version: 66.13
glider: 401
mission: 22
dive: 437
start: 8 3 117 12 9 2
data:
$ID,401
$MISSION,22
$DIVE,437
$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,34
$R_STBD_OVSHOOT,46
$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
$GPS1,030817,114323,5959.7461,-17219.1133,6,0.7,13,7.7,0.6,33.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-1.6
$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,-0.350353,-0.071555
$KALMAN_X,53679.343750,-2374.296143,-750.070496,-158139.531250,-11.275208
$KALMAN_Y,33828.417969,1269.089233,218.774643,46969.285156,61.103653
$MHEAD_RNG_PITCHd_Wd,250.8,23846,-8.9,-8.333,-13.12,8641
$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,-486.2,2398,1918,2361,4092,0.0,0.0,0,21,5.68,0.00,-4.93,0.000,20482,0.024,0.000,1846,1918,2896,2896,4095,0,0,0,0,0,0,26.11,28.83,26.15,10.31,50.90
$GC,24,-1.53,-486.2,1846,1918,2897,4095,0.1,0.0,1,33,0.00,0.00,-1.38,0.000,16390,0.000,0.000,1846,1918,3055,3055,4094,0,0,0,0,0,0,26.29,25.59,26.27,10.43,50.82
$GC,69,-1.53,-486.2,1845,1918,3055,4094,4.5,-11.5,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3056,3056,4095,0,0,0,0,0,0,26.20,26.21,26.20,10.46,50.31
$GC,114,-1.53,-486.2,1845,1918,3057,4095,10.5,-13.8,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1918,3057,3057,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.47,49.92
$GC,159,-1.53,-486.2,1845,1918,3058,4094,16.2,-12.6,19,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1918,3058,3058,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.46,49.72
$GC,203,-1.53,-486.2,1845,1918,3059,4094,21.3,-11.1,25,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1918,3059,3059,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.44,49.33
$GC,248,-1.53,-486.2,1846,1918,3059,4094,25.5,-9.3,31,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3060,3060,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.40,48.93
$GC,292,-1.53,-486.2,1845,1918,3061,4095,29.8,-10.1,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1918,3061,3061,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.38,47.79
$GC,337,-1.53,-486.2,1845,1918,3061,4094,34.3,-10.3,43,346,0.00,1.33,0.00,0.000,260,0.000,0.044,1846,2417,3062,3062,4095,0,0,0,0,0,0,26.41,26.11,26.42,10.38,47.40
$GC,402,-1.53,-486.2,1845,2416,3062,4095,40.9,-10.1,52,411,0.00,1.27,0.00,0.000,1030,0.000,0.029,1845,1911,3062,3062,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.37,46.57
$GC,449,-1.53,-486.2,1845,1911,3063,4094,45.5,-10.3,58,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.36,45.90
$GC,493,-1.53,-486.2,1845,1910,3064,4094,50.4,-10.8,64,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,45.58
$GC,538,-1.53,-486.2,1845,1911,3065,4094,55.1,-10.6,70,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.35,45.35
$GC,582,-1.53,-486.2,1845,1911,3066,4095,59.9,-10.4,76,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1911,3066,3066,4095,0,0,0,0,0,0,26.52,26.54,26.53,10.34,45.15
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,604,-0.45,0.0,1845,2028,3066,4095,62.0,-10.8,78,640,3.67,0.00,28.15,1.302,10244,0.055,0.000,2184,2028,2484,2484,4095,0,0,0,0,0,0,26.25,25.37,24.43,10.34,45.51
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,643,1.53,486.2,2184,2028,2483,4095,64.2,0.0,82,688,6.82,0.00,28.00,1.281,11270,0.037,0.000,2815,2028,1916,1916,4094,0,0,0,0,0,0,25.58,25.75,23.93,10.21,45.11
$GC,725,1.53,486.2,2814,2028,1915,4094,58.8,9.3,92,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,1915,1915,4095,0,0,0,0,0,0,25.56,25.57,25.57,10.09,44.36
$GC,770,1.53,486.2,2814,2028,1914,4095,54.3,9.6,98,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,1914,1914,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.08,44.29
$GC,814,1.53,486.2,2814,2028,1914,4094,49.9,9.8,104,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,1914,1914,4094,0,0,0,0,0,0,25.86,25.87,25.86,10.07,44.76
$GC,859,1.53,486.2,2814,2028,1912,4094,45.6,9.6,110,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2028,1913,1913,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.07,45.07
$GC,902,1.53,486.2,2814,2028,1912,4095,41.5,9.5,116,911,0.00,1.48,0.00,0.000,516,0.000,0.055,2815,1483,1911,1911,4094,0,0,0,0,0,0,26.03,25.72,26.03,10.07,45.70
$GC,967,1.53,486.2,2814,1482,1911,4094,35.4,9.6,125,976,0.00,1.23,0.00,0.000,1030,0.000,0.026,2816,1994,1910,1910,4094,0,0,0,0,0,0,25.92,25.90,25.94,10.07,45.19
$GC,1012,1.53,486.2,2814,1994,1910,4094,31.0,9.7,131,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1995,1909,1909,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.06,46.06
$GC,1057,1.53,486.2,2814,1994,1908,4094,26.7,9.6,137,1066,0.00,1.48,0.00,0.000,260,0.000,0.049,2815,2541,1908,1908,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.06,45.86
$GC,1103,1.53,486.2,2814,2541,1907,4094,22.3,9.9,143,1113,0.00,1.33,0.00,0.000,1030,0.000,0.028,2816,2023,1907,1907,4094,0,0,0,0,0,0,26.04,26.00,26.06,10.06,45.94
$GC,1149,1.53,486.2,2814,2023,1907,4094,17.8,9.2,149,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2023,1906,1906,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.08,46.33
$GC,1192,1.57,509.9,2814,2023,1905,4094,14.3,8.1,155,1202,0.00,0.00,2.65,0.233,8198,0.000,0.000,2815,2023,1888,1888,4094,0,0,0,0,0,0,26.32,25.75,25.29,10.11,47.32
$GC,1238,1.64,554.8,2814,2023,1888,4094,10.7,7.8,161,1249,0.25,1.42,4.07,0.431,10756,0.045,0.057,2847,1482,1836,1836,4094,0,0,0,0,0,0,26.13,25.96,25.31,10.14,48.89
$STATE,1356,end climb,FINISH_DEPTH_REACHED
$STATE,1356,begin subsurface finish
$FINISH1,1.9,1.024033,109
$GC,1364,0.16,109.2,2847,2020,1833,4095,1.9,7.7,178,1382,4.90,0.00,-4.35,0.000,20486,0.058,0.000,2399,2021,2357,2357,4094,0,0,0,0,0,0,26.10,25.60,26.17,10.16,50.63
$FINISH2,0.4
$STATE,1383,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1383,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,101538
$TT8_MAMPS,0.025466,0.20972
$HUMID,51.53
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.93,10.704
$10V_AH,10.24,13.766
$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,21.325,12.075,62.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,485.728,0.000,149.419,758.304,49.067,33.428,448.269,0.000,270.161,0.000,0.544,0.000
$DEVICE_MAMPS,58.140,56.610,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.561,489.011,0.000,573.786,749.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,17763,180
$CAP_FILE_SIZE,34318,0
$CFSIZE,1024409600,997998592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,114323,5959.746,-17219.113,6,0.7,13,7.7,0.6,33.3,11,4.9