version: 66.13
glider: 401
mission: 22
dive: 424
start: 8 3 117 6 11 10
data:
$ID,401
$MISSION,22
$DIVE,424
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,030817,060201,5959.4785,-17212.3496,9,0.8,21,7.8,0.6,122.1,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-39.1
$GPS2,030817,061000,5959.4233,-17212.3359,6,0.8,20,7.8,0.4,182.2,11,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.347401,0.086833
$KALMAN_X,53372.113281,-2204.520020,-427.876343,-151893.765625,190.202209
$KALMAN_Y,32902.128906,1599.848267,443.535431,46744.894531,-138.952209
$MHEAD_RNG_PITCHd_Wd,276.2,30076,-8.8,-8.333,-13.10,8671
$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,-487.5,229,1887,1717,4092,0.0,0.0,0,21,11.27,0.00,0.00,0.000,2049,0.090,0.000,1190,1888,1717,1717,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,49.60
$GC,23,-1.53,-487.5,1190,1887,1717,4094,0.8,0.0,1,51,6.97,1.48,-12.25,0.000,18692,0.044,1.274,1843,2419,3055,3055,4095,0,0,0,0,0,0,25.93,24.82,25.98,10.25,49.17
$GC,159,-1.53,-487.5,1842,2419,3058,4095,11.7,-13.9,20,168,0.00,1.30,0.00,0.000,1030,0.000,0.028,1843,1908,3057,3057,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.54,49.05
$GC,204,-1.53,-487.5,1843,1907,3058,4094,17.3,-11.1,26,213,0.00,1.42,0.00,0.000,516,0.000,0.056,1843,1365,3058,3058,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.53,48.03
$GC,269,-1.53,-487.5,1842,1364,3060,4094,24.1,-10.5,35,278,0.00,1.23,0.00,0.000,1030,0.000,0.026,1843,1886,3060,3060,4094,0,0,0,0,0,0,26.10,26.08,26.12,10.50,47.08
$GC,315,-1.53,-487.5,1843,1886,3061,4094,28.4,-9.4,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1887,3060,3060,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.48,46.85
$GC,359,-1.53,-487.5,1842,1888,3061,4095,32.7,-9.5,47,368,0.00,1.40,0.00,0.000,260,0.000,0.042,1843,2423,3061,3061,4095,0,0,0,0,0,0,26.36,26.06,26.37,10.46,47.04
$GC,404,-1.53,-487.5,1842,2422,3062,4095,36.6,-8.9,53,413,0.00,1.35,0.00,0.000,1030,0.000,0.028,1843,1888,3062,3062,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.44,45.23
$GC,449,-1.53,-487.5,1842,1888,3063,4094,41.1,-9.4,59,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1888,3063,3063,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.42,44.72
$GC,494,-1.53,-487.5,1842,1888,3064,4095,45.4,-9.7,65,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1888,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.41,44.29
$GC,538,-1.53,-487.5,1842,1888,3064,4095,49.8,-9.8,71,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1888,3064,3064,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.40,43.58
$GC,583,-1.53,-487.5,1842,1888,3065,4095,54.4,-10.7,77,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1888,3065,3065,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.39,44.05
$GC,627,-1.53,-487.5,1843,1888,3066,4095,58.8,-9.7,83,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1888,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.38,43.85
$STATE,643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,643,begin apogee
$GC,649,-0.45,0.0,1843,2036,3066,4094,60.7,-10.4,85,685,3.70,0.00,27.98,1.277,10244,0.055,0.000,2185,2036,2484,2484,4094,0,0,0,0,0,0,26.24,25.38,24.44,10.38,43.89
$STATE,686,end apogee,CONTROL_FINISHED_OK
$STATE,686,begin climb
$GC,688,1.53,487.5,2184,2036,2484,4094,62.8,0.0,89,732,6.78,0.00,27.75,1.254,11270,0.037,0.000,2814,2036,1918,1918,4094,0,0,0,0,0,0,25.59,25.76,23.97,10.26,43.34
$GC,770,1.53,487.5,2813,2036,1918,4094,57.6,9.2,99,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1917,1917,4095,0,0,0,0,0,0,25.58,25.60,25.59,10.13,43.34
$GC,816,1.53,487.5,2813,2036,1916,4095,52.9,10.2,105,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1916,1916,4094,0,0,0,0,0,0,25.77,25.77,25.77,10.13,43.03
$GC,862,1.53,487.5,2813,2036,1915,4094,48.5,9.6,111,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1915,1915,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.13,42.95
$GC,908,1.53,487.5,2813,2036,1915,4094,44.1,9.6,117,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1914,1914,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.12,43.54
$GC,954,1.53,487.5,2813,2036,1914,4094,39.6,9.8,123,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1913,1913,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.11,43.97
$GC,1000,1.53,487.5,2813,2036,1912,4094,35.1,9.8,129,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1912,1912,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.11,44.36
$GC,1046,1.53,487.5,2813,2036,1912,4094,30.4,10.5,135,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2036,1911,1911,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,44.44
$GC,1092,1.53,487.5,2813,2036,1911,4094,26.2,9.0,141,1100,0.00,1.33,0.00,0.000,260,0.000,0.048,2814,2528,1910,1910,4094,0,0,0,0,0,0,26.22,25.93,26.23,10.12,44.84
$GC,1149,1.53,487.5,2813,2528,1909,4094,20.6,9.4,149,1158,0.00,1.30,0.00,0.000,1030,0.000,0.027,2814,2016,1909,1909,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.13,45.74
$GC,1196,1.53,487.5,2813,2016,1908,4094,16.5,8.8,155,1205,0.00,1.40,0.00,0.000,516,0.000,0.058,2814,1483,1908,1908,4095,0,0,0,0,0,0,26.31,25.98,26.32,10.16,46.88
$GC,1260,1.53,487.6,2813,1483,1907,4095,10.8,8.3,164,1270,0.00,1.15,0.00,0.000,1030,0.000,0.025,2814,1977,1907,1907,4094,0,0,0,0,0,0,26.17,26.15,26.17,10.19,48.85
$GC,1306,1.66,573.4,2813,1977,1906,4094,7.3,7.3,170,1317,0.32,0.00,5.72,0.511,10246,0.041,0.000,2856,1978,1814,1814,4095,0,0,0,0,0,0,26.19,25.96,25.38,10.20,49.05
$GC,1354,1.74,626.0,2855,1978,1813,4095,3.8,7.7,176,1364,0.17,0.00,4.38,0.408,10246,0.050,0.000,2882,1979,1751,1751,4094,0,0,0,0,0,0,26.16,25.96,25.41,10.19,49.72
$STATE,1372,end climb,FINISH_DEPTH_REACHED
$STATE,1372,begin subsurface finish
$FINISH1,2.0,1.023983,113
$GC,1378,0.17,112.7,2882,1978,1751,4095,2.0,8.0,178,1396,5.22,1.55,-4.62,0.000,20740,0.057,1.289,2402,2534,2351,2351,4094,0,0,0,0,0,0,26.06,24.96,26.13,10.18,49.48
$FINISH2,0.6
$STATE,1397,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1398,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,043545
$TT8_MAMPS,0.025466,0.244174
$HUMID,50.27
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.97,10.350
$10V_AH,10.22,13.316
$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,34.450,15.200,65.825,0.000,0.000,23.998,17.292,313.484,0.000,0.000,22.943,504.880,0.408,157.965,1119.175,118.963,33.455,466.432,0.000,436.043,0.000,0.542,0.000
$DEVICE_MAMPS,90.270,1289.025,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.703,489.031,387.032,573.160,748.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,17775,180
$CAP_FILE_SIZE,40740,0
$CFSIZE,1024409600,998637568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,061000,5959.423,-17212.336,6,0.8,20,7.8,0.4,182.2,11,4.9