version: 66.13
glider: 401
mission: 22
dive: 435
start: 8 3 117 11 11 2
data:
$ID,401
$MISSION,22
$DIVE,435
$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,27
$R_STBD_OVSHOOT,38
$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,0.10
$_SM_ANGLEo,-1.0
$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,-0.349593,-0.073969
$KALMAN_X,53971.472656,-2293.550293,-670.310303,-157143.234375,90.646484
$KALMAN_Y,33369.882812,1262.074463,182.694168,47124.984375,80.405838
$MHEAD_RNG_PITCHd_Wd,250.4,25235,-8.9,-8.333,-13.13,8626
$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,6,begin dive
$GC,8,-1.53,-485.3,2395,1895,2364,4092,0.0,0.0,0,21,5.62,0.00,-4.72,0.000,20482,0.024,0.000,1849,1895,2879,2879,4095,0,0,0,0,0,0,26.12,28.83,26.15,10.30,51.26
$GC,24,-1.53,-485.3,1848,1895,2879,4095,0.1,0.0,1,33,0.00,1.48,-1.58,0.000,16644,0.000,1.274,1848,2427,3055,3055,4094,0,0,0,0,0,0,26.31,24.96,26.27,10.42,51.26
$GC,115,-1.53,-485.3,1847,2427,3057,4094,10.1,-13.1,14,124,0.00,1.35,0.00,0.000,1030,0.000,0.030,1849,1899,3056,3056,4094,0,0,0,0,0,0,26.06,26.01,26.07,10.46,50.82
$GC,160,-1.53,-485.3,1847,1898,3058,4094,15.5,-12.2,20,169,0.00,1.40,0.00,0.000,516,0.000,0.057,1848,1365,3058,3058,4094,0,0,0,0,0,0,26.30,25.99,26.31,10.46,50.59
$GC,225,-1.53,-485.3,1848,1365,3059,4094,23.4,-11.5,29,235,0.00,1.25,0.00,0.000,1030,0.000,0.028,1848,1892,3059,3059,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.42,50.39
$GC,271,-1.53,-485.3,1848,1893,3060,4095,28.1,-10.3,35,280,0.00,1.40,0.00,0.000,260,0.000,0.044,1848,2424,3060,3060,4095,0,0,0,0,0,0,26.38,26.08,26.39,10.39,49.80
$GC,335,-1.53,-485.3,1848,2424,3060,4095,34.7,-10.4,44,345,0.00,1.30,0.00,0.000,1030,0.000,0.030,1848,1910,3062,3062,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.38,47.83
$GC,382,-1.53,-485.3,1848,1910,3062,4094,39.5,-10.8,50,392,0.00,1.42,0.00,0.000,516,0.000,0.057,1848,1365,3063,3063,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.37,47.24
$GC,453,-1.53,-485.3,1848,1365,3064,4094,47.5,-10.9,60,463,0.00,1.25,0.00,0.000,1030,0.000,0.027,1848,1891,3064,3064,4094,0,0,0,0,0,0,26.28,26.25,26.29,10.36,47.00
$GC,500,-1.53,-485.3,1847,1891,3064,4094,52.5,-10.9,66,510,0.00,1.40,0.00,0.000,260,0.000,0.045,1848,2424,3064,3064,4095,0,0,0,0,0,0,26.50,26.20,26.51,10.35,46.69
$GC,567,-1.53,-485.3,1847,2424,3066,4095,59.5,-10.6,75,575,0.00,1.33,0.00,0.000,1030,0.000,0.029,1848,1898,3066,3066,4094,0,0,0,0,0,0,26.31,26.25,26.33,10.34,45.74
$STATE,583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,583,begin apogee
$GC,589,-0.45,0.0,1848,2036,3066,4095,61.6,-10.5,77,624,3.65,0.00,28.00,1.298,10244,0.056,0.000,2186,2037,2484,2484,4094,0,0,0,0,0,0,26.25,25.37,24.43,10.34,46.25
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,627,1.53,485.3,2186,2036,2483,4094,63.9,0.0,81,671,6.78,1.33,27.95,1.275,10500,0.037,0.048,2815,2529,1918,1918,4094,0,0,0,0,0,0,25.54,25.47,23.93,10.21,45.55
$GC,713,1.53,485.3,2814,2528,1916,4094,57.9,9.9,92,722,0.00,1.33,0.00,0.000,1030,0.000,0.028,2815,2022,1916,1916,4094,0,0,0,0,0,0,25.39,25.35,25.40,10.09,44.68
$GC,759,1.53,485.3,2815,2021,1915,4094,53.4,9.8,98,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1915,1915,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.08,44.72
$GC,804,1.53,485.3,2815,2021,1914,4094,48.7,10.2,104,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2022,1914,1914,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.08,44.68
$GC,848,1.53,485.3,2814,2022,1914,4094,44.0,10.4,110,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1913,1913,4095,0,0,0,0,0,0,25.96,25.98,25.98,10.08,45.11
$GC,893,1.53,485.3,2814,2021,1913,4095,39.5,10.0,116,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1912,1912,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.08,45.35
$GC,937,1.53,485.3,2815,2021,1911,4094,35.1,9.8,122,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1911,1911,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.07,45.70
$GC,982,1.53,485.3,2814,2021,1911,4094,30.6,9.9,128,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1911,1911,4094,0,0,0,0,0,0,26.15,26.16,26.17,10.07,45.58
$GC,1026,1.53,485.3,2815,2021,1910,4094,25.9,10.6,134,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1909,1909,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.07,45.66
$GC,1071,1.53,485.3,2814,2021,1908,4094,21.4,9.9,140,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1908,1908,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.07,46.18
$GC,1115,1.53,485.3,2814,2021,1908,4094,17.1,9.4,146,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.10,47.24
$GC,1160,1.53,485.3,2814,2021,1907,4094,13.2,8.5,152,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1907,1907,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.12,47.91
$GC,1204,1.53,485.3,2815,2022,1906,4094,9.4,8.5,158,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2022,1906,1906,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.15,49.05
$GC,1248,1.62,543.7,2814,2021,1905,4094,6.0,7.6,164,1259,0.20,0.00,4.28,0.425,10246,0.049,0.000,2842,2022,1849,1849,4094,0,0,0,0,0,0,26.15,25.80,25.39,10.16,49.84
$GC,1296,1.67,576.1,2841,2021,1848,4094,2.3,7.9,170,1305,0.10,0.00,3.40,0.315,10246,0.073,0.000,2863,2022,1810,1810,4094,0,0,0,0,0,0,26.16,25.98,25.41,10.15,50.27
$STATE,1313,end climb,SURFACE_DEPTH_REACHED
$STATE,1313,begin surface coast
$FINISH,0.1,1.013148
$STATE,1343,end surface coast,CONTROL_FINISHED_OK
$STATE,1343,begin surface
$SM_CCo,1440,0.00,0.000,0,0,1810,579.55
$SM_GC,0.92,27.55,0.30,0.00,0.022,0.055,0.000,229,1890,1810,-6.59,1.09,579.55,0,0,0,0,0,0,26.04,26.13,26.14
$IRIDIUM_FIX,5955.74,-17228.01,030817,085247
$TT8_MAMPS,0.025466,0.229194
$HUMID,51.53
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.93,10.642
$10V_AH,10.25,13.694
$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,43.900,17.075,63.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,490.544,60.529,164.220,738.459,49.029,33.417,447.216,0.000,264.509,0.000,0.541,0.000
$DEVICE_MAMPS,72.675,1273.725,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.027,478.165,0.000,561.239,731.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,17817,176
$CAP_FILE_SIZE,36065,0
$CFSIZE,1024409600,998096896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,113602,5959.723,-17219.109,8,0.8,26,7.7,0.6,40.4,10,4.9