version: 66.13
glider: 401
mission: 22
dive: 500
start: 8 4 117 17 39 5
data:
$ID,401
$MISSION,22
$DIVE,500
$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,600
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,50
$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
$GPS1,040817,171349,6001.8154,-17247.6055,5,0.8,21,7.5,0.6,195.2,10,4.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.0
$GPS2,040817,171349,6001.8154,-17247.6055,5,0.8,21,7.5,0.6,195.2,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.355339,0.149230
$KALMAN_X,58048.890625,-2695.777344,-772.411133,-189137.593750,77.989990
$KALMAN_Y,39925.632812,738.369080,123.496536,45333.824219,-100.263733
$MHEAD_RNG_PITCHd_Wd,285.3,30047,-7.7,-8.333,-12.20,10402
$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,-1.58,-585.0,2380,1945,2389,4092,0.0,0.0,0,21,5.50,0.00,-5.38,0.000,20482,0.026,0.000,1849,1947,2966,2966,4095,0,0,0,0,0,0,26.10,28.83,26.12,10.26,49.17
$GC,24,-1.58,-585.0,1849,1947,2966,4095,0.1,0.0,1,34,0.00,1.12,-1.92,0.000,16644,0.000,1.274,1849,2355,3168,3168,4095,0,0,0,0,0,0,26.29,24.94,26.28,10.39,49.48
$GC,122,-1.58,-585.0,1847,2355,3170,4095,8.3,-10.0,15,131,0.00,1.02,0.00,0.000,1030,0.000,0.030,1849,1948,3170,3170,4095,0,0,0,0,0,0,26.03,26.00,26.06,10.42,49.21
$GC,167,-1.58,-585.0,1848,1949,3171,4095,13.1,-10.8,21,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1949,3171,3171,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.42,49.68
$GC,211,-1.58,-585.0,1848,1948,3172,4094,18.0,-11.0,27,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1949,3172,3172,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.41,49.21
$GC,255,-1.58,-585.0,1848,1948,3173,4095,22.7,-10.5,33,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1948,3173,3173,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.41,48.66
$GC,300,-1.58,-585.0,1848,1949,3174,4094,27.5,-10.7,39,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1949,3174,3174,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.41,49.25
$GC,344,-1.58,-585.0,1848,1948,3175,4095,32.2,-10.4,45,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1949,3175,3175,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.40,48.77
$GC,388,-1.58,-585.0,1848,1948,3175,4095,36.8,-10.3,51,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1949,3176,3176,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,48.38
$GC,432,-1.58,-585.0,1848,1948,3177,4095,41.3,-10.3,57,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1948,3177,3177,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.51
$GC,476,-1.58,-585.0,1848,1948,3177,4095,45.8,-10.4,63,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1948,3178,3178,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,47.51
$GC,521,-1.58,-585.0,1848,1948,3178,4095,50.3,-9.8,69,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1949,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.37,47.12
$GC,566,-1.58,-585.0,1848,1948,3179,4095,54.7,-10.1,75,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1949,3179,3179,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.37,47.12
$GC,610,-1.58,-585.0,1848,1948,3180,4095,59.3,-10.2,81,619,0.00,1.08,0.00,0.000,260,0.000,0.044,1848,2351,3180,3180,4095,0,0,0,0,0,0,26.53,26.24,26.54,10.36,46.45
$STATE,627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,627,begin apogee
$GC,633,-0.45,0.0,1848,1949,3180,4094,61.1,-10.0,83,677,3.62,0.00,33.35,1.317,10244,0.051,0.000,2185,1948,2483,2483,4094,0,0,0,0,0,0,26.26,24.99,24.28,10.36,46.33
$STATE,678,end apogee,CONTROL_FINISHED_OK
$STATE,678,begin climb
$GC,680,1.58,585.0,2184,1948,2483,4094,63.5,0.0,88,724,6.95,0.00,33.35,1.293,11270,0.035,0.000,2829,1949,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.77,10.21,45.78
$GC,762,1.58,585.0,2828,1948,1801,4094,58.4,9.3,98,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1949,1801,1801,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.06,44.80
$GC,808,1.58,585.0,2828,1948,1800,4094,53.6,10.2,104,818,0.00,1.12,0.00,0.000,260,0.000,0.039,2829,2358,1800,1800,4094,0,0,0,0,0,0,25.66,25.41,25.67,10.05,45.58
$GC,893,1.58,585.0,2828,2357,1798,4094,45.0,10.1,116,902,0.00,1.02,0.00,0.000,1030,0.000,0.030,2829,1961,1798,1798,4094,0,0,0,0,0,0,25.67,25.65,25.70,10.05,45.43
$GC,938,1.58,585.0,2828,1960,1797,4094,40.7,9.2,122,948,0.00,1.15,0.00,0.000,516,0.000,0.056,2829,1524,1797,1797,4094,0,0,0,0,0,0,25.96,25.67,25.97,10.05,46.14
$GC,990,1.58,585.0,2828,1524,1796,4094,35.8,9.3,129,999,0.00,0.98,0.00,0.000,1030,0.000,0.027,2829,1950,1796,1796,4094,0,0,0,0,0,0,25.86,25.83,25.86,10.05,46.61
$GC,1037,1.58,585.0,2828,1950,1795,4094,31.6,9.5,135,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1950,1795,1795,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.05,46.41
$GC,1083,1.58,585.0,2828,1950,1794,4094,27.4,8.9,141,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1950,1794,1794,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.06,47.12
$GC,1129,1.58,585.0,2828,1950,1793,4094,23.4,8.6,147,1139,0.00,1.08,0.00,0.000,260,0.000,0.042,2829,2358,1793,1793,4094,0,0,0,0,0,0,26.20,25.92,26.20,10.07,47.48
$GC,1208,1.58,585.0,2828,2358,1791,4094,16.2,9.1,158,1217,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1946,1791,1791,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.07,47.87
$GC,1253,1.58,585.0,2828,1946,1790,4094,12.2,8.6,164,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.08,48.11
$GC,1298,1.58,585.0,2828,1946,1789,4094,8.3,8.6,170,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1789,1789,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.08,48.42
$GC,1342,1.58,585.0,2828,1946,1788,4094,4.4,8.8,176,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1946,1788,1788,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.08,48.54
$STATE,1371,end climb,FINISH_DEPTH_REACHED
$STATE,1372,begin subsurface finish
$FINISH1,1.5,1.024407,83
$GC,1378,0.12,83.1,2829,1946,1787,4094,1.5,9.6,180,1397,4.82,1.15,-5.45,0.000,20740,0.057,1.300,2379,2346,2391,2391,4094,0,0,0,0,0,0,26.15,24.96,26.20,10.10,49.52
$FINISH2,0.1
$STATE,1398,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1398,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,170306
$TT8_MAMPS,0.025466,0.256158
$HUMID,49.92
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.77,12.728
$10V_AH,10.14,16.022
$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,20.900,12.900,66.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,487.705,0.000,154.137,758.524,55.735,33.424,454.263,0.000,438.176,0.000,0.542,0.000
$DEVICE_MAMPS,56.610,1300.500,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.218,494.374,391.514,580.055,756.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330936
$DATA_FILE_SIZE,17658,182
$CAP_FILE_SIZE,33838,0
$CFSIZE,1024409600,994902016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,171349,6001.815,-17247.605,5,0.8,21,7.5,0.6,195.2,10,4.9