version: 66.13
glider: 401
mission: 22
dive: 393
start: 8 2 117 15 43 35
data:
$ID,401
$MISSION,22
$DIVE,393
$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,33
$R_STBD_OVSHOOT,33
$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,0.13
$_SM_ANGLEo,-1.9
$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,-0.339814,-0.005315
$KALMAN_X,50911.566406,-1852.411743,-483.087830,-137544.359375,173.525269
$KALMAN_Y,27301.996094,1529.186890,413.028625,47456.125000,30.181702
$MHEAD_RNG_PITCHd_Wd,261.2,42135,-11.3,-9.091,-14.98,6439
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.61,-390.0,2417,1888,2388,4092,0.0,0.0,0,20,5.90,0.00,-4.53,0.000,20482,0.027,0.000,1844,1889,2879,2879,4094,0,0,0,0,0,0,26.23,28.83,26.25,10.30,51.22
$GC,22,-1.61,-390.0,1844,1889,2879,4094,0.1,0.0,1,32,0.00,1.80,-0.70,0.000,16644,0.000,1.288,1844,2535,2961,2961,4095,0,0,0,0,0,0,26.41,25.06,26.36,10.40,50.47
$GC,126,-1.61,-390.0,1843,2535,2963,4095,12.5,-14.1,16,136,0.00,1.60,0.00,0.000,1030,0.000,0.031,1844,1912,2964,2964,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.44,50.07
$GC,172,-1.61,-390.0,1844,1913,2964,4094,18.6,-12.8,22,181,0.00,1.75,0.00,0.000,516,0.000,0.061,1844,1255,2964,2964,4095,0,0,0,0,0,0,26.36,26.05,26.38,10.44,50.43
$GC,218,-1.61,-390.0,1843,1254,2965,4095,23.9,-11.7,28,227,0.00,1.58,0.00,0.000,1030,0.000,0.028,1844,1900,2965,2965,4094,0,0,0,0,0,0,26.18,26.16,26.23,10.41,50.23
$GC,264,-1.61,-390.0,1843,1900,2966,4094,29.1,-11.2,34,273,0.00,1.67,0.00,0.000,260,0.000,0.050,1844,2532,2966,2966,4095,0,0,0,0,0,0,26.42,26.10,26.43,10.38,49.56
$GC,302,-1.61,-390.0,1844,2532,2967,4095,33.1,-10.1,39,311,0.00,1.58,0.00,0.000,1030,0.000,0.030,1844,1915,2967,2967,4094,0,0,0,0,0,0,26.22,26.17,26.24,10.37,48.50
$GC,349,-1.61,-390.0,1843,1914,2968,4094,37.8,-10.3,45,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1914,2968,2968,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.35,47.08
$GC,393,-1.61,-390.0,1843,1915,2969,4095,42.7,-10.9,51,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2968,2968,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.34,46.37
$GC,437,-1.61,-390.0,1843,1914,2969,4094,47.5,-10.7,57,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1914,2970,2970,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,46.14
$GC,482,-1.61,-390.0,1843,1914,2970,4094,52.4,-11.1,63,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2971,2971,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.33,45.78
$GC,525,-1.61,-390.0,1843,1914,2971,4095,57.1,-11.0,69,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1915,2971,2971,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.32,45.82
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,560,-0.45,0.0,1843,2040,2972,4095,60.4,-10.6,73,594,3.92,0.00,22.95,1.275,10244,0.057,0.000,2204,2040,2501,2501,4095,0,0,0,0,0,0,26.25,25.28,24.60,10.32,45.43
$STATE,595,end apogee,CONTROL_FINISHED_OK
$STATE,596,begin climb
$GC,598,1.61,390.0,2204,2040,2501,4095,62.7,0.0,77,633,6.97,0.00,22.77,1.255,11270,0.034,0.000,2862,2040,2044,2044,4094,0,0,0,0,0,0,25.75,25.91,24.13,10.22,45.47
$GC,671,1.61,390.0,2861,2039,2043,4094,57.5,11.2,86,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2043,2043,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.12,44.05
$GC,715,1.61,390.0,2861,2039,2042,4094,51.8,12.3,92,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2040,2042,2042,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.11,44.17
$GC,759,1.61,390.0,2861,2039,2041,4094,46.4,12.3,98,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2040,2040,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.10,44.52
$GC,804,1.61,390.0,2861,2039,2039,4094,41.1,12.0,104,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2039,2039,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.10,44.95
$GC,850,1.61,390.0,2861,2039,2038,4094,35.7,12.2,110,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2038,2038,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.10,45.07
$GC,894,1.61,390.0,2861,2040,2037,4094,30.3,12.0,116,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2037,2037,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.09,45.70
$GC,938,1.61,390.0,2861,2039,2035,4094,25.2,11.3,122,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.10,45.90
$GC,983,1.61,390.0,2861,2039,2035,4094,20.3,10.9,128,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2040,2034,2034,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.11,45.90
$GC,1026,1.61,390.0,2861,2040,2034,4094,15.9,10.2,134,1036,0.00,1.80,0.00,0.000,516,0.000,0.060,2862,1376,2034,2034,4094,0,0,0,0,0,0,26.26,25.94,26.27,10.15,46.88
$GC,1098,1.64,407.7,2861,1376,2032,4094,9.3,8.8,144,1108,0.00,1.52,1.45,0.003,9222,0.000,0.027,2862,2003,2032,2032,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.18,49.29
$GC,1145,1.65,414.8,2861,2003,2031,4095,5.3,9.0,150,1154,0.00,0.00,2.62,0.203,8198,0.000,0.000,2862,2003,2014,2014,4094,0,0,0,0,0,0,26.34,25.81,25.39,10.20,49.56
$STATE,1182,end climb,SURFACE_DEPTH_REACHED
$STATE,1182,begin surface coast
$FINISH,0.2,1.024151
$STATE,1203,end surface coast,CONTROL_FINISHED_OK
$STATE,1203,begin surface
$SM_CCo,1299,0.00,0.000,0,0,2013,419.86
$SM_GC,1.11,27.45,0.28,0.00,0.024,0.060,0.000,237,1899,2013,-6.61,1.23,419.86,0,0,0,0,0,0,26.16,26.13,26.20
$IRIDIUM_FIX,5955.74,-17228.01,020817,133700
$TT8_MAMPS,0.026215,0.215712
$HUMID,51.02
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,24.13,9.488
$10V_AH,10.26,12.203
$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,44.250,14.075,49.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.623,59.785,151.827,664.270,42.399,33.419,410.716,0.000,238.865,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,1288.260,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.528,429.249,0.000,503.957,657.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330964
$DATA_FILE_SIZE,14329,158
$CAP_FILE_SIZE,32321,0
$CFSIZE,1024409600,1000194048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,160617,5956.813,-17200.387,5,0.8,29,7.9,0.6,253.1,10,5.0