version: 66.13
glider: 401
mission: 22
dive: 434
start: 8 3 117 10 46 28
data:
$ID,401
$MISSION,22
$DIVE,434
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,030817,102052,5959.5591,-17217.5840,6,0.8,15,7.7,0.5,9.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-3.7
$GPS2,030817,102052,5959.5591,-17217.5840,6,0.8,15,7.7,0.5,9.0,10,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.352848,-0.062826
$KALMAN_X,53487.261719,-2267.997559,-642.750488,-156714.468750,-73.615295
$KALMAN_Y,33278.757812,1270.815918,179.338867,47210.414062,53.672379
$MHEAD_RNG_PITCHd_Wd,252.2,25235,-8.8,-8.333,-13.09,8689
$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,-487.5,2393,1912,2360,4092,0.0,0.0,0,21,5.60,0.00,-5.12,0.000,20482,0.024,0.000,1848,1913,2920,2920,4094,0,0,0,0,0,0,26.10,28.83,26.13,10.31,51.29
$GC,24,-1.53,-487.5,1848,1913,2920,4094,0.2,0.0,1,34,0.00,1.40,-1.10,0.000,16644,0.000,1.271,1848,2421,3049,3049,4094,0,0,0,0,0,0,26.29,24.95,26.25,10.44,50.74
$GC,115,-1.53,-487.5,1847,2420,3051,4094,10.3,-13.3,14,124,0.00,1.33,0.00,0.000,1030,0.000,0.030,1848,1900,3051,3051,4094,0,0,0,0,0,0,26.01,25.96,26.03,10.47,51.02
$GC,161,-1.53,-487.5,1847,1900,3052,4094,15.7,-11.8,20,171,0.00,1.38,0.00,0.000,516,0.000,0.056,1848,1369,3052,3052,4095,0,0,0,0,0,0,26.27,26.01,26.29,10.46,50.07
$GC,208,-1.53,-487.5,1847,1369,3053,4095,21.0,-11.4,26,217,0.00,1.25,0.00,0.000,1030,0.000,0.026,1848,1893,3053,3053,4094,0,0,0,0,0,0,26.12,26.10,26.14,10.44,49.64
$GC,255,-1.53,-487.5,1847,1894,3053,4094,25.6,-9.6,32,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1895,3054,3054,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.41,48.97
$GC,301,-1.53,-487.5,1847,1896,3054,4095,30.0,-9.6,38,310,0.00,1.38,0.00,0.000,260,0.000,0.044,1848,2421,3054,3054,4095,0,0,0,0,0,0,26.38,26.08,26.39,10.38,48.42
$GC,359,-1.53,-487.5,1847,2421,3055,4095,35.9,-9.9,46,368,0.00,1.33,0.00,0.000,1030,0.000,0.029,1848,1898,3055,3055,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.38,46.73
$GC,406,-1.53,-487.5,1847,1898,3056,4095,40.3,-9.9,52,415,0.00,1.40,0.00,0.000,516,0.000,0.057,1848,1363,3056,3056,4094,0,0,0,0,0,0,26.44,26.13,26.46,10.37,46.69
$GC,470,-1.53,-487.5,1847,1363,3058,4094,47.3,-10.7,61,480,0.00,1.25,0.00,0.000,1030,0.000,0.027,1848,1890,3058,3058,4095,0,0,0,0,0,0,26.27,26.25,26.28,10.36,46.49
$GC,516,-1.53,-487.5,1847,1889,3058,4095,52.0,-10.5,67,525,0.00,1.40,0.00,0.000,260,0.000,0.044,1848,2424,3058,3058,4095,0,0,0,0,0,0,26.49,26.20,26.50,10.35,45.39
$GC,576,-1.53,-487.5,1847,2424,3060,4095,58.2,-10.4,75,585,0.00,1.33,0.00,0.000,1030,0.000,0.029,1848,1899,3060,3060,4094,0,0,0,0,0,0,26.30,26.26,26.32,10.34,45.58
$STATE,593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,593,begin apogee
$GC,599,-0.45,0.0,1848,2036,3060,4095,60.4,-10.7,77,634,3.67,0.00,27.67,1.284,10244,0.055,0.000,2185,2036,2484,2484,4094,0,0,0,0,0,0,26.24,25.38,24.44,10.34,45.39
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,637,1.53,487.5,2185,2036,2484,4094,62.7,0.0,81,682,6.78,1.33,27.85,1.265,10500,0.037,0.047,2815,2526,1917,1917,4094,0,0,0,0,0,0,25.56,25.50,23.96,10.22,45.03
$GC,724,1.53,487.5,2814,2526,1916,4094,56.7,9.8,92,733,0.00,1.33,0.00,0.000,1030,0.000,0.027,2815,2019,1916,1916,4094,0,0,0,0,0,0,25.39,25.36,25.44,10.09,44.64
$GC,770,1.53,487.5,2814,2019,1915,4094,52.3,9.6,98,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2019,1915,1915,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.09,44.60
$GC,814,1.53,487.5,2814,2019,1914,4094,47.8,10.1,104,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2019,1914,1914,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.09,44.76
$GC,860,1.53,487.5,2814,2019,1913,4094,43.3,10.0,110,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2019,1913,1913,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.08,45.11
$GC,906,1.53,487.5,2814,2019,1912,4094,38.8,9.9,116,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2019,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.08,45.23
$GC,952,1.53,487.5,2814,2019,1911,4094,34.2,9.9,122,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2019,1911,1911,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.08,45.78
$GC,995,1.53,487.5,2814,2018,1910,4094,29.6,10.3,128,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2019,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,45.74
$GC,1040,1.53,487.5,2814,2018,1909,4094,25.0,10.3,134,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2019,1908,1908,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.07,45.62
$GC,1085,1.53,487.5,2813,2018,1908,4094,20.8,9.6,140,1094,0.00,1.40,0.00,0.000,516,0.000,0.056,2815,1488,1908,1908,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.08,45.90
$GC,1123,1.53,487.5,2814,1487,1907,4094,17.1,9.5,145,1132,0.00,1.23,0.00,0.000,1030,0.000,0.026,2815,2001,1907,1907,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.10,46.49
$GC,1169,1.53,487.5,2814,2001,1906,4094,13.2,8.7,151,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2001,1906,1906,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.13,47.83
$GC,1213,1.54,488.8,2815,2001,1905,4094,9.5,8.3,157,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2001,1905,1905,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.15,48.89
$GC,1257,1.65,565.3,2814,2001,1904,4094,6.1,7.4,163,1268,0.25,0.00,5.30,0.492,10246,0.048,0.000,2847,2002,1823,1823,4094,0,0,0,0,0,0,26.15,25.95,25.37,10.16,50.00
$GC,1305,1.69,589.9,2846,2001,1822,4094,2.4,8.0,169,1316,0.10,0.00,3.08,0.271,10246,0.073,0.000,2868,2001,1794,1794,4094,0,0,0,0,0,0,26.15,25.81,25.40,10.16,50.11
$STATE,1323,end climb,FINISH_DEPTH_REACHED
$STATE,1324,begin subsurface finish
$FINISH1,0.6,1.024038,109
$GC,1330,0.16,108.9,2868,2004,1793,4094,0.6,8.1,171,1347,4.88,0.00,-5.07,0.000,20486,0.026,0.000,2395,2004,2363,2363,4094,0,0,0,0,0,0,26.11,25.60,26.16,10.16,50.47
$FINISH2,0.2
$STATE,1348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1348,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,085247
$TT8_MAMPS,0.026215,0.238182
$HUMID,50.55
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.96,10.620
$10V_AH,10.20,13.666
$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,21.275,19.975,63.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,486.232,0.371,149.444,720.688,51.466,33.425,441.201,0.000,417.348,0.000,0.542,0.000
$DEVICE_MAMPS,73.440,1271.430,1283.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.315,469.960,372.028,551.291,717.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,17741,173
$CAP_FILE_SIZE,35557,0
$CFSIZE,1024409600,998146048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,102052,5959.559,-17217.584,6,0.8,15,7.7,0.5,9.0,10,4.9