version: 66.13
glider: 401
mission: 22
dive: 420
start: 8 3 117 4 7 8
data:
$ID,401
$MISSION,22
$DIVE,420
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,030817,031649,5959.5977,-17211.7227,6,0.8,15,7.8,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.2
$GPS2,030817,031649,5959.5977,-17211.7227,6,0.8,15,7.8,0.0,0.0,11,5.0
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.351004,-0.072390
$KALMAN_X,52318.656250,-2369.817871,-587.451843,-149942.515625,253.605652
$KALMAN_Y,32981.699219,1735.517822,622.597717,46671.421875,90.561279
$MHEAD_RNG_PITCHd_Wd,250.5,30660,-8.8,-8.333,-13.09,8689
$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,-1.53,-487.5,2399,1896,2357,4092,0.0,0.0,0,19,5.65,0.00,-3.72,0.000,20482,0.028,0.000,1849,1896,2762,2762,4094,0,0,0,0,0,0,26.10,28.83,26.15,10.33,50.78
$GC,22,-1.53,-487.5,1849,1896,2762,4094,0.1,0.0,1,31,0.00,1.48,-2.62,0.000,16644,0.000,1.271,1849,2434,3056,3056,4094,0,0,0,0,0,0,26.30,24.97,26.30,10.42,50.74
$GC,172,-1.53,-487.5,1848,2433,3058,4094,14.7,-9.5,23,181,0.00,1.35,0.00,0.000,1030,0.000,0.030,1849,1903,3058,3058,4095,0,0,0,0,0,0,26.12,26.09,26.15,10.49,50.35
$GC,217,-1.53,-487.5,1849,1903,3059,4095,18.8,-8.4,29,227,0.00,1.42,0.00,0.000,516,0.000,0.060,1849,1362,3060,3060,4095,0,0,0,0,0,0,26.37,26.06,26.39,10.48,49.96
$GC,295,-1.53,-487.5,1848,1362,3061,4095,25.9,-9.2,40,305,0.00,1.27,0.00,0.000,1030,0.000,0.028,1849,1907,3061,3061,4095,0,0,0,0,0,0,26.23,26.19,26.25,10.45,49.44
$GC,341,-1.53,-487.5,1848,1907,3061,4095,29.6,-7.8,46,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1907,3061,3061,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.43,48.54
$GC,386,-1.53,-487.5,1848,1909,3062,4095,33.7,-9.1,52,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,3062,3062,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.40,47.87
$GC,431,-1.53,-487.5,1848,1909,3062,4094,37.4,-8.2,58,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1909,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.39,46.33
$GC,476,-1.53,-487.5,1848,1910,3063,4095,41.8,-10.0,64,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1910,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.38,46.06
$GC,522,-1.53,-487.5,1848,1910,3064,4095,46.4,-10.3,70,532,0.00,1.48,0.00,0.000,516,0.000,0.059,1849,1355,3064,3064,4095,0,0,0,0,0,0,26.53,26.22,26.54,10.37,45.55
$GC,587,-1.53,-487.5,1848,1355,3066,4095,52.6,-9.5,79,597,0.00,1.25,0.00,0.000,1030,0.000,0.027,1850,1882,3065,3065,4094,0,0,0,0,0,0,26.39,26.33,26.37,10.37,45.23
$GC,632,-1.53,-487.5,1848,1883,3066,4094,56.7,-9.4,85,641,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1883,3066,3066,4095,0,0,0,0,0,0,26.57,26.59,26.58,10.37,45.19
$STATE,668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,668,begin apogee
$GC,674,-0.45,0.0,1849,2040,3067,4095,60.3,-9.8,90,709,3.60,0.00,28.02,1.279,10244,0.054,0.000,2185,2041,2483,2483,4094,0,0,0,0,0,0,26.30,25.44,24.51,10.36,44.99
$STATE,710,end apogee,CONTROL_FINISHED_OK
$STATE,710,begin climb
$GC,712,1.53,487.5,2185,2040,2484,4094,62.4,0.0,94,755,6.75,0.00,27.88,1.259,11270,0.037,0.000,2812,2040,1915,1915,4094,0,0,0,0,0,0,25.64,25.81,24.01,10.24,44.52
$GC,793,1.53,487.5,2812,2040,1914,4094,57.1,9.7,104,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2041,1914,1914,4094,0,0,0,0,0,0,25.60,25.60,25.60,10.11,43.93
$GC,839,1.53,487.5,2812,2040,1913,4094,52.3,10.7,110,848,0.00,1.52,0.00,0.000,516,0.000,0.054,2812,1482,1913,1913,4095,0,0,0,0,0,0,25.77,25.47,25.78,10.11,43.85
$GC,897,1.53,487.5,2812,1482,1913,4095,46.8,9.2,118,906,0.00,1.23,0.00,0.000,1030,0.000,0.026,2813,1996,1912,1912,4094,0,0,0,0,0,0,25.74,25.72,25.74,10.10,44.13
$GC,944,1.53,487.5,2812,1996,1911,4094,42.5,9.3,124,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1997,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.10,44.88
$GC,990,1.53,487.5,2812,1998,1911,4094,38.2,9.7,130,999,0.00,1.48,0.00,0.000,260,0.000,0.048,2812,2541,1911,1911,4094,0,0,0,0,0,0,26.08,25.78,26.09,10.09,44.52
$GC,1069,1.53,487.5,2812,2540,1909,4094,30.1,10.7,141,1079,0.00,1.38,0.00,0.000,1030,0.000,0.029,2812,2005,1908,1908,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.09,45.43
$GC,1116,1.53,487.5,2812,2004,1907,4094,25.7,9.2,147,1124,0.00,1.38,0.00,0.000,516,0.000,0.057,2813,1484,1907,1907,4094,0,0,0,0,0,0,26.22,25.92,26.24,10.11,45.62
$GC,1194,1.53,487.5,2812,1484,1906,4094,18.7,8.8,158,1204,0.00,1.23,0.00,0.000,1030,0.000,0.026,2813,1998,1906,1906,4094,0,0,0,0,0,0,26.10,26.08,26.11,10.14,47.08
$GC,1241,1.56,502.1,2812,1998,1905,4094,14.9,8.2,164,1251,0.00,0.00,0.80,0.004,8198,0.000,0.000,2813,1998,1905,1905,4094,0,0,0,0,0,0,26.33,26.32,26.33,10.16,48.26
$GC,1288,1.58,519.4,2812,1998,1905,4094,11.1,8.1,170,1298,0.10,0.00,3.03,0.298,10246,0.076,0.000,2830,1999,1878,1878,4095,0,0,0,0,0,0,26.16,25.81,25.36,10.18,48.93
$GC,1336,1.66,568.5,2830,1998,1877,4095,7.3,7.8,176,1346,0.15,0.00,4.30,0.428,10246,0.060,0.000,2854,1999,1819,1819,4095,0,0,0,0,0,0,26.16,25.97,25.39,10.18,49.76
$GC,1384,1.73,618.1,2854,1998,1818,4095,3.7,7.7,182,1393,0.12,0.00,4.18,0.395,10246,0.063,0.000,2877,1999,1762,1762,4095,0,0,0,0,0,0,26.17,25.97,25.41,10.18,49.76
$STATE,1407,end climb,SURFACE_DEPTH_REACHED
$STATE,1407,begin surface coast
$FINISH,0.1,1.023676
$STATE,1435,end surface coast,CONTROL_FINISHED_OK
$STATE,1435,begin surface
$SM_CCo,1532,0.00,0.000,0,0,1761,621.63
$SM_GC,0.79,27.67,0.25,0.00,0.023,0.047,0.000,230,1873,1761,-6.59,1.14,621.63,0,0,0,0,0,0,25.99,26.17,26.13
$IRIDIUM_FIX,5955.74,-17228.01,030817,014817
$TT8_MAMPS,0.025466,0.24717
$HUMID,50.90
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.01,10.222
$10V_AH,10.20,13.162
$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,44.050,17.275,68.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,535.078,60.394,161.573,786.063,52.243,33.414,443.775,0.000,454.718,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1271.430,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,129.723,513.451,406.334,602.102,783.012,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,17846,189
$CAP_FILE_SIZE,37298,0
$CFSIZE,1024409600,998834176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,043350,5959.522,-17211.945,9,0.9,36,7.8,0.0,103.8,10,4.6