version: 66.13
glider: 401
mission: 22
dive: 430
start: 8 3 117 8 59 50
data:
$ID,401
$MISSION,22
$DIVE,430
$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,41
$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
$GPS1,030817,084933,5959.3564,-17215.6133,14,0.8,34,7.8,0.4,332.1,11,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-40.2
$GPS2,030817,085840,5959.3389,-17215.7090,6,1.0,52,7.8,0.6,223.8,8,3.0
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.356174,0.033995
$KALMAN_X,53285.250000,-2217.829102,-542.608887,-154853.062500,-85.318970
$KALMAN_Y,32791.628906,1349.923462,199.596069,47189.656250,-75.429794
$MHEAD_RNG_PITCHd_Wd,267.7,26947,-8.9,-8.333,-13.11,8653
$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,-1.54,-486.9,230,1881,1759,4092,0.0,0.0,0,21,11.20,0.00,0.00,0.000,2049,0.099,0.000,1169,1882,1759,1759,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.25,49.09
$GC,23,-1.54,-486.9,1168,1881,1759,4094,0.8,0.0,1,50,7.20,0.00,-11.85,0.000,18694,0.046,0.000,1840,1882,3055,3055,4094,0,0,0,0,0,0,25.96,25.50,26.03,10.25,48.70
$GC,87,-1.54,-486.9,1840,1881,3055,4094,3.9,-11.1,9,97,0.00,1.45,0.00,0.000,260,0.000,0.043,1841,2420,3056,3056,4095,0,0,0,0,0,0,26.15,25.86,26.15,10.53,48.85
$GC,139,-1.54,-486.9,1840,2420,3057,4095,11.2,-14.1,16,148,0.00,1.27,0.00,0.000,1030,0.000,0.028,1841,1918,3057,3057,4094,0,0,0,0,0,0,25.99,25.96,26.00,10.53,48.11
$GC,184,-1.54,-486.9,1840,1919,3058,4094,16.6,-11.3,22,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1918,3058,3058,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.52,47.99
$GC,229,-1.54,-486.9,1840,1918,3059,4094,21.2,-10.4,28,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1918,3059,3059,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.50,47.12
$GC,275,-1.54,-486.9,1840,1918,3060,4094,25.6,-9.3,34,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1918,3060,3060,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.46,46.73
$GC,321,-1.54,-486.9,1840,1918,3060,4094,30.2,-10.2,40,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1918,3061,3061,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.43,46.37
$GC,367,-1.54,-486.9,1840,1918,3061,4094,35.0,-10.3,46,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1918,3061,3061,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.41,45.35
$GC,413,-1.54,-486.9,1840,1918,3062,4094,39.9,-10.5,52,422,0.00,1.33,0.00,0.000,260,0.000,0.043,1841,2418,3062,3062,4094,0,0,0,0,0,0,26.41,26.13,26.43,10.40,44.40
$GC,497,-1.54,-486.9,1840,2418,3064,4094,49.1,-10.6,64,507,0.00,1.30,0.00,0.000,1030,0.000,0.028,1841,1900,3064,3064,4095,0,0,0,0,0,0,26.25,26.21,26.27,10.39,44.29
$GC,543,-1.54,-486.9,1840,1900,3064,4095,54.0,-10.7,70,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,3065,3065,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.38,43.77
$GC,588,-1.54,-486.9,1841,1900,3066,4095,58.7,-10.7,76,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.38,44.25
$STATE,604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,604,begin apogee
$GC,609,-0.45,0.0,1841,2036,3066,4095,60.7,-10.9,78,645,3.72,0.00,28.05,1.282,10244,0.056,0.000,2185,2036,2484,2484,4094,0,0,0,0,0,0,26.23,25.37,24.43,10.38,43.50
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,648,1.54,486.9,2184,2036,2483,4094,63.0,0.0,82,693,6.78,0.00,27.88,1.259,11270,0.037,0.000,2813,2036,1916,1916,4094,0,0,0,0,0,0,25.58,25.75,23.96,10.25,43.30
$GC,730,1.54,486.9,2813,2036,1916,4094,57.8,9.7,92,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2037,1915,1915,4094,0,0,0,0,0,0,25.58,25.59,25.58,10.13,42.91
$GC,776,1.54,486.9,2813,2036,1915,4094,53.2,9.9,98,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1915,1915,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.12,42.79
$GC,822,1.54,486.9,2813,2036,1914,4094,48.6,10.2,104,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1913,1913,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.12,43.06
$GC,868,1.54,486.9,2813,2036,1913,4094,43.9,10.4,110,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1912,1912,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.12,43.42
$GC,914,1.54,486.9,2813,2036,1911,4094,39.1,10.5,116,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,1911,1911,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,44.25
$GC,960,1.54,486.9,2813,2036,1911,4094,34.5,10.1,122,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1911,1911,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.10,44.99
$GC,1006,1.54,486.9,2813,2036,1910,4094,29.9,10.0,128,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2036,1909,1909,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.10,44.44
$GC,1052,1.54,486.9,2813,2037,1908,4094,25.4,9.9,134,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1908,1908,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.09,45.03
$GC,1096,1.54,486.9,2813,2036,1907,4095,20.9,10.3,140,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2037,1907,1907,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,44.92
$GC,1140,1.54,486.9,2813,2036,1906,4094,16.5,9.8,146,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2037,1906,1906,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.14,45.66
$GC,1185,1.54,486.9,2813,2037,1905,4094,12.6,8.5,152,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2037,1905,1905,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.16,48.11
$GC,1231,1.67,575.5,2813,2036,1905,4094,9.0,7.3,158,1243,0.35,1.48,5.82,0.535,10756,0.040,0.057,2858,1485,1811,1811,4094,0,0,0,0,0,0,26.14,25.96,25.33,10.18,48.58
$GC,1285,1.76,639.8,2857,1484,1810,4094,5.1,7.6,165,1296,0.22,1.23,4.88,0.453,11270,0.033,0.026,2888,2006,1736,1736,4094,0,0,0,0,0,0,26.13,26.11,25.35,10.17,49.40
$STATE,1324,end climb,FINISH_DEPTH_REACHED
$STATE,1324,begin subsurface finish
$FINISH1,1.9,1.024000,112
$GC,1330,0.17,111.5,2887,2005,1736,4094,1.9,8.0,170,1349,5.30,0.00,-4.95,0.000,20486,0.057,0.000,2400,2009,2363,2363,4094,0,0,0,0,0,0,26.05,25.57,26.11,10.17,49.48
$FINISH2,0.5
$STATE,1350,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1350,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,085113
$TT8_MAMPS,0.026215,0.253162
$HUMID,49.80
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.96,10.516
$10V_AH,10.20,13.529
$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,34.775,8.325,66.625,0.000,0.000,49.280,43.789,247.171,0.000,0.000,53.852,486.287,44.786,158.501,1118.465,114.666,33.455,465.332,0.000,416.968,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,56.610,1282.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.381,467.201,369.875,548.265,718.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,17716,172
$CAP_FILE_SIZE,39675,0
$CFSIZE,1024409600,998342656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1193.16,0x2138dc,1,24
$GPS,030817,085840,5959.339,-17215.709,6,1.0,52,7.8,0.6,223.8,8,3.0