version: 66.13
glider: 401
mission: 22
dive: 412
start: 8 3 117 0 29 44
data:
$ID,401
$MISSION,22
$DIVE,412
$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,25
$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
$GPS1,030817,001528,5958.7808,-17211.7734,9,0.9,18,7.8,0.5,1.3,9,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-38.4
$GPS2,030817,002835,5958.9058,-17211.7188,6,0.8,17,7.8,0.7,45.2,10,4.8
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.330111,-0.138406
$KALMAN_X,49841.132812,-2810.767090,-1263.246948,-146329.812500,153.920410
$KALMAN_Y,30791.519531,1591.332520,560.383240,47766.558594,195.231079
$MHEAD_RNG_PITCHd_Wd,239.5,30620,-8.8,-8.333,-13.11,8663
$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,-487.5,238,1899,1790,4091,0.0,0.0,0,20,11.23,0.00,0.00,0.000,2049,0.093,0.000,1191,1899,1790,1790,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.28,47.99
$GC,23,-1.54,-487.5,1192,1899,1790,4094,0.6,0.0,1,50,6.95,1.45,-11.65,0.000,18692,0.045,1.271,1840,2424,3053,3053,4095,0,0,0,0,0,0,25.90,24.83,25.97,10.29,47.79
$GC,205,-1.54,-487.5,1840,2423,3056,4095,17.9,-11.4,27,214,0.00,1.33,0.00,0.000,1030,0.000,0.028,1840,1898,3056,3056,4095,0,0,0,0,0,0,26.04,25.96,26.04,10.55,46.96
$GC,250,-1.54,-487.5,1840,1898,3056,4095,22.5,-9.7,33,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1898,3057,3057,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.54,46.57
$GC,295,-1.54,-487.5,1840,1898,3057,4095,25.8,-6.4,39,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1898,3058,3058,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.52,46.02
$GC,340,-1.54,-487.5,1840,1898,3058,4094,28.7,-6.6,45,349,0.00,1.40,0.00,0.000,260,0.000,0.037,1840,2430,3058,3058,4095,0,0,0,0,0,0,26.34,26.10,26.36,10.49,45.70
$GC,602,-1.54,-487.5,1840,2430,3062,4095,51.9,-9.6,84,610,0.00,1.33,0.00,0.000,1030,0.000,0.030,1840,1903,3062,3062,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.40,43.06
$GC,646,-1.54,-487.5,1840,1904,3062,4095,56.2,-9.6,90,656,0.00,1.38,0.00,0.000,260,0.000,0.039,1840,2428,3063,3063,4095,0,0,0,0,0,0,26.52,26.24,26.53,10.40,43.06
$STATE,683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,683,begin apogee
$GC,689,-0.45,0.0,1840,2017,3064,4095,60.0,-9.9,95,725,3.67,0.00,27.88,1.281,10244,0.049,0.000,2184,2017,2484,2484,4094,0,0,0,0,0,0,26.27,25.39,24.46,10.39,43.62
$STATE,726,end apogee,CONTROL_FINISHED_OK
$STATE,726,begin climb
$GC,728,1.54,487.5,2184,2016,2484,4094,63.1,0.0,99,773,6.72,1.42,27.98,1.265,10500,0.034,0.044,2818,2543,1914,1914,4094,0,0,0,0,0,0,25.57,25.56,23.98,10.27,42.71
$GC,869,1.54,487.5,2817,2542,1912,4094,53.0,8.4,118,879,0.00,1.35,0.00,0.000,1030,0.000,0.026,2818,2019,1912,1912,4094,0,0,0,0,0,0,25.59,25.56,25.62,10.13,43.42
$GC,915,1.59,525.2,2817,2018,1912,4094,49.4,7.9,124,926,0.10,1.40,3.78,0.594,10756,0.076,0.053,2836,1480,1871,1871,4094,0,0,0,0,0,0,25.71,25.27,24.62,10.13,43.62
$GC,1001,1.61,537.1,2835,1480,1870,4094,42.4,8.2,136,1012,0.00,1.27,2.50,0.251,9222,0.000,0.026,2835,2010,1858,1858,4095,0,0,0,0,0,0,25.82,25.82,24.80,10.12,43.77
$GC,1049,1.61,537.1,2835,2010,1856,4095,38.5,8.6,142,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2010,1856,1856,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,43.97
$GC,1095,1.61,537.1,2835,2010,1855,4094,34.6,8.4,148,1104,0.00,1.40,0.00,0.000,516,0.000,0.055,2836,1491,1855,1855,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.10,44.09
$GC,1167,1.71,604.9,2835,1490,1854,4094,28.9,7.5,158,1178,0.28,1.20,5.18,0.631,11270,0.033,0.025,2872,1998,1777,1777,4094,0,0,0,0,0,0,26.01,26.00,25.03,10.10,45.03
$GC,1216,1.72,609.2,2872,1998,1777,4094,25.1,8.3,164,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1998,1776,1776,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.11,45.35
$GC,1261,1.72,609.2,2872,1998,1776,4095,21.1,8.8,170,1271,0.00,1.38,0.00,0.000,516,0.000,0.054,2873,1483,1776,1776,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.13,46.29
$GC,1326,1.72,609.2,2872,1482,1774,4094,14.9,9.3,179,1335,0.00,1.17,0.00,0.000,1030,0.000,0.026,2873,1984,1774,1774,4094,0,0,0,0,0,0,26.10,26.08,26.10,10.16,49.09
$GC,1371,1.72,609.2,2872,1983,1773,4094,11.1,8.4,185,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1984,1773,1773,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.17,49.05
$GC,1416,1.80,664.1,2872,1984,1772,4094,7.6,7.7,191,1427,0.20,1.33,4.53,0.446,10756,0.054,0.055,2896,1484,1709,1709,4094,0,0,0,0,0,0,26.12,25.98,25.37,10.18,49.92
$STATE,1487,end climb,FINISH_DEPTH_REACHED
$STATE,1487,begin subsurface finish
$FINISH1,1.9,1.024045,108
$GC,1494,0.16,108.4,2896,2031,1706,4095,1.9,7.8,201,1514,5.38,1.52,-5.35,0.000,20996,0.054,1.297,2399,1482,2365,2365,4094,0,0,0,0,0,0,26.10,25.00,26.17,10.19,50.39
$FINISH2,0.4
$STATE,1515,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1515,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,001706
$TT8_MAMPS,0.025466,0.250166
$HUMID,50.51
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.98,10.014
$10V_AH,10.21,12.882
$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,34.525,22.700,71.825,0.000,0.000,100.218,98.712,302.939,0.000,0.000,19.167,553.736,134.854,133.839,1391.512,112.517,33.459,424.521,0.000,488.862,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1296.675,1280.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,139.947,551.451,436.405,647.074,848.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,21230,203
$CAP_FILE_SIZE,41656,0
$CFSIZE,1024409600,999227392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,002835,5958.906,-17211.719,6,0.8,17,7.8,0.7,45.2,10,4.8