version: 66.13
glider: 401
mission: 22
dive: 439
start: 8 3 117 13 7 3
data:
$ID,401
$MISSION,22
$DIVE,439
$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,22
$R_STBD_OVSHOOT,45
$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
$GPS1,030817,125846,5959.9316,-17220.3477,9,0.9,15,7.7,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-40.8
$GPS2,030817,130553,5959.9541,-17220.2988,10,1.1,22,7.7,0.4,33.9,9,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.351476,-0.068359
$KALMAN_X,53826.921875,-2506.135986,-877.139465,-159128.234375,73.345520
$KALMAN_Y,34348.148438,1281.393799,249.345520,46786.316406,54.499054
$MHEAD_RNG_PITCHd_Wd,251.3,22788,-8.8,-8.333,-13.10,8669
$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,-487.5,230,1917,1759,4092,0.0,0.0,0,21,11.15,0.00,0.00,0.000,2049,0.093,0.000,1174,1916,1759,1759,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.22,49.76
$GC,23,-1.53,-487.5,1173,1915,1759,4094,0.7,0.0,1,51,7.15,1.40,-12.05,0.000,18692,0.043,1.278,1842,2419,3055,3055,4094,0,0,0,0,0,0,25.93,24.81,25.99,10.22,49.60
$GC,93,-1.53,-487.5,1841,2419,3056,4094,4.1,-11.0,10,102,0.00,1.33,0.00,0.000,1030,0.000,0.029,1842,1900,3056,3056,4095,0,0,0,0,0,0,25.90,25.86,25.94,10.50,50.00
$GC,139,-1.53,-487.5,1841,1899,3057,4095,9.6,-12.7,16,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3058,3058,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.51,48.89
$GC,184,-1.53,-487.5,1841,1899,3058,4095,15.3,-12.4,22,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3058,3058,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.50,49.05
$GC,228,-1.53,-487.5,1841,1900,3059,4094,20.4,-11.4,28,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3059,3059,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.47,47.71
$GC,273,-1.53,-487.5,1841,1899,3060,4094,25.0,-10.2,34,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3060,3060,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.43,46.96
$GC,317,-1.53,-487.5,1841,1900,3061,4094,29.7,-10.7,40,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3061,3061,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.41,46.45
$GC,362,-1.53,-487.5,1841,1900,3062,4094,34.5,-11.1,46,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3062,3062,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.40,45.31
$GC,406,-1.53,-487.5,1841,1900,3063,4095,39.5,-11.2,52,416,0.00,1.38,0.00,0.000,260,0.000,0.044,1842,2418,3063,3063,4095,0,0,0,0,0,0,26.39,26.09,26.40,10.38,45.55
$GC,465,-1.53,-487.5,1841,2418,3064,4095,45.9,-11.0,60,474,0.00,1.30,0.00,0.000,1030,0.000,0.028,1842,1901,3064,3064,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.38,44.32
$GC,510,-1.53,-487.5,1842,1900,3065,4094,51.0,-11.2,66,520,0.00,1.38,0.00,0.000,516,0.000,0.056,1842,1367,3065,3065,4095,0,0,0,0,0,0,26.44,26.14,26.46,10.38,44.40
$GC,569,-1.53,-487.5,1841,1367,3066,4095,57.7,-11.3,74,578,0.00,1.23,0.00,0.000,1030,0.000,0.025,1842,1887,3066,3066,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.36,44.52
$STATE,592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,592,begin apogee
$GC,598,-0.45,0.0,1842,2029,3066,4095,60.5,-11.1,77,633,3.72,0.00,28.10,1.289,10244,0.054,0.000,2185,2029,2483,2483,4095,0,0,0,0,0,0,26.20,25.33,24.39,10.37,44.32
$STATE,634,end apogee,CONTROL_FINISHED_OK
$STATE,634,begin climb
$GC,636,1.53,487.5,2185,2028,2484,4095,62.8,0.0,81,680,6.80,0.00,27.98,1.267,11270,0.037,0.000,2814,2029,1915,1915,4094,0,0,0,0,0,0,25.54,25.71,23.92,10.24,43.89
$GC,718,1.53,487.5,2814,2029,1914,4094,57.5,9.5,91,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2030,1914,1914,4094,0,0,0,0,0,0,25.54,25.56,25.56,10.11,42.91
$GC,762,1.53,487.5,2813,2029,1914,4094,52.9,10.0,97,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2029,1913,1913,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.10,43.10
$GC,807,1.53,487.5,2813,2029,1913,4094,48.5,9.8,103,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2029,1913,1913,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.10,43.73
$GC,852,1.53,487.5,2814,2029,1911,4094,44.1,9.9,109,861,0.00,1.48,0.00,0.000,516,0.000,0.054,2814,1485,1911,1911,4094,0,0,0,0,0,0,25.94,25.65,25.96,10.09,44.09
$GC,916,1.53,487.5,2814,1485,1910,4094,37.9,9.6,118,926,0.00,1.25,0.00,0.000,1030,0.000,0.025,2814,2006,1910,1910,4094,0,0,0,0,0,0,25.86,25.83,25.87,10.09,44.40
$GC,963,1.53,487.5,2814,2005,1909,4094,33.7,9.3,124,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2006,1909,1909,4095,0,0,0,0,0,0,26.11,26.13,26.12,10.08,44.56
$GC,1008,1.53,487.5,2814,2005,1908,4095,29.4,9.4,130,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2006,1908,1908,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.08,44.80
$GC,1052,1.53,487.5,2814,2005,1907,4094,25.3,9.1,136,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2006,1907,1907,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.07,45.07
$GC,1097,1.53,487.5,2814,2005,1907,4095,21.3,9.1,142,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2006,1907,1907,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.08,45.23
$GC,1143,1.53,487.5,2814,2005,1905,4094,17.5,8.3,148,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2006,1905,1905,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.10,45.66
$GC,1188,1.57,513.0,2814,2006,1905,4095,13.8,8.0,154,1196,0.00,0.00,2.70,0.243,8198,0.000,0.000,2814,2006,1886,1886,4094,0,0,0,0,0,0,26.32,25.75,25.28,10.13,46.65
$GC,1234,1.59,522.6,2814,2006,1885,4094,10.2,8.2,160,1243,0.10,0.00,2.35,0.144,10246,0.078,0.000,2831,2006,1875,1875,4094,0,0,0,0,0,0,26.14,25.78,25.34,10.16,48.30
$GC,1280,1.59,525.3,2831,2006,1874,4094,6.3,8.3,166,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2006,1874,1874,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.17,49.13
$GC,1325,1.64,554.6,2830,2006,1873,4094,2.6,8.0,172,1335,0.10,0.00,3.47,0.324,10246,0.080,0.000,2849,2007,1835,1835,4095,0,0,0,0,0,0,26.17,25.84,25.44,10.18,49.72
$STATE,1343,end climb,FINISH_DEPTH_REACHED
$STATE,1343,begin subsurface finish
$FINISH1,1.0,1.024037,109
$GC,1349,0.16,108.9,2848,2006,1835,4094,1.0,8.1,174,1368,4.68,1.42,-4.62,0.000,20996,0.028,1.297,2395,1491,2357,2357,4094,0,0,0,0,0,0,26.15,24.98,26.19,10.19,50.03
$FINISH2,0.1
$STATE,1369,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1369,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,113743
$TT8_MAMPS,0.025466,0.230692
$HUMID,51.41
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.92,10.766
$10V_AH,10.23,13.837
$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,33.700,12.425,64.600,0.000,0.000,25.511,23.225,253.302,0.000,0.000,23.697,487.158,0.000,160.357,1060.778,113.011,33.457,474.437,0.000,266.221,0.000,0.542,0.000
$DEVICE_MAMPS,93.330,1297.440,1289.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.387,478.127,0.000,560.770,733.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329424
$DATA_FILE_SIZE,17712,176
$CAP_FILE_SIZE,40434,0
$CFSIZE,1024409600,997900288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030817,130553,5959.954,-17220.299,10,1.1,22,7.7,0.4,33.9,9,4.9