version: 66.13
glider: 401
mission: 22
dive: 399
start: 8 2 117 18 17 4
data:
$ID,401
$MISSION,22
$DIVE,399
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,020817,173040,5956.8862,-17201.8105,6,0.7,14,7.9,0.0,0.0,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.3
$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,-0.338849,0.035500
$KALMAN_X,51318.796875,-1906.997803,-559.996460,-140052.406250,96.212524
$KALMAN_Y,27485.556641,1430.510010,320.844757,47753.945312,-18.174469
$MHEAD_RNG_PITCHd_Wd,268.1,39936,-11.2,-9.091,-14.94,6478
$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,-390.0,2414,1892,2385,4092,0.0,0.0,0,21,5.85,0.00,-4.60,0.000,20482,0.023,0.000,1847,1893,2882,2882,4095,0,0,0,0,0,0,26.10,28.83,26.12,10.31,50.51
$GC,23,-1.61,-390.0,1846,1892,2882,4095,0.1,0.0,1,33,0.00,1.48,-0.65,0.000,16644,0.000,1.271,1847,2423,2957,2957,4094,0,0,0,0,0,0,26.29,24.96,26.22,10.42,50.63
$GC,147,-1.61,-390.0,1846,2423,2959,4094,14.6,-13.9,19,156,0.00,1.33,0.00,0.000,1030,0.000,0.030,1847,1904,2959,2959,4095,0,0,0,0,0,0,26.08,26.00,26.06,10.44,50.39
$GC,192,-1.61,-390.0,1846,1903,2960,4095,20.0,-11.1,25,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,2960,2960,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.44,49.80
$GC,235,-1.61,-390.0,1846,1904,2961,4095,24.6,-10.6,31,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1904,2962,2962,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.41,49.80
$GC,280,-1.61,-390.0,1846,1903,2962,4095,29.2,-10.0,37,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1903,2962,2962,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.39,48.85
$GC,323,-1.61,-390.0,1846,1903,2963,4095,33.6,-10.0,43,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,2963,2963,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.37,47.51
$GC,368,-1.61,-390.0,1846,1904,2964,4095,38.2,-10.5,49,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,2964,2964,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.36,46.96
$GC,412,-1.61,-390.0,1846,1904,2964,4095,42.8,-10.7,55,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,2964,2964,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.35,46.65
$GC,456,-1.61,-390.0,1846,1903,2965,4095,47.4,-10.6,61,466,0.00,1.40,0.00,0.000,260,0.000,0.044,1847,2427,2966,2966,4094,0,0,0,0,0,0,26.46,26.16,26.47,10.34,45.62
$GC,515,-1.61,-390.0,1846,2427,2966,4094,53.6,-10.5,69,525,0.00,1.30,0.00,0.000,1030,0.000,0.030,1847,1912,2967,2967,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.33,45.31
$GC,561,-1.61,-390.0,1846,1912,2968,4095,58.5,-10.6,75,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1912,2968,2968,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.32,45.51
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,584,-0.45,0.0,1846,2042,2968,4094,60.5,-11.0,77,619,3.90,0.00,22.73,1.279,10244,0.057,0.000,2204,2042,2503,2503,4095,0,0,0,0,0,0,26.23,25.25,24.56,10.32,45.51
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.61,390.0,2204,2041,2504,4095,63.1,0.0,81,658,6.97,0.00,22.90,1.262,11270,0.034,0.000,2861,2042,2045,2045,4094,0,0,0,0,0,0,25.72,25.89,24.11,10.23,44.88
$GC,695,1.61,390.0,2860,2041,2043,4094,58.0,11.1,90,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,2044,2044,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.12,43.89
$GC,740,1.61,390.0,2860,2041,2043,4094,52.7,11.9,96,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,2042,2042,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.11,44.25
$GC,784,1.61,390.0,2859,2041,2041,4094,47.4,12.0,102,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2042,2041,2041,4094,0,0,0,0,0,0,25.90,25.92,25.91,10.11,44.25
$GC,829,1.61,390.0,2860,2041,2040,4094,42.0,11.9,108,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2042,2040,2040,4095,0,0,0,0,0,0,25.98,26.01,26.00,10.10,45.03
$GC,873,1.61,390.0,2860,2041,2039,4095,36.7,11.9,114,883,0.00,1.30,0.00,0.000,260,0.000,0.047,2861,2522,2039,2039,4094,0,0,0,0,0,0,26.06,25.77,26.07,10.10,45.27
$GC,944,1.61,390.0,2860,2522,2037,4094,28.4,11.7,124,953,0.00,1.30,0.00,0.000,1030,0.000,0.029,2861,2017,2037,2037,4094,0,0,0,0,0,0,25.94,25.88,25.95,10.09,45.07
$GC,991,1.61,390.0,2860,2017,2036,4094,23.4,10.5,130,1002,0.00,1.38,0.00,0.000,516,0.000,0.059,2861,1489,2036,2036,4095,0,0,0,0,0,0,26.20,25.88,26.20,10.11,45.39
$GC,1071,1.61,390.0,2860,1489,2034,4095,14.8,11.0,141,1080,0.00,1.12,0.00,0.000,1030,0.000,0.027,2861,1970,2034,2034,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.17,47.83
$GC,1116,1.61,390.0,2860,1970,2033,4094,10.5,9.5,147,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1970,2033,2033,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.18,49.25
$GC,1160,1.61,390.0,2860,1969,2032,4095,6.3,9.3,153,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1970,2032,2032,4094,0,0,0,0,0,0,26.33,26.35,26.34,10.20,49.33
$GC,1204,1.61,390.0,2860,1971,2031,4094,2.1,9.6,159,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1972,2031,2031,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.21,49.84
$STATE,1222,end climb,SURFACE_DEPTH_REACHED
$STATE,1222,begin surface coast
$FINISH,0.1,1.013355
$STATE,1244,end surface coast,CONTROL_FINISHED_OK
$STATE,1244,begin surface
$SM_CCo,1340,0.00,0.000,0,0,2030,404.40
$SM_GC,1.12,27.40,0.17,0.00,0.023,0.070,0.000,238,1876,2030,-6.61,1.37,404.40,0,0,0,0,0,0,26.17,26.15,26.21
$IRIDIUM_FIX,5955.74,-17228.01,020817,160756
$TT8_MAMPS,0.025466,0.20223
$HUMID,50.55
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,24.11,9.627
$10V_AH,10.26,12.399
$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,44.125,11.250,45.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.535,60.098,153.094,689.194,44.130,33.416,417.737,0.000,247.497,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,1270.665,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.745,445.580,0.000,522.824,683.059,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330908
$DATA_FILE_SIZE,14346,164
$CAP_FILE_SIZE,32420,0
$CFSIZE,1024409600,999899136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,990.76,0x236164,1,24
$GPS,020817,184018,5956.979,-17203.787,5,0.7,20,7.9,0.4,317.5,11,4.9