,40.6,-10.7,52,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1905,2966,2966,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.38,44.88
$GC,433,-1.61,-388.1,1837,1906,2966,4094,45.5,-11.0,58,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1905,2966,2966,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.38,44.56
$GC,478,-1.61,-388.1,1837,1906,2967,4094,50.3,-10.8,64,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2967,2967,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.37,44.29
$GC,522,-1.61,-388.1,1837,1906,2968,4094,55.3,-11.3,70,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2968,2968,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,43.89
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,569,-0.45,0.0,1837,2039,2969,4094,60.2,-11.0,76,605,4.00,0.00,23.02,1.269,10244,0.057,0.000,2204,2039,2499,2499,4094,0,0,0,0,0,0,26.17,25.20,24.55,10.35,43.73
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,608,1.61,388.1,2204,2039,2499,4094,62.4,0.0,80,644,7.00,0.00,22.58,1.253,11270,0.034,0.000,2863,2039,2047,2047,4094,0,0,0,0,0,0,25.67,25.83,24.09,10.25,43.22
$GC,681,1.61,388.1,2863,2039,2045,4094,57.1,11.4,89,690,0.00,1.65,0.00,0.000,260,0.000,0.050,2863,2639,2045,2045,4094,0,0,0,0,0,0,25.62,25.34,25.63,10.14,42.67
$GC,739,1.61,388.1,2863,2638,2044,4094,49.6,12.5,97,749,0.00,1.60,0.00,0.000,1030,0.000,0.028,2863,2022,2044,2044,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.13,43.18
$GC,786,1.61,388.1,2863,2021,2043,4094,44.0,11.9,103,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2022,2043,2043,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.13,43.58
$GC,832,1.61,388.1,2863,2021,2041,4094,38.3,12.3,109,841,0.00,1.75,0.00,0.000,516,0.000,0.061,2863,1370,2041,2041,4094,0,0,0,0,0,0,26.01,25.70,26.02,10.13,43.69
$GC,897,1.61,388.1,2863,1370,2040,4094,30.4,11.7,118,906,0.00,1.52,0.00,0.000,1030,0.000,0.026,2863,1993,2040,2040,4095,0,0,0,0,0,0,25.91,25.88,25.92,10.13,44.05
$GC,942,1.61,388.1,2862,1993,2039,4095,25.2,11.6,124,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1993,2038,2038,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,44.68
$GC,986,1.61,388.1,2863,1993,2037,4094,20.2,11.0,130,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1993,2037,2037,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.14,44.92
$GC,1030,1.61,388.1,2863,1993,2036,4094,15.4,10.7,136,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1993,2036,2036,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.18,46.61
$GC,1075,1.61,388.1,2863,1994,2035,4094,11.0,9.6,142,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1994,2035,2035,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.20,48.46
$GC,1119,1.65,410.8,2863,1994,2034,4094,7.1,8.7,148,1128,0.00,0.00,2.30,0.125,8198,0.000,0.000,2863,1994,2024,2024,4094,0,0,0,0,0,0,26.31,25.77,25.36,10.22,48.46
$GC,1166,1.65,410.8,2863,1994,2023,4094,3.0,9.5,154,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1994,2023,2023,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.22,48.70
$STATE,1182,end climb,FINISH_DEPTH_REACHED
$STATE,1182,begin subsurface finish
$FINISH1,1.0,1.024110,104
$GC,1188,0.16,103.8,2863,1998,2023,4094,1.0,9.8,156,1199,4.68,0.00,-3.28,0.000,20486,0.032,0.000,2413,1998,2385,2385,4095,0,0,0,0,0,0,26.13,25.22,26.17,10.22,48.97
$FINISH2,0.1
$STATE,1200,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1200,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,121955
$TT8_MAMPS,0.026215,0.25466
$HUMID,49.13
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.09,9.384
$10V_AH,10.20,12.053
$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,34.275,10.125,47.900,0.000,0.000,23.056,23.934,268.184,0.000,0.000,16.092,438.773,0.998,130.397,987.835,98.019,33.458,394.858,0.000,381.924,0.000,0.542,0.000
$DEVICE_MAMPS,112.455,1294.380,1269.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.257,426.547,337.587,500.482,652.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,14251,157
$CAP_FILE_SIZE,33827,0
$CFSIZE,1024409600,1000423424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,134240,5956.557,-17158.826,6,0.8,14,7.9,0.0,268.8,10,5.0