version: 66.13
glider: 401
mission: 22
dive: 404
start: 8 2 117 20 40 8
data:
$ID,401
$MISSION,22
$DIVE,404
$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,40
$R_STBD_OVSHOOT,38
$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
$GPS1,020817,201453,5957.2061,-17206.4453,6,0.9,15,7.8,0.0,279.1,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.4
$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,-0.357612,0.016786
$KALMAN_X,50029.464844,-2256.938721,-902.406860,-142464.093750,-140.663574
$KALMAN_Y,27806.759766,1348.523804,269.564148,48158.445312,25.182251
$MHEAD_RNG_PITCHd_Wd,264.9,35608,-8.8,-8.333,-13.10,8666
$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,-1.54,-487.5,2416,1882,2391,4092,0.0,0.0,0,21,5.65,0.00,-5.35,0.000,20482,0.025,0.000,1871,1883,2971,2971,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.34,50.74
$GC,23,-1.54,-487.5,1871,1882,2970,4094,0.1,0.0,1,33,0.00,1.50,-0.93,0.000,16644,0.000,1.268,1871,2424,3071,3071,4095,0,0,0,0,0,0,26.29,24.96,26.25,10.46,50.23
$GC,141,-1.54,-487.5,1870,2424,3073,4095,11.8,-11.8,18,150,0.00,1.30,0.00,0.000,1030,0.000,0.028,1871,1913,3073,3073,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.49,49.60
$GC,186,-1.54,-487.5,1870,1913,3075,4095,16.5,-10.4,24,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1913,3075,3075,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.48,49.40
$GC,230,-1.54,-487.5,1870,1913,3075,4095,21.0,-10.1,30,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1913,3076,3076,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.46,49.48
$GC,276,-1.54,-487.5,1870,1913,3076,4095,24.9,-8.6,36,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1914,3077,3077,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.44,48.46
$GC,322,-1.54,-487.5,1871,1913,3077,4094,28.8,-8.4,42,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1913,3077,3077,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.40,47.99
$GC,368,-1.54,-487.5,1871,1913,3078,4094,32.9,-9.2,48,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1913,3078,3078,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.39,47.00
$GC,414,-1.54,-487.5,1870,1913,3078,4095,37.3,-10.1,54,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1913,3078,3078,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.38,46.57
$GC,459,-1.54,-487.5,1871,1913,3079,4094,41.6,-8.6,60,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1913,3080,3080,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,45.39
$GC,506,-1.54,-487.5,1870,1913,3080,4095,45.7,-9.5,66,514,0.00,1.35,0.00,0.000,260,0.000,0.044,1871,2420,3080,3080,4095,0,0,0,0,0,0,26.48,26.20,26.50,10.37,45.51
$GC,563,-1.54,-487.5,1870,2420,3081,4095,51.6,-10.7,74,572,0.00,1.30,0.00,0.000,1030,0.000,0.030,1871,1902,3081,3081,4094,0,0,0,0,0,0,26.32,26.26,26.32,10.36,44.95
$GC,609,-1.54,-487.5,1871,1901,3081,4094,55.8,-9.9,80,618,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,1902,3082,3082,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.36,44.84
$STATE,654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,654,begin apogee
$GC,659,-0.45,0.0,1871,2037,3083,4094,60.4,-9.8,86,695,3.58,0.00,28.02,1.300,10244,0.053,0.000,2202,2037,2500,2500,4095,0,0,0,0,0,0,26.27,25.39,24.46,10.35,44.95
$STATE,696,end apogee,CONTROL_FINISHED_OK
$STATE,696,begin climb
$GC,698,1.54,487.5,2202,2036,2500,4095,62.7,0.0,90,742,6.80,0.00,27.62,1.274,11270,0.035,0.000,2837,2037,1938,1938,4094,0,0,0,0,0,0,25.60,25.77,23.96,10.23,45.27
$GC,779,1.54,487.5,2837,2036,1937,4094,57.3,11.5,100,788,0.00,0.00,0.20,0.003,8198,0.000,0.000,2837,2037,1937,1937,4094,0,0,0,0,0,0,25.57,25.59,25.58,10.10,44.17
$GC,826,1.54,487.5,2836,2036,1935,4094,51.7,11.5,106,835,0.00,0.00,0.35,0.004,8198,0.000,0.000,2837,2037,1936,1936,4094,0,0,0,0,0,0,25.75,25.78,25.76,10.09,44.13
$GC,872,1.54,487.5,2837,2036,1935,4094,46.8,10.1,112,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2037,1933,1933,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.09,44.09
$GC,918,1.54,487.5,2837,2036,1934,4094,41.4,12.2,118,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2037,1933,1933,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.09,44.40
$GC,964,1.54,487.5,2836,2036,1933,4094,36.3,10.8,124,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2036,1932,1932,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.08,44.95
$GC,1009,1.54,487.5,2837,2036,1931,4094,31.5,10.5,130,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2037,1931,1931,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.08,45.03
$GC,1055,1.54,487.5,2837,2036,1930,4094,26.3,11.6,136,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2037,1930,1930,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,45.11
$GC,1099,1.54,487.5,2836,2036,1929,4094,21.4,10.8,142,1108,0.00,1.48,0.00,0.000,516,0.000,0.056,2837,1488,1928,1928,4094,0,0,0,0,0,0,26.20,25.89,26.22,10.08,45.98
$GC,1150,1.54,487.5,2836,1487,1928,4094,16.4,9.3,149,1160,0.00,1.23,0.00,0.000,1030,0.000,0.027,2838,2000,1928,1928,4094,0,0,0,0,0,0,26.05,26.03,26.08,10.11,46.73
$GC,1197,1.54,487.5,2837,2000,1927,4094,12.5,8.7,155,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2000,1926,1926,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.15,48.66
$GC,1240,1.54,487.5,2836,1999,1926,4095,8.6,8.7,161,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2000,1926,1926,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.17,49.29
$GC,1285,1.54,487.5,2837,1999,1925,4094,4.7,8.9,167,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2000,1925,1925,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.18,50.15
$STATE,1314,end climb,FINISH_DEPTH_REACHED
$STATE,1315,begin subsurface finish
$FINISH1,1.9,1.024160,100
$GC,1320,0.15,100.4,2837,2001,1924,4094,1.9,8.8,171,1337,4.68,0.00,-3.67,0.000,20486,0.064,0.000,2415,2001,2386,2386,4095,0,0,0,0,0,0,26.07,25.63,26.16,10.20,49.96
$FINISH2,0.5
$STATE,1338,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1338,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,184649
$TT8_MAMPS,0.025466,0.246421
$HUMID,50.11
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.96,9.776
$10V_AH,10.20,12.587
$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,20.700,8.675,56.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,483.397,0.000,144.704,721.148,48.145,33.429,429.383,0.000,417.383,0.000,0.542,0.000
$DEVICE_MAMPS,64.260,1268.370,1299.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.383,470.001,371.952,551.177,717.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17704,173
$CAP_FILE_SIZE,32506,0
$CFSIZE,1024409600,999636992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,201453,5957.206,-17206.445,6,0.9,15,7.8,0.0,279.1,10,4.8