version: 66.13
glider: 401
mission: 22
dive: 390
start: 8 2 117 14 27 37
data:
$ID,401
$MISSION,22
$DIVE,390
$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,31
$R_STBD_OVSHOOT,27
$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,0.14
$_SM_ANGLEo,-3.4
$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,-0.338311,-0.027060
$KALMAN_X,50334.734375,-1894.147583,-523.512268,-136289.796875,178.381653
$KALMAN_Y,26970.861328,1538.149780,421.257782,47450.070312,59.974152
$MHEAD_RNG_PITCHd_Wd,257.5,42744,-11.3,-9.091,-15.00,6418
$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,-389.6,2412,1886,2382,4092,0.0,0.0,0,21,5.88,0.00,-4.93,0.000,20482,0.026,0.000,1847,1886,2913,2913,4094,0,0,0,0,0,0,26.05,28.83,26.07,10.31,50.47
$GC,23,-1.61,-389.6,1847,1886,2914,4094,0.1,0.0,1,33,0.00,1.85,-0.38,0.000,16644,0.000,1.271,1846,2543,2957,2957,4094,0,0,0,0,0,0,26.25,24.92,26.14,10.42,50.11
$GC,114,-1.61,-389.6,1846,2543,2959,4094,10.4,-14.1,14,124,0.00,1.62,0.00,0.000,1030,0.000,0.030,1847,1912,2960,2960,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.44,50.39
$GC,161,-1.61,-389.6,1846,1912,2961,4094,16.8,-14.1,20,171,0.00,1.77,0.00,0.000,516,0.000,0.062,1847,1250,2961,2961,4094,0,0,0,0,0,0,26.23,25.91,26.25,10.44,50.39
$GC,213,-1.61,-389.6,1847,1249,2962,4094,23.4,-11.9,27,222,0.00,1.58,0.00,0.000,1030,0.000,0.028,1847,1893,2962,2962,4094,0,0,0,0,0,0,26.06,26.06,26.10,10.42,49.76
$GC,258,-1.61,-389.6,1846,1895,2962,4094,28.6,-11.6,33,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1894,2963,2963,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.39,49.64
$GC,303,-1.61,-389.6,1846,1896,2963,4095,33.4,-10.9,39,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1896,2964,2964,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.37,47.91
$GC,347,-1.61,-389.6,1846,1896,2964,4095,37.9,-10.0,45,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1896,2964,2964,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.36,47.00
$GC,393,-1.61,-389.6,1846,1896,2966,4095,42.5,-10.4,51,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1896,2966,2966,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.35,46.61
$GC,439,-1.61,-389.6,1846,1897,2966,4094,47.3,-10.5,57,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1897,2967,2967,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.34,45.62
$GC,484,-1.61,-389.6,1846,1897,2967,4095,52.3,-10.9,63,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1897,2967,2967,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.33,45.94
$GC,531,-1.61,-389.6,1846,1897,2969,4094,57.4,-11.1,69,539,0.00,1.70,0.00,0.000,260,0.000,0.048,1847,2534,2968,2968,4094,0,0,0,0,0,0,26.47,26.17,26.48,10.33,45.31
$STATE,553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,553,begin apogee
$GC,559,-0.45,0.0,1847,2009,2969,4095,60.2,-10.8,72,595,3.90,0.00,22.98,1.270,10244,0.057,0.000,2204,2009,2499,2499,4094,0,0,0,0,0,0,26.20,25.23,24.56,10.33,45.19
$STATE,596,end apogee,CONTROL_FINISHED_OK
$STATE,596,begin climb
$GC,598,1.61,389.6,2204,2009,2500,4094,62.5,0.0,76,634,7.00,0.00,22.60,1.249,11270,0.034,0.000,2864,2009,2046,2046,4094,0,0,0,0,0,0,25.70,25.86,24.10,10.22,45.11
$GC,671,1.61,389.6,2863,2009,2045,4094,57.2,11.3,85,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2008,2045,2045,4094,0,0,0,0,0,0,25.63,25.65,25.64,10.11,44.44
$GC,717,1.61,389.6,2863,2008,2044,4094,51.7,11.6,91,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2009,2043,2043,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.11,43.93
$GC,762,1.61,389.6,2863,2009,2043,4094,46.2,12.1,97,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2042,2042,4094,0,0,0,0,0,0,25.91,25.92,25.91,10.11,44.21
$GC,808,1.61,389.6,2863,2009,2041,4094,40.6,12.1,103,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2042,2042,4094,0,0,0,0,0,0,25.98,26.01,26.01,10.10,44.76
$GC,852,1.61,389.6,2863,2008,2041,4094,35.1,12.3,109,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2040,2040,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.10,45.03
$GC,896,1.61,389.6,2863,2008,2039,4094,29.8,11.9,115,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2009,2039,2039,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,45.58
$GC,940,1.61,389.6,2863,2008,2038,4094,24.7,11.3,121,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2008,2038,2038,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.11,45.98
$GC,984,1.61,389.6,2863,2008,2036,4094,19.7,11.6,127,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2008,2036,2036,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,46.41
$GC,1028,1.61,389.6,2863,2008,2035,4094,15.0,10.4,133,1037,0.00,1.70,0.00,0.000,516,0.000,0.061,2864,1374,2035,2035,4095,0,0,0,0,0,0,26.25,25.94,26.27,10.15,47.36
$GC,1080,1.61,389.6,2863,1374,2034,4095,10.2,9.1,140,1089,0.00,1.55,0.00,0.000,1030,0.000,0.028,2863,2008,2034,2034,4094,0,0,0,0,0,0,26.08,26.06,26.11,10.18,49.09
$GC,1126,1.64,409.5,2863,2008,2034,4094,6.3,8.8,146,1136,0.00,0.00,2.22,0.103,8198,0.000,0.000,2863,2008,2025,2025,4094,0,0,0,0,0,0,26.32,25.79,25.37,10.19,48.93
$GC,1173,1.64,409.5,2863,2008,2024,4094,2.1,9.2,152,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2008,2024,2024,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.20,49.37
$STATE,1189,end climb,SURFACE_DEPTH_REACHED
$STATE,1189,begin surface coast
$FINISH,0.1,1.016760
$STATE,1211,end surface coast,CONTROL_FINISHED_OK
$STATE,1211,begin surface
$SM_CCo,1307,0.00,0.000,0,0,2023,410.41
$SM_GC,1.07,27.65,0.28,0.00,0.024,0.055,0.000,230,1901,2023,-6.65,1.41,410.41,0,0,0,0,0,0,26.07,26.14,26.15
$IRIDIUM_FIX,5955.74,-17228.01,020817,121955
$TT8_MAMPS,0.025466,0.235186
$HUMID,50.55
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.10,9.419
$10V_AH,10.21,12.112
$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,44.425,13.675,47.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.162,60.133,156.947,656.616,46.314,33.419,419.210,0.000,379.886,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,1270.665,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.381,426.506,337.611,500.660,653.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,14220,157
$CAP_FILE_SIZE,32449,0
$CFSIZE,1024409600,1000341504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,145032,5956.716,-17159.479,5,0.8,34,7.9,0.3,152.1,10,5.0