version: 66.13
glider: 401
mission: 22
dive: 440
start: 8 3 117 13 31 59
data:
$ID,401
$MISSION,22
$DIVE,440
$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,50
$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
$GPS1,030817,130553,5959.9541,-17220.2988,10,1.1,22,7.7,0.4,33.9,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-0.9
$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,-0.348410,-0.082400
$KALMAN_X,54047.179688,-2418.471436,-775.269348,-159558.890625,40.726013
$KALMAN_Y,34447.140625,1271.858276,254.499069,46696.875000,71.704529
$MHEAD_RNG_PITCHd_Wd,249.0,22788,-8.8,-8.333,-13.10,8667
$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,-1.54,-487.5,2395,1918,2357,4092,0.0,0.0,0,21,5.62,0.00,-4.75,0.000,20482,0.024,0.000,1848,1919,2882,2882,4094,0,0,0,0,0,0,26.12,28.83,26.13,10.32,51.26
$GC,24,-1.54,-487.5,1848,1918,2882,4094,0.1,0.0,1,34,0.00,1.35,-1.45,0.000,16644,0.000,1.274,1848,2407,3054,3054,4095,0,0,0,0,0,0,26.29,24.94,26.27,10.42,51.26
$GC,95,-1.54,-487.5,1848,2407,3055,4095,7.8,-12.2,11,105,0.00,1.27,0.00,0.000,1030,0.000,0.030,1848,1906,3055,3055,4094,0,0,0,0,0,0,26.02,25.96,26.03,10.47,50.90
$GC,142,-1.54,-487.5,1847,1906,3057,4094,13.8,-13.2,17,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3057,3057,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.47,50.03
$GC,188,-1.54,-487.5,1848,1905,3058,4094,19.1,-11.6,23,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3058,3058,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.45,50.31
$GC,234,-1.54,-487.5,1848,1905,3059,4095,24.0,-10.4,29,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3059,3059,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.42,49.37
$GC,280,-1.54,-487.5,1848,1905,3059,4095,28.5,-10.0,35,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3060,3060,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.39,48.14
$GC,326,-1.54,-487.5,1847,1906,3060,4095,33.1,-10.1,41,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3060,3060,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,47.99
$GC,372,-1.54,-487.5,1847,1905,3061,4095,37.8,-10.4,47,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3061,3061,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,46.69
$GC,418,-1.54,-487.5,1848,1905,3062,4095,42.6,-10.5,53,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3062,3062,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,45.90
$GC,461,-1.54,-487.5,1847,1906,3063,4095,47.3,-10.2,59,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3063,3063,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,45.82
$GC,506,-1.54,-487.5,1847,1906,3064,4095,51.8,-10.0,65,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3064,3064,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.35,45.31
$GC,550,-1.54,-487.5,1848,1905,3064,4095,56.3,-10.0,71,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.35,45.23
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,591,-0.45,0.0,1848,2023,3065,4094,60.3,-10.6,76,627,3.65,0.00,28.05,1.289,10244,0.054,0.000,2184,2024,2484,2484,4094,0,0,0,0,0,0,26.25,25.38,24.43,10.34,45.35
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.54,487.5,2184,2023,2484,4094,62.6,0.0,80,675,6.80,0.00,27.77,1.266,11270,0.037,0.000,2814,2024,1919,1919,4094,0,0,0,0,0,0,25.58,25.75,23.95,10.22,44.95
$GC,712,1.54,487.5,2813,2023,1919,4094,57.3,9.6,90,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1919,1919,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.09,44.21
$GC,758,1.54,487.5,2813,2023,1917,4094,52.7,10.1,96,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2023,1917,1917,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.09,44.88
$GC,804,1.54,487.5,2813,2023,1917,4094,48.2,9.8,102,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1916,1916,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.08,44.32
$GC,850,1.54,487.5,2813,2023,1915,4094,43.5,9.9,108,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2024,1915,1915,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.08,44.68
$GC,896,1.54,487.5,2813,2023,1914,4094,39.1,9.5,114,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2024,1914,1914,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.08,44.84
$GC,939,1.54,487.5,2813,2023,1913,4094,34.8,9.5,120,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1913,1913,4094,0,0,0,0,0,0,26.09,26.11,26.11,10.07,45.51
$GC,984,1.54,487.5,2813,2023,1913,4094,30.4,10.0,126,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2024,1913,1913,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.06,45.39
$GC,1028,1.54,487.5,2813,2023,1911,4094,26.1,9.8,132,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2024,1910,1910,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.07,45.51
$GC,1073,1.54,487.5,2813,2023,1911,4094,22.1,8.6,138,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2024,1911,1911,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.06,45.51
$GC,1117,1.54,487.5,2813,2023,1910,4095,18.2,8.5,144,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2024,1910,1910,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.07,46.45
$GC,1162,1.70,600.8,2813,2024,1909,4094,14.9,7.0,150,1172,0.47,0.00,7.28,0.639,10246,0.037,0.000,2871,2024,1782,1782,4094,0,0,0,0,0,0,26.10,25.83,25.19,10.11,47.40
$GC,1210,1.70,600.8,2870,2024,1782,4094,10.8,9.5,156,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2024,1781,1781,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.11,48.26
$GC,1255,1.70,600.8,2870,2024,1781,4094,6.5,9.1,162,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2025,1781,1781,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.13,49.52
$GC,1301,1.70,600.8,2870,2023,1779,4094,2.4,9.0,168,1311,0.00,1.40,0.00,0.000,516,0.000,0.055,2871,1497,1779,1779,4094,0,0,0,0,0,0,26.32,26.01,26.33,10.15,49.92
$STATE,1318,end climb,FINISH_DEPTH_REACHED
$STATE,1319,begin subsurface finish
$FINISH1,0.6,1.024048,108
$GC,1326,0.16,108.1,2870,2013,1778,4094,0.6,9.0,170,1345,4.93,1.45,-5.15,0.000,20996,0.027,1.299,2395,1494,2359,2359,4095,0,0,0,0,0,0,26.10,24.94,26.15,10.15,51.14
$FINISH2,0.1
$STATE,1346,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,113743
$TT8_MAMPS,0.025466,0.24717
$HUMID,51.10
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.95,10.788
$10V_AH,10.18,13.876
$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,21.475,7.950,63.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,480.349,0.000,153.444,718.787,52.836,33.423,450.033,0.000,415.019,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1298.970,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.545,467.290,369.839,547.994,715.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330960
$DATA_FILE_SIZE,17876,172
$CAP_FILE_SIZE,33422,0
$CFSIZE,1024409600,997851136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,130553,5959.954,-17220.299,10,1.1,22,7.7,0.4,33.9,9,4.9