version: 66.13
glider: 401
mission: 22
dive: 379
start: 8 2 117 9 54 33
data:
$ID,401
$MISSION,22
$DIVE,379
$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,32
$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
$GPS1,020817,094702,5955.5356,-17156.4668,5,0.7,28,7.9,0.0,62.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-45.6
$GPS2,020817,095325,5955.5508,-17156.4883,6,0.7,12,7.9,0.0,0.0,11,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339039,0.021976
$KALMAN_X,48167.964844,-1947.812866,-569.975037,-131789.468750,-22.868530
$KALMAN_Y,25147.298828,1430.252197,225.540405,47704.855469,30.719955
$MHEAD_RNG_PITCHd_Wd,265.8,45104,-11.3,-9.091,-14.98,6434
$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,-390.0,238,1888,2029,4092,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.110,0.000,1146,1889,2030,2030,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.27,49.21
$GC,23,-1.61,-390.0,1145,1889,2029,4094,0.9,0.0,1,51,7.60,1.75,-8.60,0.000,18948,0.060,1.297,1839,1265,2960,2960,4095,0,0,0,0,0,0,25.96,24.83,26.01,10.27,49.17
$GC,165,-1.61,-390.0,1839,1265,2962,4095,12.4,-14.1,21,175,0.00,1.58,0.00,0.000,1030,0.000,0.026,1839,1904,2962,2962,4095,0,0,0,0,0,0,25.96,25.95,25.98,10.48,48.50
$GC,210,-1.61,-390.0,1839,1904,2964,4095,18.2,-12.3,27,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1904,2963,2963,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.47,47.95
$GC,255,-1.61,-390.0,1839,1905,2964,4095,23.4,-11.3,33,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1905,2964,2964,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.45,47.59
$GC,299,-1.61,-390.0,1839,1906,2965,4094,28.2,-10.8,39,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1906,2965,2965,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.43,46.81
$GC,343,-1.61,-390.0,1839,1907,2966,4094,33.0,-10.8,45,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2966,2966,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.40,46.37
$GC,387,-1.61,-390.0,1839,1907,2967,4095,37.7,-11.0,51,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1908,2967,2967,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.38,45.66
$GC,431,-1.61,-390.0,1838,1907,2968,4094,42.4,-10.2,57,441,0.00,1.67,0.00,0.000,260,0.000,0.047,1839,2537,2968,2968,4095,0,0,0,0,0,0,26.38,26.06,26.39,10.38,45.31
$GC,496,-1.61,-390.0,1839,2537,2969,4095,49.3,-10.7,66,505,0.00,1.67,0.00,0.000,1030,0.000,0.029,1839,1880,2969,2969,4095,0,0,0,0,0,0,26.20,26.16,26.22,10.37,44.40
$GC,541,-1.61,-390.0,1839,1880,2970,4095,54.3,-11.3,72,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1881,2970,2970,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.36,44.01
$GC,586,-1.61,-390.0,1839,1880,2971,4094,59.4,-11.4,78,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1880,2971,2971,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.35,44.52
$STATE,602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,602,begin apogee
$GC,607,-0.45,0.0,1840,2042,2970,4095,61.5,-11.3,80,643,3.97,0.00,23.17,1.281,10244,0.057,0.000,2204,2042,2499,2499,4095,0,0,0,0,0,0,26.20,25.20,24.51,10.35,44.05
$STATE,644,end apogee,CONTROL_FINISHED_OK
$STATE,644,begin climb
$GC,645,1.61,390.0,2204,2041,2499,4095,63.8,0.0,84,682,6.97,1.62,22.65,1.261,10500,0.034,0.050,2866,2643,2045,2045,4094,0,0,0,0,0,0,25.62,25.56,24.08,10.24,43.58
$GC,744,1.61,390.0,2865,2642,2043,4094,55.6,11.5,97,754,0.00,1.62,0.00,0.000,1030,0.000,0.028,2866,2019,2043,2043,4094,0,0,0,0,0,0,25.51,25.47,25.53,10.14,43.14
$GC,789,1.61,390.0,2866,2018,2042,4094,50.4,11.1,103,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2019,2041,2041,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.13,43.42
$GC,834,1.61,390.0,2866,2018,2041,4094,45.2,11.7,109,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2018,2041,2041,4095,0,0,0,0,0,0,25.94,25.96,25.95,10.13,43.50
$GC,878,1.61,390.0,2865,2018,2040,4095,39.9,12.0,115,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2019,2039,2039,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.12,44.29
$GC,923,1.61,390.0,2866,2018,2039,4094,34.4,12.3,121,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2018,2038,2038,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.11,44.44
$GC,967,1.61,390.0,2865,2018,2037,4094,29.1,11.9,127,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2018,2037,2037,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,45.03
$GC,1011,1.61,390.0,2865,2018,2036,4094,24.0,11.6,133,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2019,2036,2036,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,44.95
$GC,1056,1.61,390.0,2865,2018,2035,4094,19.2,10.7,139,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2019,2035,2035,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.16,45.62
$GC,1100,1.61,390.0,2866,2018,2034,4094,14.8,10.0,145,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2019,2034,2034,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.17,46.81
$GC,1144,1.61,390.0,2866,2018,2033,4094,10.4,9.9,151,1154,0.00,1.70,0.00,0.000,516,0.000,0.060,2866,1378,2033,2033,4094,0,0,0,0,0,0,26.30,25.99,26.32,10.19,47.91
$GC,1229,1.61,390.0,2866,1377,2031,4094,2.5,9.5,163,1238,0.00,1.50,0.00,0.000,1030,0.000,0.028,2866,1995,2030,2030,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.22,49.17
$STATE,1247,end climb,FINISH_DEPTH_REACHED
$STATE,1247,begin subsurface finish
$FINISH1,0.7,1.024108,104
$GC,1253,0.16,104.0,2866,2001,2030,4094,0.7,9.5,165,1264,4.65,0.00,-3.17,0.000,20486,0.028,0.000,2414,2002,2383,2383,4094,0,0,0,0,0,0,26.15,25.24,26.20,10.22,50.03
$FINISH2,0.2
$STATE,1265,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1265,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,083211
$TT8_MAMPS,0.026215,0.211218
$HUMID,50.19
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.08,9.178
$10V_AH,10.26,11.758
$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,34.250,13.475,45.825,0.000,0.000,24.150,24.740,225.550,0.000,0.000,14.126,453.288,0.000,137.549,984.394,96.790,33.453,420.345,0.000,252.213,0.000,0.543,0.000
$DEVICE_MAMPS,110.160,1297.440,1281.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.791,450.970,0.000,529.293,693.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,14351,166
$CAP_FILE_SIZE,35474,0
$CFSIZE,1024409600,1000865792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,095325,5955.551,-17156.488,6,0.7,12,7.9,0.0,0.0,11,4.8