version: 66.13
glider: 401
mission: 22
dive: 395
start: 8 2 117 16 37 55
data:
$ID,401
$MISSION,22
$DIVE,395
$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,25
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,36
$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
$GPS1,020817,161342,5956.8003,-17200.4004,7,0.7,25,7.9,0.2,191.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.5
$GPS2,020817,161342,5956.8003,-17200.4004,7,0.7,25,7.9,0.2,191.6,11,5.0
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338015,0.036381
$KALMAN_X,50879.894531,-1848.458374,-486.196899,-138409.984375,31.123657
$KALMAN_Y,27419.589844,1500.948608,384.836334,47526.082031,-13.622772
$MHEAD_RNG_PITCHd_Wd,268.2,41252,-11.3,-9.091,-14.97,6444
$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,-390.0,2412,1891,2389,4092,0.0,0.0,0,20,5.80,0.00,-4.12,0.000,20482,0.025,0.000,1843,1892,2838,2838,4094,0,0,0,0,0,0,26.23,28.83,26.25,10.32,50.03
$GC,22,-1.61,-390.0,1843,1892,2837,4094,0.0,0.0,1,33,0.00,1.45,-1.12,0.000,16644,0.000,1.288,1843,2416,2958,2958,4095,0,0,0,0,0,0,26.41,25.07,26.41,10.42,49.96
$GC,186,-1.61,-390.0,1842,2415,2962,4095,18.7,-11.4,25,196,0.00,1.30,0.00,0.000,1030,0.000,0.029,1843,1903,2962,2962,4095,0,0,0,0,0,0,26.17,26.13,26.19,10.44,49.84
$GC,233,-1.61,-390.0,1842,1903,2963,4095,23.6,-10.6,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1903,2963,2963,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.42,49.13
$GC,276,-1.61,-390.0,1842,1903,2964,4094,28.3,-10.7,37,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1903,2964,2964,4094,0,0,0,0,0,0,26.43,26.45,26.45,10.39,48.66
$GC,321,-1.61,-390.0,1842,1903,2964,4094,32.7,-9.7,43,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1903,2965,2965,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.38,47.51
$GC,365,-1.61,-390.0,1842,1903,2965,4094,37.1,-10.2,49,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1903,2965,2965,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.36,46.85
$GC,409,-1.61,-390.0,1842,1903,2966,4094,41.7,-10.7,55,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1903,2966,2966,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,45.86
$GC,454,-1.61,-390.0,1842,1903,2967,4095,46.3,-10.3,61,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1903,2967,2967,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.34,45.23
$GC,498,-1.61,-390.0,1842,1902,2968,4094,51.0,-10.3,67,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1903,2968,2968,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.33,45.07
$GC,541,-1.61,-390.0,1842,1903,2969,4094,55.9,-11.4,73,551,0.00,1.40,0.00,0.000,260,0.000,0.044,1843,2428,2969,2969,4095,0,0,0,0,0,0,26.55,26.26,26.56,10.33,44.80
$STATE,579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,585,-0.45,0.0,1843,2014,2970,4095,60.2,-11.3,78,619,3.90,0.00,22.95,1.278,10244,0.056,0.000,2206,2013,2500,2500,4094,0,0,0,0,0,0,26.28,25.29,24.60,10.32,44.60
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.61,390.0,2205,2013,2500,4094,62.7,0.0,82,658,6.95,0.00,22.60,1.255,11270,0.034,0.000,2863,2013,2046,2046,4095,0,0,0,0,0,0,25.76,25.93,24.15,10.22,45.23
$GC,695,1.61,390.0,2863,2013,2045,4095,57.7,10.8,91,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2013,2045,2045,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.12,43.93
$GC,740,1.61,390.0,2863,2013,2044,4094,52.2,12.0,97,749,0.00,1.48,0.00,0.000,260,0.000,0.047,2863,2544,2044,2044,4094,0,0,0,0,0,0,25.82,25.53,25.83,10.11,43.89
$GC,798,1.61,390.0,2863,2543,2042,4094,45.3,12.0,105,808,0.00,1.33,0.03,0.000,9222,0.000,0.028,2864,2031,2043,2043,4095,0,0,0,0,0,0,25.75,25.70,25.77,10.11,44.64
$GC,845,1.61,390.0,2863,2030,2041,4095,39.7,12.3,111,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2030,2041,2041,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.10,45.07
$GC,888,1.61,390.0,2863,2030,2040,4094,34.2,12.1,117,898,0.00,1.48,0.00,0.000,516,0.000,0.059,2863,1477,2040,2040,4095,0,0,0,0,0,0,26.10,25.79,26.10,10.10,44.84
$GC,967,1.61,390.0,2863,1476,2038,4095,25.0,11.2,128,976,0.00,1.27,0.00,0.000,1030,0.000,0.025,2864,2006,2038,2038,4094,0,0,0,0,0,0,25.98,25.96,26.00,10.11,45.15
$GC,1013,1.61,390.0,2863,2006,2037,4094,20.0,11.0,134,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2006,2037,2037,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.14,46.18
$GC,1058,1.61,390.0,2863,2006,2036,4094,14.9,11.2,140,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2007,2035,2035,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.17,47.63
$GC,1102,1.61,390.0,2863,2007,2034,4094,10.4,10.1,146,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2007,2034,2034,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,49.21
$GC,1146,1.62,396.6,2863,2007,2034,4094,6.4,9.0,152,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2008,2034,2034,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.20,49.17
$GC,1190,1.62,396.6,2863,2008,2033,4094,2.2,9.5,158,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2008,2032,2032,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.22,49.37
$STATE,1208,end climb,FINISH_DEPTH_REACHED
$STATE,1208,begin subsurface finish
$FINISH1,0.5,1.024142,102
$GC,1214,0.15,101.6,2863,2008,2032,4094,0.5,9.3,160,1224,4.65,0.00,-3.22,0.000,20486,0.028,0.000,2412,2009,2388,2388,4094,0,0,0,0,0,0,26.15,25.24,26.20,10.22,50.43
$FINISH2,0.1
$STATE,1225,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1225,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,145212
$TT8_MAMPS,0.025466,0.200732
$HUMID,50.07
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.15,9.540
$10V_AH,10.27,12.271
$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,21.300,10.975,45.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.187,0.000,125.531,674.821,40.421,33.428,382.518,0.000,243.186,0.000,0.544,0.000
$DEVICE_MAMPS,55.845,1288.260,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.651,437.429,0.000,513.201,667.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14382,161
$CAP_FILE_SIZE,30154,0
$CFSIZE,1024409600,1000095744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,161342,5956.800,-17200.400,7,0.7,25,7.9,0.2,191.6,11,5.0