version: 66.13
glider: 401
mission: 22
dive: 391
start: 8 2 117 14 58 29
data:
$ID,401
$MISSION,22
$DIVE,391
$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,26
$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
$GPS1,020817,145032,5956.7163,-17159.4785,5,0.8,34,7.9,0.3,152.1,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-47.3
$GPS2,020817,145722,5956.7295,-17159.4551,7,0.8,19,7.9,0.0,61.5,10,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338465,0.018087
$KALMAN_X,50330.496094,-1948.960815,-578.363403,-136759.859375,113.425049
$KALMAN_Y,27249.517578,1562.505005,447.301636,47435.968750,4.238098
$MHEAD_RNG_PITCHd_Wd,265.2,42135,-11.3,-9.091,-15.01,6398
$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,-388.4,230,1901,2023,4092,0.0,0.0,0,21,11.00,0.00,0.00,0.000,2049,0.108,0.000,1137,1898,2022,2022,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.27,49.48
$GC,23,-1.61,-388.4,1136,1898,2023,4094,1.0,0.0,1,51,7.57,1.80,-8.70,0.000,18692,0.050,1.278,1838,2540,2958,2958,4094,0,0,0,0,0,0,25.94,24.84,25.99,10.27,48.85
$GC,276,-1.61,-388.4,1838,2539,2964,4094,26.5,-10.7,38,285,0.00,1.62,0.00,0.000,1030,0.000,0.029,1838,1904,2964,2964,4095,0,0,0,0,0,0,26.05,26.01,26.07,10.43,47.83
$GC,321,-1.61,-388.4,1838,1904,2965,4095,31.2,-10.2,44,331,0.00,1.73,0.00,0.000,516,0.000,0.060,1838,1256,2965,2965,4094,0,0,0,0,0,0,26.30,25.98,26.32,10.40,46.57
$GC,386,-1.61,-388.4,1838,1256,2966,4094,38.2,-11.0,53,395,0.00,1.58,0.00,0.000,1030,0.000,0.027,1838,1904,2966,2966,4094,0,0,0,0,0,0,26.15,26.15,26.17,10.38,46.14
$GC,432,-1.61,-388.4,1838,1903,2966,4094,43.0,-10.5,59,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1904,2967,2967,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.37,45.27
$GC,477,-1.61,-388.4,1838,1904,2968,4095,47.9,-10.7,65,485,0.00,1.67,0.00,0.000,260,0.000,0.049,1838,2533,2968,2968,4094,0,0,0,0,0,0,26.41,26.10,26.42,10.36,44.52
$GC,529,-1.61,-388.4,1838,2533,2969,4094,53.3,-10.7,72,539,0.00,1.62,0.00,0.000,1030,0.000,0.029,1839,1895,2969,2969,4095,0,0,0,0,0,0,26.21,26.17,26.24,10.35,44.56
$GC,574,-1.61,-388.4,1838,1895,2969,4095,58.3,-10.5,78,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1895,2970,2970,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,44.09
$STATE,592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,592,begin apogee
$GC,597,-0.45,0.0,1838,2042,2970,4094,60.3,-11.5,80,632,4.00,0.00,23.10,1.271,10244,0.057,0.000,2206,2042,2499,2499,4094,0,0,0,0,0,0,26.19,25.21,24.51,10.35,43.93
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,635,1.61,388.4,2205,2041,2499,4094,62.8,0.0,84,671,6.97,0.00,22.60,1.250,11270,0.034,0.000,2863,2042,2046,2046,4094,0,0,0,0,0,0,25.68,25.84,24.08,10.24,43.38
$GC,709,1.61,388.4,2863,2041,2045,4094,57.4,11.3,93,718,0.00,1.62,0.00,0.000,260,0.000,0.049,2863,2634,2045,2045,4095,0,0,0,0,0,0,25.63,25.34,25.63,10.14,43.26
$GC,780,1.61,388.4,2863,2633,2043,4095,48.5,12.3,103,789,0.00,1.60,0.00,0.000,1030,0.000,0.028,2864,2014,2043,2043,4094,0,0,0,0,0,0,25.66,25.60,25.67,10.13,43.66
$GC,826,1.61,388.4,2863,2014,2042,4094,42.9,12.4,109,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,2041,2041,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.12,43.73
$GC,871,1.61,388.4,2863,2014,2041,4094,37.2,12.4,115,880,0.00,1.73,0.00,0.000,516,0.000,0.060,2864,1373,2041,2041,4094,0,0,0,0,0,0,26.03,25.72,26.03,10.12,43.66
$GC,942,1.61,388.4,2863,1372,2039,4094,28.4,11.9,125,951,0.00,1.50,0.00,0.000,1030,0.000,0.026,2864,1988,2039,2039,4094,0,0,0,0,0,0,25.96,25.89,25.94,10.11,44.32
$GC,988,1.61,388.4,2863,1987,2038,4094,23.5,10.7,131,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1988,2037,2037,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.13,44.95
$GC,1032,1.61,388.4,2863,1987,2036,4094,18.5,11.2,137,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1988,2036,2036,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,45.74
$GC,1076,1.61,388.4,2863,1987,2035,4094,13.9,9.6,143,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1989,2035,2035,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.17,46.88
$GC,1121,1.69,439.2,2863,1989,2034,4094,10.1,8.3,149,1131,0.10,0.00,3.90,0.413,10246,0.073,0.000,2881,1989,1987,1987,4094,0,0,0,0,0,0,26.10,25.72,25.29,10.20,48.14
$GC,1168,1.69,439.2,2880,1989,1986,4094,5.9,9.4,155,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1990,1985,1985,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.20,48.62
$STATE,1204,end climb,FINISH_DEPTH_REACHED
$STATE,1204,begin subsurface finish
$FINISH1,2.0,1.024121,103
$GC,1210,0.15,103.1,2881,1989,1985,4095,2.0,10.0,160,1229,5.20,0.00,-3.38,0.000,20486,0.070,0.000,2417,1991,2381,2381,4094,0,0,0,0,0,0,26.03,25.58,26.11,10.20,49.13
$FINISH2,0.2
$STATE,1229,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1230,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,133700
$TT8_MAMPS,0.025466,0.20972
$HUMID,49.64
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.08,9.454
$10V_AH,10.26,12.143
$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,34.850,16.775,49.600,0.000,0.000,26.416,22.161,240.571,0.000,0.000,20.626,452.743,0.571,126.151,989.056,94.290,33.455,387.942,0.000,246.606,0.000,0.542,0.000
$DEVICE_MAMPS,107.865,1277.550,1271.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.394,440.105,0.000,516.517,673.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,14379,162
$CAP_FILE_SIZE,33789,0
$CFSIZE,1024409600,1000275968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,145722,5956.729,-17159.455,7,0.8,19,7.9,0.0,61.5,10,4.9