version: 66.13
glider: 401
mission: 22
dive: 407
start: 8 2 117 22 1 33
data:
$ID,401
$MISSION,22
$DIVE,407
$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,34
$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,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
$GPS1,020817,213550,5957.6772,-17208.8945,6,0.7,19,7.8,0.5,296.8,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.3
$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,-0.352854,-0.059017
$KALMAN_X,49595.019531,-2492.457520,-1082.879028,-143932.421875,-147.428101
$KALMAN_Y,28553.130859,1390.432983,337.380524,48174.707031,120.858429
$MHEAD_RNG_PITCHd_Wd,252.7,33286,-8.9,-8.333,-13.11,8651
$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,6,begin dive
$GC,8,-1.53,-486.8,2394,1893,2371,4092,0.0,0.0,0,21,5.68,0.00,-4.70,0.000,20482,0.026,0.000,1844,1893,2880,2880,4095,0,0,0,0,0,0,26.11,28.83,26.13,10.33,50.47
$GC,23,-1.53,-486.8,1844,1892,2880,4095,0.1,0.0,1,33,0.00,1.48,-1.65,0.000,16644,0.000,1.281,1844,2420,3055,3055,4095,0,0,0,0,0,0,26.31,24.97,26.29,10.43,50.78
$GC,173,-1.53,-486.8,1843,2420,3058,4095,16.7,-12.9,23,182,0.00,1.30,0.00,0.000,1030,0.000,0.030,1844,1908,3058,3058,4095,0,0,0,0,0,0,26.10,26.06,26.12,10.47,50.23
$GC,220,-1.53,-486.8,1843,1908,3060,4095,22.2,-12.1,29,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3059,3059,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.46,49.60
$GC,264,-1.53,-486.8,1843,1908,3060,4095,27.1,-10.2,35,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3060,3060,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.42,49.01
$GC,309,-1.53,-486.8,1843,1908,3061,4094,31.1,-9.2,41,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3061,3061,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.39,47.99
$GC,353,-1.53,-486.8,1843,1908,3061,4094,35.4,-9.7,47,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3061,3061,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.59
$GC,397,-1.53,-486.8,1843,1908,3062,4095,40.0,-10.6,53,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1908,3063,3063,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,46.53
$GC,442,-1.53,-486.8,1843,1908,3063,4095,44.8,-10.9,59,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3063,3063,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,45.94
$GC,486,-1.53,-486.8,1842,1908,3064,4094,49.6,-10.7,65,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3064,3064,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.36,45.35
$GC,531,-1.53,-486.8,1843,1908,3065,4094,54.5,-10.8,71,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3065,3065,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.36,45.23
$GC,574,-1.53,-486.8,1843,1908,3065,4094,59.2,-11.1,77,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1908,3066,3066,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.35,45.31
$STATE,590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,596,-0.45,0.0,1843,2036,3066,4095,61.3,-11.2,79,632,3.70,0.00,28.05,1.299,10244,0.055,0.000,2185,2036,2484,2484,4094,0,0,0,0,0,0,26.25,25.38,24.46,10.35,44.92
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,635,1.53,486.8,2185,2035,2484,4094,63.6,0.0,83,678,6.80,0.00,27.77,1.279,11270,0.037,0.000,2814,2036,1919,1919,4094,0,0,0,0,0,0,25.58,25.75,23.95,10.23,44.64
$GC,716,1.53,486.8,2813,2036,1918,4094,58.7,8.8,93,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1918,1918,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.10,43.69
$GC,760,1.53,486.8,2813,2036,1917,4094,54.0,10.4,99,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1917,1917,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.10,43.85
$GC,805,1.53,486.8,2813,2035,1916,4094,49.4,10.4,105,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1916,1916,4094,0,0,0,0,0,0,25.86,25.87,25.86,10.09,44.01
$GC,849,1.53,486.8,2813,2036,1915,4094,44.8,9.9,111,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1915,1915,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.09,44.13
$GC,893,1.53,486.8,2813,2036,1914,4094,40.4,10.3,117,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1914,1914,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.08,44.60
$GC,936,1.53,486.8,2813,2036,1913,4094,35.9,10.3,123,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1913,1913,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.08,45.07
$GC,981,1.53,486.8,2813,2036,1912,4094,31.6,9.4,129,990,0.00,1.48,0.00,0.000,516,0.000,0.054,2814,1488,1912,1912,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.07,44.72
$GC,1046,1.53,486.8,2813,1488,1910,4094,25.7,9.4,138,1055,0.00,1.20,0.00,0.000,1030,0.000,0.027,2814,1992,1911,1911,4094,0,0,0,0,0,0,26.01,25.98,26.02,10.07,45.23
$GC,1092,1.53,486.8,2813,1991,1910,4094,21.3,9.7,144,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1992,1910,1910,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.09,45.51
$GC,1136,1.53,486.8,2814,1991,1909,4094,17.2,8.9,150,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1992,1908,1908,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.11,46.57
$GC,1181,1.59,522.7,2813,1991,1907,4094,13.6,7.9,156,1191,0.10,0.00,3.12,0.330,10246,0.076,0.000,2832,1993,1879,1879,4094,0,0,0,0,0,0,26.09,25.75,25.29,10.13,47.95
$GC,1228,1.63,548.5,2831,1993,1879,4094,10.0,8.0,162,1237,0.00,0.00,3.35,0.346,8198,0.000,0.000,2832,1993,1844,1844,4094,0,0,0,0,0,0,26.33,25.94,25.32,10.16,49.64
$GC,1274,1.63,548.5,2831,1993,1843,4094,6.1,8.3,168,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1993,1843,1843,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.16,49.44
$GC,1319,1.66,571.5,2831,1993,1842,4094,2.4,8.1,174,1329,0.15,0.00,2.83,0.233,10246,0.061,0.000,2857,1993,1819,1819,4094,0,0,0,0,0,0,26.15,25.84,25.44,10.17,50.27
$STATE,1336,end climb,FINISH_DEPTH_REACHED
$STATE,1337,begin subsurface finish
$FINISH1,0.8,1.024114,104
$GC,1342,0.16,103.5,2857,1994,1819,4094,0.8,7.9,176,1361,4.80,0.00,-4.93,0.000,20486,0.030,0.000,2394,1995,2366,2366,4094,0,0,0,0,0,0,26.13,25.63,26.18,10.17,49.76
$FINISH2,0.2
$STATE,1362,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1362,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,200913
$TT8_MAMPS,0.026215,0.20972
$HUMID,50.94
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.95,9.858
$10V_AH,10.26,12.686
$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,21.225,5.925,65.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,480.353,0.000,147.350,746.872,46.064,33.427,442.531,0.000,267.362,0.000,0.542,0.000
$DEVICE_MAMPS,76.500,1280.610,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.987,483.591,0.000,567.167,739.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330928
$DATA_FILE_SIZE,17893,178
$CAP_FILE_SIZE,33775,0
$CFSIZE,1024409600,999473152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,213550,5957.677,-17208.895,6,0.7,19,7.8,0.5,296.8,11,4.7