version: 66.13
glider: 401
mission: 22
dive: 421
start: 8 3 117 4 42 24
data:
$ID,401
$MISSION,22
$DIVE,421
$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,49
$R_STBD_OVSHOOT,36
$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
$GPS1,030817,043350,5959.5225,-17211.9453,9,0.9,36,7.8,0.0,103.8,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-37.7
$GPS2,030817,044115,5959.4824,-17211.8691,6,1.0,21,7.8,0.3,107.7,10,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.350011,0.076356
$KALMAN_X,52656.378906,-2359.306641,-573.868896,-150439.406250,270.046478
$KALMAN_Y,32929.593750,1719.927246,599.005676,46552.816406,-121.143127
$MHEAD_RNG_PITCHd_Wd,274.5,30514,-8.8,-8.333,-13.10,8680
$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,-1.53,-487.5,230,1872,1760,4092,0.0,0.0,0,21,11.38,0.00,0.00,0.000,2049,0.098,0.000,1185,1872,1761,1761,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.25,48.97
$GC,23,-1.53,-487.5,1185,1872,1760,4094,0.8,0.0,1,49,7.00,1.50,-11.85,0.000,18692,0.044,1.271,1842,2430,3055,3055,4095,0,0,0,0,0,0,25.96,24.85,26.01,10.26,49.01
$GC,242,-1.53,-487.5,1841,2430,3058,4095,20.1,-9.2,33,252,0.00,1.27,0.00,0.000,1030,0.000,0.028,1842,1925,3058,3058,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.52,47.87
$GC,288,-1.53,-487.5,1842,1925,3059,4094,24.1,-9.1,39,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3059,3059,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.50,47.36
$GC,331,-1.53,-487.5,1841,1925,3059,4095,28.4,-9.9,45,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3060,3060,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.48,47.63
$GC,375,-1.53,-487.5,1841,1925,3060,4095,32.3,-8.7,51,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3060,3060,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.46,46.69
$GC,420,-1.53,-487.5,1841,1925,3061,4094,36.3,-8.9,57,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3061,3061,4093,0,0,0,0,0,0,26.44,26.45,26.44,10.44,45.55
$GC,465,-1.53,-487.5,1842,1925,3062,4093,39.8,-8.2,63,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3062,3062,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.42,44.64
$GC,511,-1.53,-487.5,1841,1925,3062,4095,43.4,-8.0,69,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3062,3062,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.41,43.81
$GC,556,-1.53,-487.5,1841,1925,3063,4094,48.1,-10.0,75,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3063,3063,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.41,44.25
$GC,601,-1.53,-487.5,1842,1925,3064,4095,52.4,-9.6,81,610,0.00,1.33,0.00,0.000,260,0.000,0.042,1842,2423,3064,3064,4095,0,0,0,0,0,0,26.52,26.24,26.53,10.39,43.58
$GC,652,-1.53,-487.5,1841,2423,3065,4095,57.5,-10.1,88,662,0.00,1.30,0.00,0.000,1030,0.000,0.028,1842,1906,3065,3065,4095,0,0,0,0,0,0,26.33,26.29,26.34,10.38,44.01
$STATE,678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,678,begin apogee
$GC,683,-0.45,0.0,1842,2041,3066,4095,60.0,-10.1,91,719,3.67,0.00,27.92,1.278,10244,0.054,0.000,2185,2042,2484,2484,4094,0,0,0,0,0,0,26.27,25.41,24.48,10.38,43.42
$STATE,720,end apogee,CONTROL_FINISHED_OK
$STATE,720,begin climb
$GC,722,1.53,487.5,2185,2041,2484,4094,62.6,0.0,95,766,6.75,0.00,27.90,1.260,11270,0.037,0.000,2814,2042,1915,1915,4095,0,0,0,0,0,0,25.62,25.79,23.99,10.27,43.77
$GC,803,1.60,528.2,2813,2041,1914,4095,58.3,7.9,105,813,0.10,0.00,4.10,0.688,10246,0.074,0.000,2832,2042,1867,1867,4094,0,0,0,0,0,0,25.41,25.26,24.27,10.14,42.32
$GC,851,1.60,528.2,2831,2041,1866,4094,53.9,9.5,111,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2042,1866,1866,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.12,42.83
$GC,895,1.60,528.2,2831,2041,1866,4094,49.7,9.2,117,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2042,1866,1866,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.11,43.38
$GC,939,1.60,528.2,2832,2041,1866,4094,45.7,9.6,123,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2042,1865,1865,4094,0,0,0,0,0,0,25.96,25.97,25.96,10.12,43.38
$GC,983,1.60,528.2,2831,2041,1864,4094,41.2,9.9,129,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2042,1863,1863,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.11,43.93
$GC,1028,1.60,528.2,2831,2041,1863,4094,37.3,9.0,135,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2042,1863,1863,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.10,44.56
$GC,1072,1.60,528.2,2831,2041,1862,4094,33.2,9.2,141,1082,0.00,1.50,0.00,0.000,516,0.000,0.057,2832,1485,1862,1862,4094,0,0,0,0,0,0,26.15,25.84,26.17,10.09,44.29
$GC,1157,1.60,531.4,2831,1485,1860,4094,26.0,8.3,153,1166,0.00,1.20,0.00,0.000,1030,0.000,0.026,2832,1995,1860,1860,4094,0,0,0,0,0,0,26.05,26.03,26.07,10.11,45.19
$GC,1202,1.62,546.3,2831,1995,1859,4094,22.4,8.2,159,1211,0.00,0.00,2.55,0.223,8198,0.000,0.000,2832,1996,1845,1845,4094,0,0,0,0,0,0,26.28,25.70,25.19,10.12,45.82
$GC,1247,1.62,546.3,2831,1995,1844,4094,18.5,9.0,165,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1995,1844,1844,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.13,46.29
$GC,1292,1.63,548.6,2831,1995,1843,4094,14.8,8.3,171,1302,0.00,1.38,0.00,0.000,516,0.000,0.057,2832,1484,1843,1843,4094,0,0,0,0,0,0,26.34,26.03,26.35,10.15,47.67
$GC,1365,1.71,608.1,2832,1484,1842,4094,9.5,7.6,181,1376,0.32,1.20,4.70,0.474,11270,0.034,0.026,2874,1999,1773,1773,4094,0,0,0,0,0,0,26.20,26.17,25.37,10.18,48.74
$GC,1414,1.74,625.4,2874,1999,1772,4094,5.6,8.1,187,1423,0.00,0.00,2.67,0.210,8198,0.000,0.000,2875,1999,1753,1753,4094,0,0,0,0,0,0,26.37,25.84,25.42,10.18,49.48
$STATE,1459,end climb,FINISH_DEPTH_REACHED
$STATE,1459,begin subsurface finish
$FINISH1,1.6,1.023988,112
$GC,1465,0.17,112.3,2874,1999,1752,4094,1.6,8.5,193,1483,5.15,0.00,-5.35,0.000,20486,0.057,0.000,2396,2004,2358,2358,4094,0,0,0,0,0,0,26.15,25.65,26.20,10.19,49.64
$FINISH2,0.1
$STATE,1484,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1484,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,031110
$TT8_MAMPS,0.026215,0.205226
$HUMID,50.82
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.99,10.262
$10V_AH,10.27,13.198
$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,34.375,10.950,69.850,0.000,0.000,22.589,32.387,262.373,0.000,0.000,22.926,533.361,0.000,154.263,1156.728,108.079,33.455,466.776,0.000,292.986,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1270.665,1277.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,132.680,529.812,0.000,620.780,809.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329452
$DATA_FILE_SIZE,17759,195
$CAP_FILE_SIZE,40751,0
$CFSIZE,1024409600,998785024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,044115,5959.482,-17211.869,6,1.0,21,7.8,0.3,107.7,10,4.9