version: 66.13
glider: 401
mission: 22
dive: 406
start: 8 2 117 21 36 59
data:
$ID,401
$MISSION,22
$DIVE,406
$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,2340
$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,30
$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,2485
$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
$GPS1,020817,212856,5957.6362,-17208.7754,5,0.7,18,7.8,0.6,309.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-43.9
$GPS2,020817,213550,5957.6772,-17208.8945,6,0.7,19,7.8,0.5,296.8,11,4.7
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.355029,-0.046164
$KALMAN_X,49369.285156,-2536.955078,-1167.657715,-143535.062500,-155.600464
$KALMAN_Y,28467.146484,1396.340332,333.464935,48245.460938,103.174561
$MHEAD_RNG_PITCHd_Wd,254.8,33286,-8.8,-8.333,-13.10,8667
$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,-487.5,239,1891,1918,4092,0.0,0.0,0,20,10.35,0.00,0.00,0.000,2049,0.107,0.000,1094,1891,1919,1919,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.27,49.44
$GC,22,-1.54,-487.5,1094,1891,1918,4094,0.9,0.0,1,49,8.02,1.48,-10.60,0.000,18692,0.047,1.276,1839,2426,3054,3054,4095,0,0,0,0,0,0,25.91,24.84,25.96,10.27,49.64
$GC,203,-1.54,-487.5,1838,2426,3058,4095,17.9,-11.3,27,212,0.00,1.33,0.00,0.000,1030,0.000,0.028,1839,1903,3058,3058,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.50,48.54
$GC,248,-1.54,-487.5,1838,1903,3059,4095,22.9,-11.0,33,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1903,3059,3059,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.47,48.34
$GC,291,-1.54,-487.5,1838,1903,3059,4095,27.4,-10.3,39,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1903,3060,3060,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.44,47.24
$GC,336,-1.54,-487.5,1838,1903,3060,4095,32.0,-10.6,45,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1903,3060,3060,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.42,45.86
$GC,379,-1.54,-487.5,1838,1903,3061,4094,36.5,-10.4,51,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1903,3061,3061,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.40,45.19
$GC,423,-1.54,-487.5,1838,1903,3062,4094,41.1,-10.8,57,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1903,3062,3062,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.39,44.56
$GC,467,-1.54,-487.5,1838,1903,3063,4094,45.9,-11.0,63,477,0.00,1.40,0.00,0.000,260,0.000,0.044,1839,2428,3064,3064,4095,0,0,0,0,0,0,26.44,26.15,26.45,10.38,43.85
$GC,519,-1.54,-487.5,1838,2428,3064,4095,51.7,-10.7,70,528,0.00,1.33,0.00,0.000,1030,0.000,0.029,1839,1901,3064,3064,4094,0,0,0,0,0,0,26.26,26.21,26.26,10.38,43.81
$GC,565,-1.54,-487.5,1838,1901,3065,4094,56.9,-11.8,76,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1901,3065,3065,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.38,43.81
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,600,-0.45,0.0,1838,2052,3066,4094,60.7,-11.4,80,636,3.75,0.00,28.08,1.300,10244,0.056,0.000,2184,2053,2484,2484,4094,0,0,0,0,0,0,26.21,25.34,24.41,10.38,43.77
$STATE,637,end apogee,CONTROL_FINISHED_OK
$STATE,637,begin climb
$GC,639,1.54,487.5,2184,2052,2484,4094,62.9,0.0,84,684,6.80,1.25,27.80,1.272,10500,0.039,0.047,2814,2516,1919,1919,4094,0,0,0,0,0,0,25.52,25.48,23.93,10.24,43.50
$GC,733,1.54,487.5,2813,2516,1917,4094,56.5,9.3,96,743,0.00,1.27,0.08,0.003,9222,0.000,0.027,2814,2024,1917,1917,4094,0,0,0,0,0,0,25.41,25.38,25.43,10.11,42.79
$GC,781,1.54,487.5,2814,2024,1917,4094,52.3,9.2,102,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2025,1916,1916,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.11,42.91
$GC,827,1.54,487.5,2814,2024,1916,4094,48.1,9.1,108,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2024,1915,1915,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.10,43.38
$GC,870,1.54,487.5,2813,2024,1915,4094,43.9,9.1,114,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2024,1915,1915,4095,0,0,0,0,0,0,25.97,25.98,25.98,10.11,43.58
$GC,914,1.54,487.5,2813,2024,1914,4095,39.8,9.5,120,923,0.00,1.42,0.00,0.000,516,0.000,0.056,2814,1488,1914,1914,4094,0,0,0,0,0,0,26.05,25.74,26.06,10.10,44.29
$GC,965,1.54,487.5,2813,1488,1912,4094,34.6,10.5,127,973,0.00,1.20,0.00,0.000,1030,0.000,0.026,2814,1990,1912,1912,4095,0,0,0,0,0,0,25.91,25.88,25.93,10.09,44.13
$GC,1011,1.54,487.5,2814,1989,1911,4095,29.8,10.6,133,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1990,1911,1911,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.09,44.72
$GC,1057,1.54,487.5,2813,1989,1910,4094,25.0,10.3,139,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1990,1910,1910,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.08,44.68
$GC,1103,1.54,487.5,2813,1990,1909,4094,20.7,9.1,145,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1990,1909,1909,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.10,45.86
$GC,1149,1.54,487.5,2814,1990,1908,4094,16.6,8.6,151,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1990,1908,1908,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.14,46.06
$GC,1195,1.65,564.8,2814,1991,1907,4094,12.9,7.4,157,1204,0.30,0.00,5.43,0.551,10246,0.044,0.000,2851,1992,1824,1824,4094,0,0,0,0,0,0,26.10,25.89,25.26,10.15,47.75
$GC,1242,1.71,603.1,2851,1991,1824,4094,9.2,7.9,163,1251,0.10,0.00,3.67,0.382,10246,0.073,0.000,2872,1992,1780,1780,4094,0,0,0,0,0,0,26.10,25.90,25.29,10.16,48.46
$GC,1288,1.71,603.1,2871,1991,1778,4094,5.1,8.7,169,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1992,1778,1778,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.16,49.60
$STATE,1323,end climb,FINISH_DEPTH_REACHED
$STATE,1324,begin subsurface finish
$FINISH1,1.7,1.024171,100
$GC,1329,0.15,99.6,2872,1991,1777,4094,1.7,9.2,174,1347,5.22,0.00,-5.20,0.000,20486,0.059,0.000,2394,1993,2371,2371,4094,0,0,0,0,0,0,26.06,25.59,26.13,10.18,49.64
$FINISH2,0.1
$STATE,1348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1348,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,200913
$TT8_MAMPS,0.026215,0.247919
$HUMID,50.51
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.93,9.837
$10V_AH,10.20,12.659
$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,34.550,10.950,65.050,0.000,0.000,25.427,19.726,248.737,0.000,0.000,21.043,491.109,0.395,150.410,1038.570,106.629,33.461,439.785,0.000,425.231,0.000,0.544,0.000
$DEVICE_MAMPS,107.100,1276.020,1299.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.354,478.159,378.397,560.443,724.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,17748,176
$CAP_FILE_SIZE,38654,0
$CFSIZE,1024409600,999522304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,213550,5957.677,-17208.895,6,0.7,19,7.8,0.5,296.8,11,4.7