version: 66.13
glider: 401
mission: 22
dive: 397
start: 8 2 117 17 31 47
data:
$ID,401
$MISSION,22
$DIVE,397
$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,22
$R_STBD_OVSHOOT,45
$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
$GPS1,020817,172333,5956.9116,-17201.7520,5,0.8,32,7.9,0.4,237.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-46.2
$GPS2,020817,173040,5956.8862,-17201.8105,6,0.7,14,7.9,0.0,0.0,11,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.332386,0.069040
$KALMAN_X,50712.437500,-1962.503784,-607.355713,-139318.859375,-24.345947
$KALMAN_Y,27513.074219,1486.599854,372.055359,47616.382812,-53.289520
$MHEAD_RNG_PITCHd_Wd,273.8,39936,-11.3,-9.091,-14.99,6422
$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,-389.9,237,1922,2030,4092,0.0,0.0,0,20,10.90,0.00,0.00,0.000,2049,0.111,0.000,1131,1919,2029,2029,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.28,48.89
$GC,23,-1.61,-389.9,1131,1919,2030,4094,1.0,0.0,1,50,7.72,1.35,-8.65,0.000,18692,0.056,1.277,1838,2415,2958,2958,4095,0,0,0,0,0,0,25.94,24.82,25.98,10.28,48.58
$GC,223,-1.61,-389.9,1838,2415,2962,4095,21.3,-10.6,30,233,0.00,1.33,0.00,0.000,1030,0.000,0.029,1839,1895,2963,2963,4094,0,0,0,0,0,0,26.01,25.96,26.03,10.47,47.83
$GC,269,-1.61,-389.9,1838,1894,2964,4094,26.1,-10.3,36,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2964,2964,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.44,47.08
$GC,313,-1.61,-389.9,1838,1894,2964,4094,30.7,-10.1,42,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2964,2964,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.41,46.92
$GC,357,-1.61,-389.9,1838,1894,2965,4094,35.1,-10.1,48,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1894,2965,2965,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.39,46.02
$GC,401,-1.61,-389.9,1838,1894,2966,4094,39.7,-10.5,54,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2966,2966,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.38,44.29
$GC,446,-1.61,-389.9,1838,1894,2966,4095,44.5,-10.8,60,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2967,2967,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,44.13
$GC,490,-1.61,-389.9,1838,1894,2968,4095,49.4,-11.1,66,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2968,2968,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.37,43.97
$GC,535,-1.61,-389.9,1838,1894,2969,4094,54.4,-11.4,72,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1895,2968,2968,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.36,43.66
$GC,579,-1.61,-389.9,1838,1894,2969,4094,59.4,-11.5,78,588,0.00,1.40,0.00,0.000,260,0.000,0.043,1839,2420,2970,2970,4094,0,0,0,0,0,0,26.46,26.17,26.48,10.35,44.09
$STATE,598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,598,begin apogee
$GC,604,-0.45,0.0,1838,2010,2970,4094,61.6,-11.7,80,639,3.97,0.00,22.90,1.291,10244,0.056,0.000,2205,2010,2504,2504,4094,0,0,0,0,0,0,26.20,25.20,24.51,10.35,43.42
$STATE,640,end apogee,CONTROL_FINISHED_OK
$STATE,640,begin climb
$GC,642,1.61,389.9,2204,2010,2503,4094,64.3,0.0,84,678,7.00,0.00,22.95,1.275,11270,0.035,0.000,2865,2010,2045,2045,4094,0,0,0,0,0,0,25.69,25.84,24.03,10.24,42.99
$GC,715,1.61,389.9,2865,2010,2044,4094,59.6,10.7,93,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2010,2044,2044,4094,0,0,0,0,0,0,25.61,25.63,25.63,10.14,43.26
$GC,760,1.61,389.9,2865,2010,2042,4094,54.2,12.0,99,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2010,2042,2042,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.14,42.95
$GC,804,1.61,389.9,2865,2010,2041,4094,48.7,12.2,105,814,0.00,1.45,0.00,0.000,260,0.000,0.046,2865,2534,2041,2041,4094,0,0,0,0,0,0,25.89,25.60,25.90,10.13,43.10
$GC,864,1.61,389.9,2865,2534,2040,4094,41.3,12.6,113,874,0.00,1.30,0.00,0.000,1030,0.000,0.028,2865,2028,2040,2040,4094,0,0,0,0,0,0,25.83,25.77,25.80,10.12,44.13
$GC,909,1.61,389.9,2865,2028,2039,4094,35.6,11.8,119,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2028,2038,2038,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.11,44.56
$GC,954,1.61,389.9,2865,2028,2037,4094,30.2,12.2,125,963,0.00,1.48,0.00,0.000,516,0.000,0.057,2865,1473,2037,2037,4094,0,0,0,0,0,0,26.13,25.82,26.14,10.11,44.76
$GC,1012,1.61,389.9,2865,1473,2036,4094,23.5,10.8,133,1022,0.00,1.27,0.00,0.000,1030,0.000,0.026,2865,2004,2035,2035,4094,0,0,0,0,0,0,26.00,25.97,26.01,10.13,44.76
$GC,1059,1.61,389.9,2865,2003,2034,4094,18.8,10.0,139,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2004,2034,2034,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.16,45.27
$GC,1104,1.61,389.9,2865,2004,2034,4094,13.7,10.8,145,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2005,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.19,47.16
$GC,1148,1.61,389.9,2865,2004,2032,4094,9.4,9.4,151,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2005,2032,2032,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,48.30
$GC,1192,1.61,389.9,2865,2005,2031,4094,5.2,9.5,157,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2005,2031,2031,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.21,49.60
$STATE,1228,end climb,FINISH_DEPTH_REACHED
$STATE,1228,begin subsurface finish
$FINISH1,1.5,1.024144,101
$GC,1234,0.15,101.5,2865,2005,2030,4094,1.5,9.7,162,1245,4.97,0.00,-3.22,0.000,20486,0.068,0.000,2415,2007,2388,2388,4095,0,0,0,0,0,0,26.10,25.22,26.17,10.22,49.21
$FINISH2,0.4
$STATE,1246,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1246,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,160756
$TT8_MAMPS,0.025466,0.20972
$HUMID,49.17
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.03,9.593
$10V_AH,10.26,12.338
$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,34.575,10.625,45.850,0.000,0.000,24.022,17.450,266.055,0.000,0.000,15.887,449.837,0.000,134.122,1013.566,98.343,33.457,409.996,0.000,247.981,0.000,0.543,0.000
$DEVICE_MAMPS,110.925,1276.785,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.816,442.801,0.000,519.270,680.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,14329,163
$CAP_FILE_SIZE,34633,0
$CFSIZE,1024409600,999981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,173040,5956.886,-17201.811,6,0.7,14,7.9,0.0,0.0,11,4.6