version: 66.13
glider: 401
mission: 22
dive: 425
start: 8 3 117 6 36 36
data:
$ID,401
$MISSION,22
$DIVE,425
$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,21
$R_STBD_OVSHOOT,44
$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
$GPS1,030817,061000,5959.4233,-17212.3359,6,0.8,20,7.8,0.4,182.2,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-0.6
$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,-0.356440,0.038097
$KALMAN_X,53593.726562,-2089.790283,-330.453918,-152336.968750,124.831848
$KALMAN_Y,32903.085938,1539.311768,374.023010,46872.242188,-72.273987
$MHEAD_RNG_PITCHd_Wd,268.3,30076,-8.8,-8.333,-13.09,8694
$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,-487.5,2402,1897,2351,4092,0.0,0.0,0,19,5.68,0.00,-3.62,0.000,20482,0.026,0.000,1850,1897,2746,2746,4094,0,0,0,0,0,0,26.10,28.83,26.15,10.34,50.11
$GC,22,-1.53,-487.5,1850,1897,2746,4094,0.1,0.0,1,31,0.00,1.40,-2.90,0.000,16644,0.000,1.270,1850,2419,3057,3057,4095,0,0,0,0,0,0,26.30,24.96,26.31,10.42,50.43
$GC,138,-1.53,-487.5,1849,2419,3059,4095,12.1,-12.8,18,148,0.00,1.33,0.00,0.000,1030,0.000,0.030,1850,1896,3059,3059,4093,0,0,0,0,0,0,26.10,26.06,26.13,10.49,49.72
$GC,185,-1.53,-487.5,1849,1896,3060,4093,17.3,-11.0,24,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1897,3061,3061,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.49,49.60
$GC,229,-1.53,-487.5,1849,1896,3061,4094,21.8,-9.9,30,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1896,3062,3062,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.47,50.03
$GC,274,-1.53,-487.5,1849,1897,3062,4094,26.1,-9.5,36,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1897,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.45,48.97
$GC,318,-1.53,-487.5,1849,1896,3062,4095,30.7,-10.5,42,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1896,3063,3063,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.43,48.77
$GC,363,-1.53,-487.5,1849,1896,3063,4095,35.2,-9.5,48,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1896,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.40,47.20
$GC,406,-1.53,-487.5,1849,1896,3064,4094,39.2,-9.4,54,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1897,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.38,46.41
$GC,451,-1.53,-487.5,1849,1896,3065,4094,43.5,-9.7,60,460,0.00,1.38,0.00,0.000,260,0.000,0.041,1850,2421,3065,3065,4095,0,0,0,0,0,0,26.51,26.22,26.51,10.38,46.02
$GC,497,-1.53,-487.5,1849,2420,3066,4095,47.7,-9.5,66,506,0.00,1.35,0.00,0.000,1030,0.000,0.030,1850,1886,3066,3066,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.38,46.33
$GC,542,-1.53,-487.5,1849,1885,3066,4095,52.0,-9.4,72,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1886,3066,3066,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.38,44.99
$GC,586,-1.53,-487.5,1849,1885,3067,4095,56.5,-10.5,78,595,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1886,3067,3067,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.37,45.23
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,628,-0.45,0.0,1850,2030,3068,4095,60.4,-10.1,83,663,3.62,0.00,28.12,1.274,10244,0.054,0.000,2185,2030,2484,2484,4095,0,0,0,0,0,0,26.29,25.42,24.50,10.37,45.15
$STATE,664,end apogee,CONTROL_FINISHED_OK
$STATE,665,begin climb
$GC,666,1.53,487.5,2185,2029,2484,4095,62.6,0.0,87,711,6.78,0.00,27.77,1.252,11270,0.037,0.000,2815,2030,1917,1917,4094,0,0,0,0,0,0,25.63,25.80,24.01,10.24,44.56
$GC,748,1.53,487.5,2814,2030,1917,4094,57.4,8.8,97,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2030,1916,1916,4094,0,0,0,0,0,0,25.60,25.62,25.61,10.11,43.46
$GC,793,1.53,487.5,2814,2030,1915,4094,52.9,9.4,103,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2030,1915,1915,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.11,44.40
$GC,837,1.53,487.5,2814,2030,1914,4094,48.8,9.3,109,847,0.00,1.35,0.00,0.000,260,0.000,0.047,2814,2530,1914,1914,4094,0,0,0,0,0,0,25.89,25.58,25.90,10.11,44.76
$GC,889,1.53,487.5,2814,2530,1914,4094,43.9,9.6,116,899,0.00,1.33,0.00,0.000,1030,0.000,0.028,2814,2016,1914,1914,4094,0,0,0,0,0,0,25.77,25.75,25.80,10.10,44.48
$GC,935,1.53,487.5,2814,2016,1912,4094,39.4,10.0,122,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2016,1913,1913,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.10,44.88
$GC,981,1.53,487.5,2814,2016,1912,4094,35.1,9.6,128,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2016,1911,1911,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.09,44.92
$GC,1025,1.53,487.5,2814,2016,1911,4094,30.4,10.0,134,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2016,1911,1911,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.09,45.27
$GC,1070,1.53,487.5,2814,2015,1910,4094,26.2,9.4,140,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2015,1910,1910,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.10,45.23
$GC,1114,1.53,487.5,2814,2016,1909,4094,22.0,9.5,146,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2016,1908,1908,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.11,46.06
$GC,1158,1.53,487.5,2814,2016,1908,4094,18.1,8.6,152,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2016,1907,1907,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.13,46.57
$GC,1203,1.53,487.5,2814,2015,1907,4094,14.4,8.5,158,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2016,1907,1907,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.15,48.11
$GC,1247,1.53,487.5,2814,2016,1906,4094,10.4,9.1,164,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2016,1906,1906,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.18,48.81
$GC,1292,1.72,609.6,2814,2016,1905,4094,7.1,6.9,170,1309,0.50,0.00,7.53,0.575,10246,0.033,0.000,2875,2016,1770,1770,4094,0,0,0,0,0,0,26.18,25.78,25.37,10.19,49.76
$GC,1347,1.72,609.6,2874,2015,1769,4094,2.7,8.6,177,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2016,1769,1769,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.17,49.40
$STATE,1363,end climb,FINISH_DEPTH_REACHED
$STATE,1364,begin subsurface finish
$FINISH1,1.0,1.024003,111
$GC,1369,0.17,111.3,2874,2015,1768,4094,1.0,8.6,179,1387,4.90,0.00,-5.22,0.000,20486,0.024,0.000,2396,2016,2360,2360,4094,0,0,0,0,0,0,26.13,25.63,26.17,10.18,49.72
$FINISH2,0.1
$STATE,1388,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1388,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,043545
$TT8_MAMPS,0.026215,0.217959
$HUMID,50.47
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.01,10.372
$10V_AH,10.26,13.345
$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,21.475,10.100,63.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,484.283,0.000,156.942,758.849,48.553,33.424,461.597,0.000,271.400,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1269.900,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.739,491.750,0.000,576.745,750.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330860
$DATA_FILE_SIZE,17831,181
$CAP_FILE_SIZE,34317,0
$CFSIZE,1024409600,998588416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,061000,5959.423,-17212.336,6,0.8,20,7.8,0.4,182.2,11,4.9