version: 66.13
glider: 401
mission: 22
dive: 463
start: 8 4 117 0 30 30
data:
$ID,401
$MISSION,22
$DIVE,463
$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,600
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,39
$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
$GPS1,040817,002235,6000.7065,-17234.8691,34,0.8,38,7.6,0.3,58.1,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-41.5
$GPS2,040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.331472,-0.192106
$KALMAN_X,53229.953125,-3260.381348,-1483.300903,-170951.906250,63.179199
$KALMAN_Y,39016.257812,1094.194824,243.701462,43785.757812,107.813370
$MHEAD_RNG_PITCHd_Wd,232.3,9943,-7.8,-8.333,-12.27,10249
$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,-1.58,-580.2,229,1946,1711,4092,0.0,0.0,0,19,10.43,0.00,0.00,0.000,2049,0.099,0.000,1103,1940,1711,1711,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,50.11
$GC,22,-1.58,-580.2,1103,1943,1711,4094,0.8,0.0,1,50,7.75,1.17,-13.57,0.000,18692,0.042,1.278,1826,2367,3165,3165,4094,0,0,0,0,0,0,25.91,24.79,25.97,10.21,50.23
$GC,178,-1.58,-580.2,1826,2367,3168,4094,15.3,-12.3,23,187,0.00,1.08,0.00,0.000,1030,0.000,0.028,1826,1938,3168,3168,4095,0,0,0,0,0,0,26.01,26.00,26.04,10.49,49.40
$GC,224,-1.58,-580.2,1826,1938,3168,4095,20.3,-10.6,29,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1938,3169,3169,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.47,48.77
$GC,270,-1.58,-580.2,1826,1937,3169,4094,24.9,-10.3,35,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1938,3169,3169,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.44,47.44
$GC,314,-1.58,-580.2,1826,1937,3170,4094,29.6,-10.5,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1937,3170,3170,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.42,47.04
$GC,358,-1.58,-580.2,1826,1938,3171,4094,34.5,-11.4,47,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1938,3171,3171,4094,0,0,0,0,0,0,26.36,26.39,26.38,10.41,45.86
$GC,403,-1.58,-580.2,1826,1938,3172,4094,39.4,-11.2,53,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1938,3171,3171,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.40,45.70
$GC,447,-1.58,-580.2,1826,1938,3173,4095,44.3,-10.8,59,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1938,3173,3173,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.39,44.72
$GC,492,-1.58,-580.2,1826,1938,3173,4095,49.2,-11.3,65,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1938,3174,3174,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.38,44.64
$GC,536,-1.58,-580.2,1826,1937,3175,4095,54.6,-12.3,71,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1938,3175,3175,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.38,44.44
$GC,582,-1.58,-580.2,1826,1938,3175,4094,59.6,-11.0,77,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1938,3175,3175,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.38,44.88
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,604,-0.45,0.0,1826,1937,3176,4095,61.8,-11.4,79,648,3.88,0.00,33.22,1.319,10244,0.054,0.000,2184,1938,2484,2484,4094,0,0,0,0,0,0,26.21,24.95,24.25,10.37,45.03
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,651,1.58,580.2,2184,1937,2484,4094,64.3,0.0,84,695,6.97,0.00,33.22,1.292,11270,0.037,0.000,2831,1938,1807,1807,4094,0,0,0,0,0,0,25.44,25.60,23.77,10.23,43.97
$GC,732,1.58,580.2,2830,1938,1807,4094,59.1,8.7,94,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1938,1806,1806,4094,0,0,0,0,0,0,25.44,25.44,25.44,10.07,43.93
$GC,777,1.58,580.2,2830,1937,1806,4094,54.6,10.3,100,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1938,1805,1805,4094,0,0,0,0,0,0,25.64,25.66,25.65,10.07,43.73
$GC,822,1.58,580.2,2830,1937,1805,4094,50.3,8.8,106,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1804,1804,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.07,44.09
$GC,865,1.58,580.2,2830,1937,1803,4094,46.1,10.0,112,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1938,1803,1803,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.06,44.09
$GC,910,1.58,580.2,2830,1937,1802,4094,41.8,9.5,118,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1938,1803,1803,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.06,44.76
$GC,954,1.58,580.2,2830,1937,1802,4094,37.8,9.3,124,964,0.00,1.15,0.00,0.000,260,0.000,0.040,2831,2363,1802,1802,4094,0,0,0,0,0,0,26.03,25.76,26.04,10.05,44.80
$GC,1019,1.58,580.2,2830,2362,1800,4094,31.4,10.0,133,1029,0.00,1.05,0.00,0.000,1030,0.000,0.031,2831,1955,1800,1800,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.05,44.84
$GC,1066,1.58,580.2,2830,1955,1799,4094,27.1,9.5,139,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1799,1799,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.05,45.31
$GC,1111,1.58,580.2,2830,1954,1798,4094,22.9,9.2,145,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1798,1798,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.04,45.47
$GC,1155,1.58,580.2,2830,1955,1797,4094,19.0,8.5,151,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1797,1797,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.05,45.82
$GC,1200,1.75,691.1,2830,1955,1796,4094,15.6,7.2,157,1211,0.43,0.00,6.93,0.630,10246,0.034,0.000,2882,1955,1678,1678,4094,0,0,0,0,0,0,26.08,25.81,25.15,10.07,46.41
$GC,1249,1.81,737.1,2881,1955,1677,4094,11.9,7.9,163,1260,0.12,1.12,4.12,0.443,10500,0.067,0.041,2899,2371,1623,1623,4094,0,0,0,0,0,0,26.01,25.85,25.18,10.07,47.95
$GC,1302,1.88,779.6,2899,2371,1623,4094,7.6,7.9,170,1313,0.17,1.08,3.88,0.395,11270,0.043,0.032,2923,1950,1575,1575,4094,0,0,0,0,0,0,26.01,25.96,25.24,10.08,48.66
$GC,1351,1.88,779.6,2922,1951,1574,4094,3.7,8.4,176,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1951,1573,1573,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.08,49.84
$STATE,1373,end climb,FINISH_DEPTH_REACHED
$STATE,1373,begin subsurface finish
$FINISH1,1.6,1.024029,109
$GC,1379,0.16,109.5,2923,1950,1572,4094,1.6,8.2,179,1397,5.70,0.00,-6.95,0.000,20486,0.054,0.000,2399,1951,2360,2360,4095,0,0,0,0,0,0,25.99,25.53,26.06,10.09,49.60
$FINISH2,0.2
$STATE,1398,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1399,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030817,230212
$TT8_MAMPS,0.026215,0.210469
$HUMID,50.23
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.77,11.536
$10V_AH,10.24,14.705
$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,35.450,6.650,81.375,0.000,0.000,25.337,19.263,241.002,0.000,0.000,16.541,493.322,0.401,161.936,1056.176,116.275,33.454,475.639,0.000,273.262,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1278.315,1318.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.001,491.728,0.000,576.227,751.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,17740,181
$CAP_FILE_SIZE,39425,0
$CFSIZE,1024409600,996720640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,002923,6000.751,-17234.859,3,0.8,15,7.6,0.0,50.3,11,4.9