version: 66.13
glider: 401
mission: 22
dive: 376
start: 8 2 117 8 38 52
data:
$ID,401
$MISSION,22
$DIVE,376
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,020817,083033,5955.2197,-17155.1621,5,1.0,50,7.9,0.2,254.5,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-43.8
$GPS2,020817,083745,5955.2119,-17155.2207,7,0.8,15,7.9,0.0,48.3,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.317833,0.119383
$KALMAN_X,47988.621094,-1877.709717,-465.883240,-130583.750000,-29.038757
$KALMAN_Y,24868.449219,1475.465454,237.327820,47307.097656,-96.163177
$MHEAD_RNG_PITCHd_Wd,282.7,46351,-11.3,-9.091,-14.99,6423
$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,-390.0,231,1892,2030,4092,0.0,0.0,0,21,11.00,0.00,0.00,0.000,2049,0.102,0.000,1148,1889,2029,2029,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.28,49.05
$GC,23,-1.61,-390.0,1148,1889,2029,4094,0.9,0.0,1,51,7.50,1.75,-8.57,0.000,18948,0.054,1.294,1837,1264,2961,2961,4094,0,0,0,0,0,0,25.92,24.82,25.98,10.28,48.97
$GC,187,-1.61,-390.0,1836,1264,2964,4094,13.2,-12.8,24,196,0.00,1.60,0.00,0.000,1030,0.000,0.027,1838,1910,2964,2964,4095,0,0,0,0,0,0,25.95,25.94,25.98,10.48,48.42
$GC,233,-1.61,-390.0,1837,1910,2964,4095,18.9,-11.7,30,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1911,2965,2965,4095,0,0,0,0,0,0,26.22,26.22,26.22,10.47,47.51
$GC,279,-1.61,-390.0,1837,1911,2965,4095,24.0,-10.9,36,289,0.00,1.67,0.00,0.000,260,0.000,0.048,1838,2541,2965,2965,4094,0,0,0,0,0,0,26.26,25.94,26.27,10.45,47.20
$GC,318,-1.61,-390.0,1837,2541,2966,4094,28.1,-10.2,41,327,0.00,1.60,0.00,0.000,1030,0.000,0.029,1837,1915,2966,2966,4095,0,0,0,0,0,0,26.06,26.03,26.09,10.44,46.81
$GC,364,-1.61,-390.0,1837,1914,2967,4095,32.6,-9.9,47,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1915,2967,2967,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.40,46.18
$GC,410,-1.61,-390.0,1837,1914,2968,4094,37.4,-10.9,53,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1914,2968,2968,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,45.51
$GC,456,-1.61,-390.0,1837,1914,2969,4095,42.4,-10.7,59,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1915,2969,2969,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.38,44.40
$GC,502,-1.61,-390.0,1837,1914,2969,4094,47.3,-10.5,65,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1914,2970,2970,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.37,43.97
$GC,548,-1.61,-390.0,1837,1914,2971,4094,52.4,-10.7,71,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1915,2971,2971,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,44.05
$GC,591,-1.61,-390.0,1837,1914,2972,4095,57.4,-11.4,77,600,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1914,2972,2972,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.35,44.36
$STATE,616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,616,begin apogee
$GC,621,-0.45,0.0,1837,2047,2972,4095,60.2,-11.3,80,657,4.00,0.03,22.92,1.268,10244,0.057,0.078,2205,2019,2504,2504,4094,0,0,0,0,0,0,26.19,25.25,24.53,10.35,43.38
$STATE,658,end apogee,CONTROL_FINISHED_OK
$STATE,658,begin climb
$GC,660,1.61,390.0,2204,2018,2504,4094,62.8,0.0,84,696,6.93,1.70,22.83,1.251,10756,0.036,0.056,2863,1377,2045,2045,4094,0,0,0,0,0,0,25.63,25.56,24.09,10.25,43.42
$GC,706,1.78,502.4,2862,1376,2045,4094,60.6,7.3,89,725,0.45,1.58,7.72,0.995,11270,0.035,0.025,2908,2006,1917,1917,4094,0,0,0,0,0,0,25.24,25.26,24.10,10.15,42.67
$GC,763,1.78,502.4,2908,2006,1916,4094,54.1,12.7,96,772,0.00,1.77,0.00,0.000,260,0.000,0.051,2908,2655,1916,1916,4095,0,0,0,0,0,0,25.63,25.34,25.64,10.12,42.47
$GC,821,1.78,502.4,2907,2654,1914,4095,45.7,14.1,104,830,0.00,1.62,0.00,0.000,1030,0.000,0.028,2908,2026,1914,1914,4094,0,0,0,0,0,0,25.61,25.59,25.65,10.11,42.99
$GC,867,1.78,502.4,2907,2025,1913,4094,39.8,13.1,110,876,0.00,1.75,0.00,0.000,516,0.000,0.058,2908,1375,1913,1913,4094,0,0,0,0,0,0,25.92,25.61,25.94,10.11,43.34
$GC,913,1.78,502.4,2908,1375,1911,4094,33.5,13.4,116,923,0.00,1.60,0.00,0.000,1030,0.000,0.027,2908,2018,1911,1911,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.10,44.05
$GC,960,1.78,502.4,2907,2018,1910,4094,27.6,12.5,122,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2019,1910,1910,4094,0,0,0,0,0,0,26.07,26.09,26.08,10.10,44.25
$GC,1006,1.78,502.4,2908,2018,1908,4094,21.8,12.4,128,1015,0.00,1.75,0.00,0.000,260,0.000,0.054,2908,2663,1908,1908,4094,0,0,0,0,0,0,26.13,25.82,26.14,10.12,44.56
$GC,1057,1.78,502.4,2907,2663,1907,4094,15.2,12.5,135,1067,0.00,1.65,0.00,0.000,1030,0.000,0.028,2908,2021,1907,1907,4094,0,0,0,0,0,0,25.97,25.93,25.99,10.16,46.37
$GC,1103,1.78,502.4,2908,2020,1906,4094,10.0,11.4,141,1112,0.00,1.73,0.00,0.000,516,0.000,0.060,2908,1369,1905,1905,4094,0,0,0,0,0,0,26.22,25.91,26.24,10.17,47.95
$GC,1161,1.78,502.4,2907,1368,1904,4094,3.8,10.9,149,1170,0.00,1.55,0.00,0.000,1030,0.000,0.027,2908,2006,1904,1904,4094,0,0,0,0,0,0,26.07,26.05,26.11,10.19,48.50
$STATE,1178,end climb,FINISH_DEPTH_REACHED
$STATE,1178,begin subsurface finish
$FINISH1,1.7,1.024096,105
$GC,1184,0.16,104.8,2908,2009,1902,4094,1.7,10.8,151,1203,5.35,1.80,-4.25,0.000,20740,0.055,1.282,2412,2661,2383,2383,4094,0,0,0,0,0,0,26.06,24.95,26.11,10.20,48.58
$FINISH2,0.2
$STATE,1204,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1204,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,070952
$TT8_MAMPS,0.026215,0.257656
$HUMID,48.77
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.09,9.111
$10V_AH,10.22,11.666
$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,35.225,25.425,53.475,0.000,0.000,25.181,29.520,261.042,0.000,0.000,16.284,445.849,0.340,142.361,971.828,99.342,33.451,416.628,0.000,372.425,0.000,0.542,0.000
$DEVICE_MAMPS,101.745,1294.380,1267.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.090,415.672,328.999,487.393,636.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,14363,153
$CAP_FILE_SIZE,36512,0
$CFSIZE,1024409600,1001013248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,083745,5955.212,-17155.221,7,0.8,15,7.9,0.0,48.3,10,4.8