version: 66.13
glider: 401
mission: 22
dive: 436
start: 8 3 117 11 44 32
data:
$ID,401
$MISSION,22
$DIVE,436
$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,32
$R_STBD_OVSHOOT,53
$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
$GPS1,030817,113602,5959.7227,-17219.1094,8,0.8,26,7.7,0.6,40.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-43.6
$GPS2,030817,114323,5959.7461,-17219.1133,6,0.7,13,7.7,0.6,33.3,11,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.353277,-0.058545
$KALMAN_X,53449.589844,-2452.713623,-834.758118,-157719.859375,1.527710
$KALMAN_Y,33740.750000,1282.300049,212.788574,47045.117188,43.211807
$MHEAD_RNG_PITCHd_Wd,252.9,23846,-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,-487.5,229,1889,1809,4092,0.0,0.0,0,20,11.18,0.00,0.00,0.000,2049,0.103,0.000,1159,1889,1810,1810,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.23,49.25
$GC,23,-1.53,-487.5,1158,1889,1809,4094,0.8,0.0,1,49,7.35,1.42,-11.52,0.000,18692,0.045,1.274,1842,2415,3053,3053,4094,0,0,0,0,0,0,25.92,24.82,25.98,10.24,50.07
$GC,177,-1.53,-487.5,1841,2415,3056,4094,15.7,-12.2,23,187,0.00,1.30,0.00,0.000,1030,0.000,0.028,1842,1902,3056,3056,4095,0,0,0,0,0,0,26.03,25.99,26.05,10.50,48.70
$GC,223,-1.53,-487.5,1842,1902,3057,4095,20.9,-11.4,29,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1902,3058,3058,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.47,47.87
$GC,267,-1.53,-487.5,1842,1902,3058,4094,25.4,-10.3,35,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1902,3058,3058,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.44,47.04
$GC,313,-1.53,-487.5,1841,1902,3059,4094,30.1,-10.6,41,322,0.00,1.35,0.00,0.000,260,0.000,0.042,1842,2409,3059,3059,4095,0,0,0,0,0,0,26.35,26.07,26.36,10.41,46.61
$GC,371,-1.53,-487.5,1842,2409,3060,4095,36.4,-11.0,49,380,0.00,1.25,0.00,0.000,1030,0.000,0.028,1842,1911,3060,3060,4095,0,0,0,0,0,0,26.17,26.14,26.19,10.40,45.35
$GC,418,-1.53,-487.5,1842,1910,3061,4095,41.2,-10.8,55,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1911,3061,3061,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.39,44.95
$GC,461,-1.53,-487.5,1842,1911,3062,4095,46.1,-10.6,61,471,0.00,1.42,0.00,0.000,516,0.000,0.055,1843,1362,3062,3062,4095,0,0,0,0,0,0,26.44,26.13,26.45,10.38,44.29
$GC,513,-1.53,-487.5,1841,1362,3063,4095,52.1,-11.3,68,523,0.00,1.25,0.00,0.000,1030,0.000,0.025,1842,1891,3063,3063,4094,0,0,0,0,0,0,26.27,26.24,26.27,10.38,44.60
$GC,560,-1.53,-487.5,1842,1892,3064,4094,57.2,-11.2,74,570,0.00,1.38,0.00,0.000,260,0.000,0.044,1843,2419,3064,3064,4094,0,0,0,0,0,0,26.48,26.20,26.50,10.37,44.68
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,590,-0.45,0.0,1842,2013,3064,4094,60.2,-11.1,77,625,3.72,0.00,28.00,1.285,10244,0.054,0.000,2186,2013,2484,2484,4094,0,0,0,0,0,0,26.21,25.34,24.41,10.37,43.97
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,628,1.53,487.5,2186,2013,2484,4094,62.7,0.0,81,671,6.78,0.00,28.00,1.263,11270,0.037,0.000,2813,2014,1914,1914,4094,0,0,0,0,0,0,25.56,25.72,23.94,10.24,43.66
$GC,708,1.53,487.5,2812,2013,1914,4094,57.6,9.4,91,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2014,1914,1914,4095,0,0,0,0,0,0,25.55,25.56,25.56,10.11,42.75
$GC,754,1.53,487.5,2813,2013,1913,4095,53.1,9.9,97,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2013,1913,1913,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.11,43.22
$GC,800,1.53,487.5,2813,2013,1912,4094,48.5,9.9,103,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2013,1912,1912,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.10,43.62
$GC,846,1.53,487.5,2813,2013,1911,4094,44.0,9.8,109,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2014,1911,1911,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.10,43.62
$GC,892,1.53,487.5,2813,2013,1911,4094,39.6,9.7,115,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2013,1910,1910,4095,0,0,0,0,0,0,26.03,26.05,26.04,10.09,43.81
$GC,938,1.53,487.5,2812,2013,1909,4095,35.1,9.8,121,948,0.00,1.38,0.00,0.000,516,0.000,0.057,2813,1495,1909,1909,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.09,44.25
$GC,996,1.53,487.5,2812,1494,1908,4094,29.3,9.6,129,1006,0.00,1.25,0.00,0.000,1030,0.000,0.026,2813,2014,1908,1908,4094,0,0,0,0,0,0,25.99,25.94,25.98,10.08,45.07
$GC,1043,1.53,487.5,2813,2013,1907,4094,24.9,9.5,135,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2014,1907,1907,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.08,45.39
$GC,1087,1.53,487.5,2813,2013,1906,4094,20.7,9.3,141,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2014,1905,1905,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.09,45.43
$GC,1132,1.57,507.8,2813,2013,1905,4094,17.0,8.1,147,1141,0.00,0.00,2.47,0.194,8198,0.000,0.000,2813,2014,1892,1892,4095,0,0,0,0,0,0,26.29,25.73,25.22,10.12,46.41
$GC,1179,1.68,586.7,2813,2014,1891,4095,13.6,7.4,153,1189,0.40,0.00,5.85,0.571,10246,0.039,0.000,2863,2015,1798,1798,4094,0,0,0,0,0,0,26.09,25.87,25.23,10.14,47.32
$GC,1226,1.68,586.7,2863,2014,1797,4094,9.7,8.6,159,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2015,1797,1797,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.14,49.17
$GC,1272,1.68,586.7,2863,2014,1796,4094,5.8,8.4,165,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2014,1796,1796,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.16,49.64
$STATE,1317,end climb,FINISH_DEPTH_REACHED
$STATE,1317,begin subsurface finish
$FINISH1,1.9,1.024033,109
$GC,1323,0.16,109.2,2863,2014,1795,4094,1.9,8.7,171,1342,5.07,1.45,-4.72,0.000,20996,0.058,1.297,2398,1492,2361,2361,4094,0,0,0,0,0,0,26.08,24.96,26.15,10.17,50.07
$FINISH2,0.4
$STATE,1343,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1343,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,101538
$TT8_MAMPS,0.025466,0.257656
$HUMID,50.35
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.94,10.683
$10V_AH,10.18,13.738
$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,34.500,14.475,64.325,0.000,0.000,25.274,18.351,270.114,0.000,0.000,15.054,491.176,0.000,151.429,1053.769,112.149,33.454,442.598,0.000,418.428,0.000,0.542,0.000
$DEVICE_MAMPS,103.275,1297.440,1285.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.250,470.011,372.017,550.815,716.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329356
$DATA_FILE_SIZE,17597,173
$CAP_FILE_SIZE,38284,0
$CFSIZE,1024409600,998047744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,114323,5959.746,-17219.113,6,0.7,13,7.7,0.6,33.3,11,4.9