version: 66.13
glider: 401
mission: 22
dive: 389
start: 8 2 117 14 5 50
data:
$ID,401
$MISSION,22
$DIVE,389
$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,29
$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
$GPS1,020817,134240,5956.5566,-17158.8262,6,0.8,14,7.9,0.0,268.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.6
$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,-0.339418,-0.018614
$KALMAN_X,49962.496094,-1906.679810,-536.827454,-135892.468750,86.131897
$KALMAN_Y,26934.373047,1542.165283,424.523651,47479.207031,57.292999
$MHEAD_RNG_PITCHd_Wd,259.0,42744,-11.3,-9.091,-14.97,6442
$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,-390.0,2413,1893,2384,4092,0.0,0.0,0,20,5.82,0.00,-4.45,0.000,20482,0.024,0.000,1846,1893,2867,2867,4095,0,0,0,0,0,0,26.20,28.83,26.22,10.32,49.76
$GC,22,-1.61,-390.0,1846,1893,2867,4095,0.1,0.0,1,32,0.00,1.80,-0.70,0.000,16644,0.000,1.292,1846,2532,2948,2948,4095,0,0,0,0,0,0,26.40,25.06,26.33,10.43,50.00
$GC,107,-1.61,-390.0,1845,2532,2950,4095,9.8,-14.1,13,116,0.00,1.60,0.00,0.000,1030,0.000,0.031,1846,1908,2950,2950,4095,0,0,0,0,0,0,26.09,26.05,26.10,10.45,49.25
$GC,153,-1.61,-390.0,1845,1908,2951,4095,16.7,-14.8,19,163,0.00,1.83,-0.05,0.000,16900,0.000,1.289,1846,1253,2974,2974,4095,0,0,0,0,0,0,26.34,24.97,25.44,10.45,49.29
$GC,219,-1.61,-390.0,1845,1253,2976,4095,25.0,-11.9,28,228,0.00,1.55,0.00,0.000,1030,0.000,0.028,1846,1886,2976,2976,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.42,49.44
$GC,266,-1.61,-390.0,1846,1886,2976,4095,30.2,-11.5,34,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1886,2977,2977,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.40,47.95
$GC,310,-1.61,-390.0,1846,1887,2977,4095,35.0,-10.3,40,320,0.00,1.75,0.00,0.000,260,0.000,0.048,1846,2540,2977,2977,4095,0,0,0,0,0,0,26.29,25.98,26.31,10.38,47.28
$GC,349,-1.61,-390.0,1845,2539,2978,4095,38.9,-10.1,45,358,0.00,1.67,0.00,0.000,1030,0.000,0.030,1846,1886,2978,2978,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.37,47.28
$GC,395,-1.61,-390.0,1845,1885,2979,4094,43.6,-10.6,51,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1886,2979,2979,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.36,46.49
$GC,440,-1.61,-390.0,1845,1885,2980,4095,48.6,-11.0,57,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1886,2980,2980,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.35,45.82
$GC,484,-1.61,-390.0,1845,1886,2981,4095,53.3,-10.8,63,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1886,2981,2981,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.34,45.51
$GC,528,-1.61,-390.0,1845,1885,2981,4095,58.1,-10.6,69,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1886,2982,2982,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.33,45.19
$STATE,545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,545,begin apogee
$GC,550,-0.45,0.0,1846,2036,2982,4094,60.1,-10.4,71,586,3.92,0.00,23.62,1.277,10244,0.057,0.000,2205,2037,2499,2499,4094,0,0,0,0,0,0,26.16,25.18,24.49,10.33,45.03
$STATE,587,end apogee,CONTROL_FINISHED_OK
$STATE,587,begin climb
$GC,589,1.61,390.0,2205,2036,2499,4094,62.3,0.0,75,625,7.00,0.00,22.73,1.252,11270,0.034,0.000,2863,2037,2045,2045,4094,0,0,0,0,0,0,25.65,25.81,24.06,10.23,44.88
$GC,662,1.61,390.0,2862,2036,2044,4094,57.0,11.1,84,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2043,2043,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.13,44.25
$GC,706,1.61,390.0,2862,2036,2043,4094,51.5,12.2,90,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2042,2042,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.12,43.62
$GC,750,1.61,390.0,2862,2036,2041,4094,46.1,12.2,96,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2036,2041,2041,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.12,44.21
$GC,795,1.61,390.0,2862,2036,2040,4094,40.6,12.3,102,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2036,2040,2040,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.11,44.21
$GC,839,1.61,390.0,2862,2036,2039,4094,35.1,12.3,108,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2037,2038,2038,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,44.52
$GC,883,1.61,390.0,2862,2036,2038,4094,30.0,11.3,114,893,0.00,1.80,0.00,0.000,516,0.000,0.059,2863,1375,2037,2037,4094,0,0,0,0,0,0,26.10,25.79,26.12,10.11,44.60
$GC,948,1.61,390.0,2862,1375,2036,4094,22.6,12.0,123,958,0.00,1.52,0.00,0.000,1030,0.000,0.028,2863,1997,2036,2036,4094,0,0,0,0,0,0,26.01,25.95,25.99,10.13,45.78
$GC,994,1.61,390.0,2862,1997,2034,4094,17.1,11.6,129,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2035,2035,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.15,46.65
$GC,1038,1.61,390.0,2862,1997,2034,4095,12.7,9.3,135,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1997,2034,2034,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.18,48.46
$GC,1083,1.71,457.0,2862,1997,2033,4095,9.1,8.0,141,1093,0.22,0.00,4.70,0.480,10246,0.047,0.000,2890,1998,1965,1965,4094,0,0,0,0,0,0,26.07,25.88,25.27,10.19,48.85
$GC,1130,1.71,457.0,2890,1998,1964,4094,4.8,9.9,147,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1998,1965,1965,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.19,49.25
$STATE,1160,end climb,FINISH_DEPTH_REACHED
$STATE,1160,begin subsurface finish
$FINISH1,1.4,1.024114,104
$GC,1166,0.16,103.6,2890,1998,1963,4094,1.4,10.3,151,1184,5.05,0.00,-3.75,0.000,20486,0.041,0.000,2412,2003,2381,2381,4094,0,0,0,0,0,0,26.09,25.57,26.14,10.20,49.44
$FINISH2,0.1
$STATE,1185,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1185,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,121955
$TT8_MAMPS,0.025466,0.203728
$HUMID,49.76
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,24.06,9.402
$10V_AH,10.27,12.077
$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,22.025,14.100,51.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,424.411,0.997,131.812,645.790,40.262,33.432,397.982,0.000,231.926,0.000,0.542,0.000
$DEVICE_MAMPS,56.610,1292.085,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.819,415.670,0.000,487.831,638.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,14384,153
$CAP_FILE_SIZE,30776,0
$CFSIZE,1024409600,1000390656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,134240,5956.557,-17158.826,6,0.8,14,7.9,0.0,268.8,10,5.0