version: 66.13
glider: 401
mission: 22
dive: 413
start: 8 3 117 0 57 7
data:
$ID,401
$MISSION,22
$DIVE,413
$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,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
$GPS1,030817,002835,5958.9058,-17211.7188,6,0.8,17,7.8,0.7,45.2,10,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-0.5
$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,-0.327441,-0.145942
$KALMAN_X,50018.878906,-2731.149658,-1119.983276,-146747.109375,80.157104
$KALMAN_Y,30974.013672,1611.457275,572.295105,47571.796875,204.939087
$MHEAD_RNG_PITCHd_Wd,238.2,30620,-8.8,-8.333,-13.09,8695
$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,-1.53,-487.5,2399,1922,2365,4092,0.0,0.0,0,21,5.65,0.00,-5.20,0.000,20482,0.024,0.000,1850,1922,2932,2932,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.35,50.27
$GC,23,-1.53,-487.5,1850,1922,2933,4094,0.1,0.0,1,33,0.00,1.55,-1.05,0.000,16900,0.000,1.291,1850,1364,3054,3054,4094,0,0,0,0,0,0,26.32,24.97,26.29,10.48,50.31
$GC,49,-1.53,-487.5,1850,1363,3053,4094,2.1,-6.6,4,59,0.00,1.25,0.00,0.000,1030,0.000,0.029,1850,1918,3054,3054,4094,0,0,0,0,0,0,26.02,26.01,26.03,10.50,50.31
$GC,94,-1.53,-487.5,1849,1918,3055,4094,6.9,-10.4,10,103,0.00,1.45,0.00,0.000,516,0.000,0.057,1850,1368,3055,3055,4095,0,0,0,0,0,0,26.24,25.96,26.25,10.50,50.03
$GC,277,-1.53,-487.5,1850,1368,3059,4095,28.2,-11.0,37,285,0.00,1.20,0.00,0.000,1030,0.000,0.025,1850,1876,3059,3059,4095,0,0,0,0,0,0,26.19,26.20,26.21,10.46,48.50
$GC,321,-1.53,-487.5,1850,1878,3060,4095,32.8,-10.0,43,331,0.00,1.45,0.00,0.000,260,0.000,0.044,1850,2430,3060,3060,4095,0,0,0,0,0,0,26.41,26.11,26.43,10.42,47.99
$GC,386,-1.53,-487.5,1850,2430,3061,4095,39.2,-10.0,52,394,0.00,1.30,0.00,0.000,1030,0.000,0.028,1850,1915,3061,3061,4094,0,0,0,0,0,0,26.23,26.19,26.25,10.40,46.61
$GC,432,-1.53,-487.5,1850,1914,3062,4094,43.7,-10.0,58,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1915,3062,3062,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.39,46.14
$GC,476,-1.53,-487.5,1849,1914,3062,4095,48.4,-10.2,64,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1914,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,45.66
$GC,521,-1.53,-487.5,1850,1914,3063,4095,53.1,-10.7,70,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1915,3063,3063,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.38,45.23
$GC,565,-1.53,-487.5,1850,1914,3064,4095,57.7,-10.5,76,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1914,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.38,45.07
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,594,-0.45,0.0,1850,2042,3065,4095,60.2,-9.9,79,630,3.62,0.00,28.00,1.279,10244,0.054,0.000,2185,2042,2484,2484,4094,0,0,0,0,0,0,26.26,25.39,24.47,10.38,44.92
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.53,487.5,2185,2042,2484,4094,62.4,0.0,83,675,6.78,0.00,27.83,1.258,11270,0.037,0.000,2814,2042,1917,1917,4094,0,0,0,0,0,0,25.60,25.77,23.97,10.25,44.29
$GC,713,1.53,487.5,2813,2042,1916,4094,57.6,8.4,93,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2043,1916,1916,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.12,43.66
$GC,757,1.53,487.5,2813,2042,1915,4094,53.1,9.5,99,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2042,1915,1915,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.12,43.93
$GC,802,1.53,487.5,2813,2042,1915,4094,48.7,9.5,105,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2042,1914,1914,4094,0,0,0,0,0,0,25.87,25.88,25.88,10.11,44.25
$GC,846,1.53,487.5,2813,2042,1914,4094,44.5,9.5,111,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2042,1913,1913,4095,0,0,0,0,0,0,25.96,25.98,25.97,10.11,44.17
$GC,890,1.53,487.5,2813,2042,1913,4095,40.2,9.6,117,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2042,1912,1912,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.10,44.13
$GC,935,1.53,487.5,2813,2042,1911,4094,35.9,9.7,123,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2042,1911,1911,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.09,44.29
$GC,978,1.53,487.5,2813,2042,1911,4094,31.7,9.6,129,987,0.00,1.50,0.00,0.000,516,0.000,0.055,2814,1486,1911,1911,4094,0,0,0,0,0,0,26.15,25.84,26.17,10.09,45.03
$GC,1024,1.53,487.5,2813,1485,1910,4094,27.7,9.1,135,1033,0.00,1.23,0.00,0.000,1030,0.000,0.026,2814,1997,1910,1910,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.10,44.88
$GC,1070,1.53,487.5,2813,1997,1908,4094,23.0,10.2,141,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1997,1908,1908,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.12,45.47
$GC,1113,1.53,487.5,2813,1997,1907,4094,18.2,11.0,147,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1998,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.15,47.24
$GC,1157,1.53,487.5,2813,1998,1907,4094,13.7,9.8,153,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1998,1906,1906,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.17,48.30
$GC,1202,1.53,487.5,2813,1998,1905,4094,9.9,8.5,159,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1998,1905,1905,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.19,49.37
$GC,1246,1.58,519.9,2813,1998,1905,4094,6.2,8.0,165,1255,0.10,0.00,3.10,0.291,10246,0.076,0.000,2831,1999,1876,1876,4094,0,0,0,0,0,0,26.17,25.83,25.41,10.20,49.40
$GC,1293,1.60,530.3,2830,1998,1875,4094,2.5,8.2,171,1303,0.00,0.00,2.33,0.122,8198,0.000,0.000,2832,1998,1865,1865,4095,0,0,0,0,0,0,26.38,25.87,25.51,10.21,49.40
$STATE,1309,end climb,FINISH_DEPTH_REACHED
$STATE,1310,begin subsurface finish
$FINISH1,0.8,1.024034,109
$GC,1316,0.16,109.1,2831,2000,1864,4094,0.8,8.0,173,1334,4.50,0.00,-4.40,0.000,20486,0.029,0.000,2396,1999,2358,2358,4095,0,0,0,0,0,0,26.16,25.67,26.21,10.20,49.84
$FINISH2,0.1
$STATE,1335,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1335,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,001706
$TT8_MAMPS,0.025466,0.211218
$HUMID,50.31
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.97,10.035
$10V_AH,10.26,12.909
$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,20.650,12.200,61.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.721,0.000,144.884,730.020,46.189,33.430,430.065,0.000,263.114,0.000,0.542,0.000
$DEVICE_MAMPS,76.500,1291.320,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.870,475.442,0.000,557.319,722.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,17833,175
$CAP_FILE_SIZE,33606,0
$CFSIZE,1024409600,999178240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,002835,5958.906,-17211.719,6,0.8,17,7.8,0.7,45.2,10,4.8