version: 66.13
glider: 401
mission: 22
dive: 392
start: 8 2 117 15 21 2
data:
$ID,401
$MISSION,22
$DIVE,392
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,020817,145722,5956.7295,-17159.4551,7,0.8,19,7.9,0.0,61.5,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.3
$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,-0.338737,0.003604
$KALMAN_X,50537.687500,-1864.759521,-494.602295,-137147.406250,80.911346
$KALMAN_Y,27283.326172,1538.699219,422.707184,47455.582031,26.095856
$MHEAD_RNG_PITCHd_Wd,262.7,42135,-11.3,-9.091,-15.02,6389
$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,-387.9,2416,1889,2381,4092,0.0,0.0,0,21,5.80,0.00,-5.32,0.000,20486,0.025,0.000,1860,1890,2958,2958,4094,0,0,0,0,0,0,26.05,25.13,26.08,10.31,49.84
$GC,23,-1.61,-387.9,1859,1890,2957,4094,0.0,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1890,2958,2958,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.44,50.00
$GC,67,-1.61,-387.9,1859,1889,2958,4094,4.3,-11.0,7,76,0.00,1.75,0.00,0.000,260,0.000,0.047,1859,2535,2959,2959,4095,0,0,0,0,0,0,26.30,26.01,26.32,10.44,49.44
$GC,118,-1.61,-387.9,1858,2535,2960,4095,11.0,-13.1,14,128,0.00,1.62,0.00,0.000,1030,0.000,0.031,1860,1903,2960,2960,4094,0,0,0,0,0,0,26.11,26.08,26.15,10.44,49.60
$GC,165,-1.61,-387.9,1859,1903,2961,4094,17.1,-13.1,20,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2961,2961,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.45,49.29
$GC,211,-1.61,-387.9,1859,1903,2962,4095,22.0,-10.4,26,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2962,2962,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.42,49.21
$GC,255,-1.61,-387.9,1859,1903,2963,4095,26.8,-10.8,32,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2963,2963,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.39,49.05
$GC,299,-1.61,-387.9,1859,1903,2964,4094,31.1,-9.3,38,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1903,2964,2964,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.37,47.63
$GC,343,-1.61,-387.9,1859,1903,2964,4094,35.3,-9.6,44,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2965,2965,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,46.81
$GC,387,-1.61,-387.9,1859,1903,2965,4094,39.7,-10.0,50,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1903,2965,2965,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.35,46.10
$GC,432,-1.61,-387.9,1860,1903,2966,4094,44.2,-10.3,56,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2966,2966,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,45.58
$GC,476,-1.61,-387.9,1859,1903,2967,4095,48.7,-10.2,62,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2967,2967,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.34,45.27
$GC,520,-1.61,-387.9,1859,1903,2968,4095,53.3,-10.3,68,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2968,2968,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.33,45.07
$GC,565,-1.61,-387.9,1859,1903,2969,4094,57.8,-10.2,74,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1903,2969,2969,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.33,44.80
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1859,2040,2969,4094,60.5,-10.4,77,630,3.78,0.00,22.98,1.276,10244,0.056,0.000,2206,2039,2499,2499,4094,0,0,0,0,0,0,26.28,25.30,24.61,10.32,44.84
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.61,387.9,2206,2040,2499,4094,62.8,0.0,81,669,6.95,0.00,22.42,1.255,11270,0.034,0.000,2863,2040,2047,2047,4094,0,0,0,0,0,0,25.77,25.94,24.16,10.22,44.36
$GC,706,1.61,387.9,2863,2040,2047,4094,57.7,10.9,90,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2041,2046,2046,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.12,43.81
$GC,750,1.61,387.9,2863,2040,2045,4094,52.3,12.2,96,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2041,2045,2045,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.12,44.05
$GC,794,1.61,387.9,2863,2040,2045,4094,46.9,12.0,102,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2044,2044,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.11,44.95
$GC,838,1.61,387.9,2862,2040,2043,4094,41.5,12.1,108,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2043,2043,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.10,44.52
$GC,883,1.61,387.9,2863,2040,2042,4095,36.2,12.0,114,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2040,2042,2042,4095,0,0,0,0,0,0,26.08,26.09,26.08,10.10,44.95
$GC,927,1.61,387.9,2863,2040,2041,4095,30.9,12.1,120,936,0.00,1.83,0.00,0.000,516,0.000,0.060,2863,1369,2041,2041,4094,0,0,0,0,0,0,26.13,25.82,26.15,10.09,44.76
$GC,998,1.61,387.9,2863,1369,2039,4094,22.7,11.4,130,1008,0.00,1.55,0.00,0.000,1030,0.000,0.028,2863,2002,2039,2039,4094,0,0,0,0,0,0,26.01,25.98,26.00,10.10,45.23
$GC,1045,1.61,387.9,2863,2001,2038,4094,17.7,11.1,136,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2002,2038,2038,4095,0,0,0,0,0,0,26.25,26.27,26.26,10.13,46.10
$GC,1091,1.61,387.9,2862,2001,2037,4095,13.3,9.4,142,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2003,2037,2037,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.17,48.18
$GC,1137,1.61,388.6,2863,2003,2036,4094,9.1,9.1,148,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2003,2035,2035,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.18,49.21
$GC,1183,1.61,388.6,2862,2003,2035,4094,5.0,9.3,154,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2003,2034,2034,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.19,49.21
$STATE,1212,end climb,FINISH_DEPTH_REACHED
$STATE,1212,begin subsurface finish
$FINISH1,1.9,1.024137,102
$GC,1218,0.15,102.0,2863,2004,2034,4094,1.9,9.3,158,1229,4.97,0.00,-2.92,0.000,20486,0.070,0.000,2417,2005,2388,2388,4094,0,0,0,0,0,0,26.07,25.22,26.16,10.20,49.56
$FINISH2,0.8
$STATE,1230,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1230,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,133700
$TT8_MAMPS,0.026215,0.243425
$HUMID,49.92
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.16,9.470
$10V_AH,10.20,12.178
$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,21.500,7.275,45.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.214,0.000,135.999,665.609,45.655,33.430,408.815,0.000,384.646,0.000,0.542,0.000
$DEVICE_MAMPS,70.380,61.965,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.692,431.946,341.917,506.774,662.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330964
$DATA_FILE_SIZE,14288,159
$CAP_FILE_SIZE,30711,0
$CFSIZE,1024409600,1000243200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,145722,5956.729,-17159.455,7,0.8,19,7.9,0.0,61.5,10,4.9