version: 66.13
glider: 401
mission: 22
dive: 375
start: 8 2 117 8 7 26
data:
$ID,401
$MISSION,22
$DIVE,375
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,020817,071513,5955.1504,-17153.9043,7,0.8,15,7.9,0.0,146.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-3.2
$GPS2,020817,071513,5955.1504,-17153.9043,7,0.8,15,7.9,0.0,146.9,11,4.9
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.316785,0.121774
$KALMAN_X,48474.195312,-1756.377686,-333.533905,-130098.445312,96.814453
$KALMAN_Y,24895.494141,1490.862427,248.816788,47141.281250,-117.115860
$MHEAD_RNG_PITCHd_Wd,283.1,47575,-11.3,-9.091,-15.00,6417
$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,-389.6,2413,1896,2384,4092,0.0,0.0,0,21,5.90,0.00,-4.80,0.000,20482,0.025,0.000,1842,1896,2908,2908,4095,0,0,0,0,0,0,26.09,28.83,26.11,10.31,50.82
$GC,23,-1.61,-389.6,1841,1896,2908,4095,0.1,0.0,1,33,0.00,1.77,-0.43,0.000,16900,0.000,1.287,1841,1258,2958,2958,4095,0,0,0,0,0,0,26.27,24.94,26.17,10.42,50.35
$GC,135,-1.61,-389.6,1841,1258,2961,4095,13.3,-13.7,17,145,0.00,1.58,0.00,0.000,1030,0.000,0.028,1841,1892,2961,2961,4094,0,0,0,0,0,0,26.03,26.01,26.05,10.44,49.96
$GC,181,-1.61,-389.6,1841,1892,2962,4094,19.3,-12.6,23,190,0.00,1.75,0.00,0.000,260,0.000,0.050,1841,2543,2962,2962,4094,0,0,0,0,0,0,26.27,25.95,26.28,10.44,49.72
$GC,234,-1.61,-389.6,1840,2543,2963,4094,25.0,-10.5,30,243,0.00,1.62,0.00,0.000,1030,0.000,0.030,1841,1911,2964,2964,4095,0,0,0,0,0,0,26.09,26.06,26.10,10.41,49.68
$GC,279,-1.61,-389.6,1841,1910,2964,4095,29.9,-10.7,36,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1911,2964,2964,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.40,49.52
$GC,323,-1.61,-389.6,1841,1911,2965,4095,34.5,-10.4,42,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1911,2965,2965,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,48.85
$GC,368,-1.61,-389.6,1841,1910,2966,4095,39.1,-10.5,48,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1911,2966,2966,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.35,47.44
$GC,412,-1.61,-389.6,1841,1910,2967,4094,43.9,-11.2,54,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1911,2966,2966,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,46.41
$GC,456,-1.61,-389.6,1841,1910,2968,4094,48.8,-11.0,60,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1911,2968,2968,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,45.98
$GC,501,-1.61,-389.6,1841,1911,2968,4094,53.5,-10.8,66,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1911,2969,2969,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.33,45.90
$GC,544,-1.61,-389.6,1840,1910,2969,4095,58.3,-11.0,72,556,0.00,1.70,0.00,0.000,260,0.000,0.050,1841,2547,2969,2969,4094,0,0,0,0,0,0,26.49,26.17,26.50,10.33,46.10
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,571,-0.45,0.0,1841,2011,2969,4095,60.6,-11.1,74,606,3.97,0.00,22.80,1.271,10244,0.057,0.000,2205,2010,2504,2504,4094,0,0,0,0,0,0,26.22,25.25,24.58,10.32,45.31
$STATE,607,end apogee,CONTROL_FINISHED_OK
$STATE,607,begin climb
$GC,609,1.61,389.6,2205,2010,2504,4094,63.0,0.0,78,645,6.97,0.00,22.88,1.251,11270,0.034,0.000,2863,2010,2044,2044,4094,0,0,0,0,0,0,25.72,25.87,24.13,10.23,45.11
$GC,682,1.61,389.6,2863,2010,2043,4094,57.6,11.3,87,691,0.00,1.83,0.00,0.000,260,0.000,0.050,2864,2664,2042,2042,4094,0,0,0,0,0,0,25.63,25.34,25.64,10.12,44.36
$GC,748,1.61,389.6,2863,2663,2041,4094,49.9,12.0,96,757,0.00,1.62,0.00,0.000,1030,0.000,0.028,2864,2039,2041,2041,4094,0,0,0,0,0,0,25.63,25.59,25.64,10.12,44.76
$GC,793,1.61,389.6,2863,2039,2040,4094,44.2,12.3,102,803,0.00,1.80,0.00,0.000,516,0.000,0.061,2864,1374,2040,2040,4094,0,0,0,0,0,0,25.94,25.63,25.95,10.11,45.07
$GC,858,1.61,389.6,2863,1373,2038,4094,36.4,12.3,111,867,0.00,1.60,0.00,0.000,1030,0.000,0.027,2864,2017,2038,2038,4095,0,0,0,0,0,0,25.84,25.79,25.86,10.11,45.07
$GC,903,1.61,389.6,2863,2017,2037,4095,30.9,12.0,117,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2017,2037,2037,4094,0,0,0,0,0,0,26.10,26.13,26.12,10.10,45.07
$GC,947,1.61,389.6,2863,2017,2035,4094,25.7,11.4,123,957,0.00,1.75,0.00,0.000,260,0.000,0.054,2864,2663,2035,2035,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.12,45.31
$GC,1012,1.61,389.6,2863,2663,2034,4094,18.0,11.3,132,1021,0.00,1.67,0.00,0.000,1030,0.000,0.031,2864,2011,2034,2034,4094,0,0,0,0,0,0,26.00,25.96,26.03,10.15,47.24
$GC,1058,1.61,389.6,2863,2011,2033,4094,13.3,9.6,138,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,2033,2033,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.17,48.14
$GC,1103,1.61,389.6,2863,2010,2032,4094,9.0,9.5,144,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,2031,2031,4094,0,0,0,0,0,0,26.29,26.31,26.32,10.19,49.48
$GC,1147,1.64,405.4,2863,2010,2031,4094,5.1,8.8,150,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2011,2031,2031,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,49.33
$STATE,1183,end climb,SURFACE_DEPTH_REACHED
$STATE,1183,begin surface coast
$FINISH,0.2,1.024097
$STATE,1206,end surface coast,CONTROL_FINISHED_OK
$STATE,1206,begin surface
$SM_CCo,1303,0.00,0.000,0,0,2029,405.26
$SM_GC,1.07,27.60,0.28,0.00,0.022,0.056,0.000,231,1892,2029,-6.65,1.00,405.26,0,0,0,0,0,0,25.98,26.15,26.13
$IRIDIUM_FIX,5955.74,-17228.01,020817,054955
$TT8_MAMPS,0.025466,0.214963
$HUMID,50.11
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.13,9.072
$10V_AH,10.26,11.625
$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,44.450,20.675,45.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.926,60.393,150.877,665.586,42.329,33.419,407.186,0.000,239.001,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,1287.495,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.591,429.294,0.000,503.576,658.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330944
$DATA_FILE_SIZE,14291,158
$CAP_FILE_SIZE,32238,0
$CFSIZE,1024409600,1001078784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,544.63,0x236162,0,24
$GPS,020817,083033,5955.220,-17155.162,5,1.0,50,7.9,0.2,254.5,8,3.0