version: 66.13
glider: 401
mission: 22
dive: 403
start: 8 2 117 20 16 3
data:
$ID,401
$MISSION,22
$DIVE,403
$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,24
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,18
$R_STBD_OVSHOOT,44
$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
$GPS1,020817,200736,5957.1982,-17206.2891,5,1.1,34,7.8,0.6,16.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-43.1
$GPS2,020817,201453,5957.2061,-17206.4453,6,0.9,15,7.8,0.0,279.1,10,4.8
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.355344,0.040066
$KALMAN_X,49785.414062,-2301.379150,-965.313599,-142070.234375,-151.261047
$KALMAN_Y,27791.726562,1382.405640,292.647491,48108.773438,-7.706696
$MHEAD_RNG_PITCHd_Wd,268.6,35608,-8.9,-8.333,-13.12,8642
$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,7,-1.53,-486.2,230,1910,1917,4092,0.0,0.0,0,21,11.35,0.00,0.00,0.000,2049,0.105,0.000,1169,1911,1917,1917,4095,0,0,0,0,0,0,26.20,28.83,28.83,10.26,49.33
$GC,23,-1.53,-486.2,1168,1910,1917,4095,0.9,0.0,1,51,7.45,1.40,-10.75,0.000,19204,0.047,1.275,1860,2414,3068,3068,4094,0,0,0,0,0,0,25.92,24.87,25.99,10.27,49.29
$GC,60,-1.54,-487.5,1859,2414,3068,4094,0.9,0.2,5,70,0.00,1.33,0.00,0.000,1030,0.000,0.030,1859,1897,3069,3069,4094,0,0,0,0,0,0,25.85,25.79,25.84,10.52,49.44
$GC,107,-1.54,-487.5,1859,1897,3069,4094,5.7,-11.3,11,116,0.00,1.40,0.00,0.000,516,0.000,0.059,1860,1365,3069,3069,4094,0,0,0,0,0,0,26.12,25.81,26.13,10.52,48.66
$GC,243,-1.54,-487.5,1859,1365,3072,4094,20.7,-11.6,31,252,0.00,1.30,0.00,0.000,1030,0.000,0.026,1860,1922,3072,3072,4095,0,0,0,0,0,0,26.09,26.09,26.10,10.51,47.71
$GC,289,-1.54,-487.5,1859,1922,3073,4095,25.2,-9.3,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1922,3073,3073,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.49,47.16
$GC,334,-1.54,-487.5,1859,1923,3073,4094,29.9,-10.0,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1923,3073,3073,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.45,46.81
$GC,378,-1.54,-487.5,1859,1924,3074,4094,34.4,-10.4,49,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1923,3074,3074,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.42,45.51
$GC,423,-1.54,-487.5,1859,1923,3075,4095,39.0,-9.9,55,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1924,3075,3075,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.41,44.88
$GC,467,-1.54,-487.5,1859,1923,3076,4094,43.1,-9.3,61,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,1924,3076,3076,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.40,44.76
$GC,512,-1.54,-487.5,1859,1923,3077,4095,47.2,-9.4,67,521,0.00,1.27,0.00,0.000,260,0.000,0.042,1860,2409,3076,3076,4095,0,0,0,0,0,0,26.45,26.18,26.46,10.39,43.85
$GC,604,-1.54,-487.5,1859,2408,3078,4095,56.3,-10.6,80,613,0.00,1.27,0.00,0.000,1030,0.000,0.028,1860,1900,3078,3078,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.38,43.81
$STATE,641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,641,begin apogee
$GC,646,-0.45,0.0,1859,2028,3079,4095,60.4,-10.1,85,682,3.72,0.00,27.92,1.284,10244,0.053,0.000,2205,2028,2501,2501,4094,0,0,0,0,0,0,26.23,25.37,24.44,10.38,43.69
$STATE,683,end apogee,CONTROL_FINISHED_OK
$STATE,683,begin climb
$GC,685,1.54,487.5,2205,2028,2499,4094,62.2,0.0,89,730,6.72,1.30,27.67,1.261,10500,0.034,0.045,2839,2517,1937,1937,4094,0,0,0,0,0,0,25.55,25.48,23.95,10.25,43.42
$GC,772,1.54,487.5,2838,2516,1936,4094,55.9,10.5,100,782,0.00,1.30,0.00,0.000,1030,0.000,0.027,2839,2018,1935,1935,4094,0,0,0,0,0,0,25.39,25.36,25.41,10.13,42.87
$GC,819,1.54,487.5,2838,2018,1934,4094,51.1,10.8,106,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2018,1934,1934,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.12,43.46
$GC,863,1.54,487.5,2839,2018,1933,4094,45.9,11.2,112,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2018,1933,1933,4095,0,0,0,0,0,0,25.88,25.89,25.89,10.11,43.30
$GC,907,1.54,487.5,2838,2018,1932,4095,41.0,11.2,118,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2018,1932,1932,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.11,43.66
$GC,952,1.54,487.5,2838,2017,1930,4094,35.9,11.6,124,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2018,1931,1931,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.10,43.73
$GC,996,1.54,487.5,2838,2018,1930,4094,30.7,11.7,130,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2018,1930,1930,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.10,44.21
$GC,1041,1.54,487.5,2838,2018,1928,4094,25.5,11.8,136,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2018,1929,1929,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.09,44.88
$GC,1085,1.54,487.5,2838,2018,1927,4094,20.8,10.3,142,1094,0.00,1.40,0.00,0.000,516,0.000,0.057,2839,1489,1927,1927,4094,0,0,0,0,0,0,26.20,25.89,26.21,10.12,45.39
$GC,1124,1.54,487.5,2838,1489,1927,4094,17.0,9.9,147,1133,0.00,1.20,0.00,0.000,1030,0.000,0.027,2839,1995,1926,1926,4095,0,0,0,0,0,0,26.04,26.06,26.06,10.15,45.90
$GC,1169,1.54,487.5,2838,1995,1925,4095,12.8,9.4,153,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1995,1926,1926,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.17,47.83
$GC,1213,1.54,487.5,2839,1994,1925,4094,8.8,8.9,159,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1995,1924,1924,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,48.50
$GC,1257,1.54,487.5,2838,1994,1924,4094,4.9,8.8,165,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1995,1923,1923,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.20,49.68
$STATE,1294,end climb,FINISH_DEPTH_REACHED
$STATE,1294,begin subsurface finish
$FINISH1,1.6,1.024160,100
$GC,1300,0.15,100.4,2839,1995,1922,4094,1.6,9.0,170,1318,4.65,0.00,-4.05,0.000,20486,0.063,0.000,2416,1998,2391,2391,4094,0,0,0,0,0,0,26.07,25.63,26.15,10.21,49.21
$FINISH2,0.1
$STATE,1319,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1319,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,184649
$TT8_MAMPS,0.026215,0.205975
$HUMID,49.64
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.95,9.755
$10V_AH,10.27,12.549
$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,33.900,13.400,55.600,0.000,0.000,22.103,17.834,276.379,0.000,0.000,16.930,470.223,0.000,149.290,1057.436,104.612,33.482,447.945,0.000,260.559,0.000,0.543,0.000
$DEVICE_MAMPS,104.805,1275.255,1284.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.777,467.254,0.000,547.987,718.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,17639,172
$CAP_FILE_SIZE,37342,0
$CFSIZE,1024409600,999669760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,201453,5957.206,-17206.445,6,0.9,15,7.8,0.0,279.1,10,4.8