version: 66.13
glider: 401
mission: 22
dive: 394
start: 8 2 117 16 14 49
data:
$ID,401
$MISSION,22
$DIVE,394
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,020817,160617,5956.8135,-17200.3867,5,0.8,29,7.9,0.6,253.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-45.1
$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,-0.334375,0.056652
$KALMAN_X,50678.929688,-1927.885010,-560.919678,-138036.890625,53.239685
$KALMAN_Y,27415.337891,1536.322388,420.659119,47456.808594,-42.596863
$MHEAD_RNG_PITCHd_Wd,271.7,41252,-11.3,-9.091,-15.01,6406
$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,-388.9,237,1898,2012,4092,0.0,0.0,0,20,10.02,0.00,0.00,0.000,2049,0.108,0.000,1064,1897,2012,2012,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.27,49.33
$GC,22,-1.61,-388.9,1063,1897,2012,4094,0.9,0.0,1,49,8.45,1.45,-8.77,0.000,18692,0.057,1.278,1836,2416,2955,2955,4095,0,0,0,0,0,0,25.92,24.83,25.96,10.28,48.85
$GC,217,-1.61,-388.9,1836,2416,2960,4095,21.1,-12.1,29,227,0.00,1.33,0.00,0.000,1030,0.000,0.029,1836,1895,2961,2961,4095,0,0,0,0,0,0,26.02,25.99,26.04,10.47,48.26
$GC,264,-1.61,-388.9,1836,1894,2961,4095,26.4,-11.0,35,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1895,2962,2962,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.44,47.95
$GC,308,-1.61,-388.9,1835,1894,2962,4094,31.0,-10.1,41,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1895,2962,2962,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.41,46.53
$GC,352,-1.61,-388.9,1835,1894,2963,4094,35.2,-9.6,47,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1895,2964,2964,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.39,45.43
$GC,396,-1.61,-388.9,1835,1894,2964,4094,39.7,-10.0,53,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1895,2964,2964,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,44.84
$GC,440,-1.61,-388.9,1835,1894,2964,4095,44.2,-10.1,59,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1894,2963,2963,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.37,44.09
$GC,485,-1.61,-388.9,1835,1894,2965,4094,48.8,-10.4,65,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1895,2965,2965,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,43.97
$GC,529,-1.61,-388.9,1836,1894,2966,4095,53.7,-10.9,71,539,0.00,1.42,0.00,0.000,260,0.000,0.044,1836,2429,2966,2966,4095,0,0,0,0,0,0,26.45,26.16,26.46,10.35,44.09
$GC,581,-1.61,-388.9,1835,2428,2967,4095,59.4,-10.9,78,590,0.00,1.30,0.00,0.000,1030,0.000,0.029,1836,1912,2967,2967,4094,0,0,0,0,0,0,26.26,26.22,26.27,10.35,43.89
$STATE,598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,598,begin apogee
$GC,603,-0.45,0.0,1836,2045,2968,4094,61.4,-10.9,80,638,4.03,0.00,22.83,1.282,10244,0.057,0.000,2206,2045,2502,2502,4094,0,0,0,0,0,0,26.20,25.22,24.50,10.35,43.54
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.61,388.9,2205,2045,2503,4094,63.8,0.0,84,677,6.97,0.00,22.75,1.266,11270,0.034,0.000,2864,2045,2047,2047,4094,0,0,0,0,0,0,25.70,25.86,24.08,10.24,43.22
$GC,714,1.61,388.9,2863,2045,2046,4094,58.8,10.8,93,723,0.00,1.30,0.00,0.000,260,0.000,0.046,2864,2524,2046,2046,4094,0,0,0,0,0,0,25.63,25.35,25.63,10.13,42.63
$GC,785,1.61,388.9,2863,2523,2045,4094,50.0,12.1,103,795,0.00,1.33,0.00,0.000,1030,0.000,0.029,2864,2014,2044,2044,4094,0,0,0,0,0,0,25.64,25.60,25.67,10.12,43.22
$GC,832,1.61,388.9,2863,2014,2043,4094,44.5,11.9,109,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,2043,2043,4095,0,0,0,0,0,0,25.96,25.97,25.96,10.12,43.38
$GC,878,1.61,388.9,2864,2014,2042,4095,38.9,12.1,115,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,2041,2041,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.12,44.40
$GC,924,1.61,388.9,2863,2014,2041,4095,33.9,10.8,121,933,0.00,1.40,0.00,0.000,516,0.000,0.057,2864,1487,2041,2041,4094,0,0,0,0,0,0,26.10,25.82,26.11,10.11,44.40
$GC,1003,1.61,388.9,2863,1486,2039,4094,25.0,10.4,132,1012,0.00,1.17,0.00,0.000,1030,0.000,0.024,2864,1982,2038,2038,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.11,44.76
$GC,1050,1.61,388.9,2863,1982,2037,4094,20.1,10.7,138,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1983,2037,2037,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,45.62
$GC,1096,1.61,388.9,2863,1984,2036,4094,15.3,10.5,144,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1984,2036,2036,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.17,46.57
$GC,1141,1.61,388.9,2863,1985,2035,4094,10.6,10.1,150,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1985,2035,2035,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,48.70
$GC,1185,1.61,388.9,2863,1985,2034,4094,6.6,9.1,156,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1985,2034,2034,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.21,48.58
$GC,1229,1.61,388.9,2863,1985,2034,4094,2.4,9.5,162,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1985,2034,2034,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.22,49.52
$STATE,1244,end climb,FINISH_DEPTH_REACHED
$STATE,1244,begin subsurface finish
$FINISH1,0.7,1.024143,102
$GC,1250,0.15,101.5,2863,1988,2033,4094,0.7,9.6,164,1261,4.65,0.00,-3.25,0.000,20486,0.028,0.000,2412,1988,2389,2389,4094,0,0,0,0,0,0,26.15,25.24,26.20,10.23,49.29
$FINISH2,0.1
$STATE,1262,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1262,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,145212
$TT8_MAMPS,0.025466,0.243425
$HUMID,50.00
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.08,9.523
$10V_AH,10.21,12.246
$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,34.125,10.950,45.575,0.000,0.000,24.935,24.020,269.815,0.000,0.000,26.489,464.452,0.000,133.618,1031.288,100.929,33.458,404.834,0.000,400.704,0.000,0.542,0.000
$DEVICE_MAMPS,107.865,1277.550,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.952,448.274,354.802,525.934,684.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,14345,165
$CAP_FILE_SIZE,35153,0
$CFSIZE,1024409600,1000128512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,161342,5956.800,-17200.400,7,0.7,25,7.9,0.2,191.6,11,5.0