version: 66.13
glider: 401
mission: 22
dive: 442
start: 8 3 117 14 30 27
data:
$ID,401
$MISSION,22
$DIVE,442
$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,26
$R_STBD_OVSHOOT,41
$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
$GPS1,030817,142209,6000.0273,-17221.3379,9,0.7,34,7.7,0.2,122.3,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-37.7
$GPS2,030817,142917,6000.0254,-17221.2832,9,0.8,14,7.7,0.0,0.0,10,4.8
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.356944,-0.032954
$KALMAN_X,54281.917969,-2508.406494,-855.566345,-160536.718750,122.654846
$KALMAN_Y,34798.550781,1271.820923,267.744354,46463.113281,3.660324
$MHEAD_RNG_PITCHd_Wd,257.0,21896,-8.8,-8.333,-13.09,8693
$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,-487.5,230,1900,1729,4092,0.0,0.0,0,21,11.12,0.00,0.00,0.000,2049,0.095,0.000,1170,1899,1729,1729,4095,0,0,0,0,0,0,26.17,28.83,28.83,10.22,49.44
$GC,23,-1.53,-487.5,1170,1900,1729,4095,0.7,0.0,1,50,7.18,0.00,-12.30,0.000,18694,0.043,0.000,1844,1900,3053,3053,4094,0,0,0,0,0,0,25.93,25.44,25.98,10.23,49.29
$GC,88,-1.53,-487.5,1843,1900,3053,4094,1.6,-6.5,9,97,0.00,1.38,0.00,0.000,260,0.000,0.041,1844,2421,3053,3053,4095,0,0,0,0,0,0,26.10,25.81,26.11,10.51,49.25
$GC,351,-1.53,-487.5,1844,2420,3059,4095,29.3,-9.9,48,360,0.00,1.30,0.00,0.000,1030,0.000,0.028,1845,1903,3058,3058,4095,0,0,0,0,0,0,26.14,26.13,26.17,10.42,46.06
$GC,398,-1.53,-487.5,1843,1902,3059,4095,34.1,-10.5,54,407,0.00,1.40,0.00,0.000,516,0.000,0.057,1844,1366,3059,3059,4095,0,0,0,0,0,0,26.39,26.08,26.39,10.40,45.23
$GC,515,-1.53,-487.5,1843,1366,3061,4095,46.3,-9.9,71,524,0.00,1.35,0.00,0.000,1030,0.000,0.026,1844,1935,3061,3061,4094,0,0,0,0,0,0,26.27,26.24,26.27,10.38,44.29
$GC,561,-1.53,-487.5,1843,1935,3062,4094,51.0,-10.2,77,570,0.00,1.27,0.00,0.000,260,0.000,0.045,1844,2426,3062,3062,4094,0,0,0,0,0,0,26.47,26.17,26.48,10.38,45.03
$STATE,643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,643,begin apogee
$GC,649,-0.45,0.0,1844,2008,3064,4095,60.2,-11.3,89,685,3.70,0.00,27.60,1.287,10244,0.058,0.000,2184,2008,2484,2484,4094,0,0,0,0,0,0,26.22,25.37,24.42,10.37,43.81
$STATE,686,end apogee,CONTROL_FINISHED_OK
$STATE,686,begin climb
$GC,688,1.53,487.5,2183,2007,2484,4094,62.7,0.0,93,734,6.78,1.45,27.25,1.268,10500,0.037,0.046,2814,2538,1918,1918,4094,0,0,0,0,0,0,25.55,25.48,23.95,10.25,44.13
$GC,837,1.53,487.5,2813,2538,1916,4094,51.9,8.9,113,847,0.00,1.33,0.00,0.000,1030,0.000,0.029,2813,2027,1916,1916,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.11,44.09
$GC,884,1.53,487.5,2813,2027,1915,4094,47.7,8.8,119,894,0.00,1.42,0.00,0.000,516,0.000,0.056,2813,1487,1915,1915,4094,0,0,0,0,0,0,25.91,25.61,25.92,10.10,44.21
$GC,1047,1.62,548.6,2813,1487,1912,4094,34.3,7.6,143,1058,0.15,1.10,4.85,0.649,11270,0.045,0.024,2834,1962,1844,1844,4094,0,0,0,0,0,0,25.97,25.94,24.91,10.09,45.31
$GC,1096,1.67,576.1,2834,1961,1844,4094,30.6,8.0,149,1107,0.15,1.52,3.33,0.428,10500,0.061,0.045,2859,2541,1812,1812,4094,0,0,0,0,0,0,25.94,25.54,24.98,10.07,45.19
$GC,1223,1.67,576.1,2859,2541,1809,4094,19.5,8.9,167,1232,0.00,1.55,0.00,0.000,1030,0.000,0.031,2859,1940,1809,1809,4094,0,0,0,0,0,0,26.02,25.98,26.05,10.07,45.98
$GC,1270,1.78,653.9,2858,1940,1808,4094,15.8,7.4,173,1281,0.28,1.20,5.55,0.574,10756,0.041,0.058,2894,1482,1721,1721,4094,0,0,0,0,0,0,26.09,25.87,25.18,10.10,47.04
$GC,1385,1.82,681.3,2893,1482,1719,4094,6.3,8.0,189,1395,0.00,0.93,3.15,0.300,9222,0.000,0.028,2894,1911,1689,1689,4094,0,0,0,0,0,0,26.14,26.12,25.37,10.14,50.11
$GC,1433,1.94,760.8,2893,1910,1688,4094,2.6,7.4,195,1444,0.47,1.45,5.78,0.483,10499,0.036,0.042,2948,2462,1594,1594,4094,0,0,0,0,0,0,26.09,25.94,25.34,10.15,50.03
$STATE,1445,end climb,FINISH_DEPTH_REACHED
$STATE,1445,begin subsurface finish
$FINISH1,1.9,1.024034,109
$GC,1452,0.16,109.1,2948,2015,1594,4094,1.9,7.2,196,1472,5.82,1.48,-6.78,0.000,20740,0.038,1.290,2395,2541,2360,2360,4095,0,0,0,0,0,0,26.05,24.89,26.09,10.13,50.90
$FINISH2,0.2
$STATE,1473,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1473,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,030817,130033
$TT8_MAMPS,0.025466,0.260652
$HUMID,50.86
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.95,10.852
$10V_AH,10.20,13.953
$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,35.650,22.350,77.500,0.000,0.000,25.383,16.374,264.020,0.000,0.000,15.608,548.093,0.000,120.740,1146.015,110.891,33.457,388.031,0.000,477.884,0.000,0.544,0.000
$DEVICE_MAMPS,94.860,1289.790,1287.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.150,537.931,425.715,631.459,827.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,17658,198
$CAP_FILE_SIZE,35976,0
$CFSIZE,1024409600,997752832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030817,142917,6000.025,-17221.283,9,0.8,14,7.7,0.0,0.0,10,4.8