version: 66.13
glider: 401
mission: 22
dive: 433
start: 8 3 117 10 22 2
data:
$ID,401
$MISSION,22
$DIVE,433
$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,44
$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
$GPS1,030817,101358,5959.5522,-17217.5410,9,0.8,13,7.7,0.0,18.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-41.8
$GPS2,030817,102052,5959.5591,-17217.5840,6,0.8,15,7.7,0.5,9.0,10,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.354791,-0.041943
$KALMAN_X,53252.597656,-2341.998535,-709.745728,-156305.578125,-79.614441
$KALMAN_Y,33201.308594,1291.212891,178.300064,47263.000000,23.219833
$MHEAD_RNG_PITCHd_Wd,255.6,25235,-8.9,-8.333,-13.13,8622
$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,-485.1,230,1921,1818,4092,0.0,0.0,0,21,11.18,0.00,0.00,0.000,2049,0.101,0.000,1162,1919,1818,1818,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.24,49.72
$GC,23,-1.53,-485.1,1162,1920,1818,4094,0.9,0.0,1,50,7.30,0.00,-11.35,0.000,18694,0.047,0.000,1840,1920,3048,3048,4095,0,0,0,0,0,0,25.91,25.46,25.98,10.24,50.19
$GC,86,-1.53,-485.1,1839,1920,3049,4095,3.7,-10.9,9,95,0.00,1.33,0.00,0.000,260,0.000,0.044,1840,2416,3049,3049,4095,0,0,0,0,0,0,26.10,25.82,26.11,10.51,49.44
$GC,143,-1.53,-485.1,1839,2416,3050,4095,11.4,-13.7,17,152,0.00,1.33,0.00,0.000,1030,0.000,0.028,1840,1897,3051,3051,4094,0,0,0,0,0,0,25.97,25.92,26.00,10.51,48.50
$GC,189,-1.53,-485.1,1839,1897,3052,4094,16.7,-12.0,23,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1897,3052,3052,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.50,48.89
$GC,234,-1.53,-485.1,1839,1897,3052,4094,21.9,-11.3,29,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1897,3052,3052,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.47,47.67
$GC,278,-1.53,-485.1,1839,1897,3053,4094,26.4,-9.9,35,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1897,3053,3053,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.44,47.87
$GC,323,-1.53,-485.1,1839,1897,3054,4094,30.7,-9.8,41,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1897,3054,3054,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.41,46.41
$GC,367,-1.53,-485.1,1839,1897,3055,4095,35.3,-10.4,47,377,0.00,1.40,0.00,0.000,260,0.000,0.042,1840,2420,3055,3055,4094,0,0,0,0,0,0,26.36,26.10,26.38,10.40,45.66
$GC,412,-1.53,-485.1,1839,2420,3055,4094,40.1,-10.7,53,422,0.00,1.30,0.00,0.000,1030,0.000,0.029,1840,1904,3055,3055,4095,0,0,0,0,0,0,26.18,26.14,26.20,10.39,45.31
$GC,458,-1.53,-485.1,1839,1904,3057,4095,45.1,-11.1,59,467,0.00,1.40,0.00,0.000,516,0.000,0.056,1840,1366,3057,3057,4094,0,0,0,0,0,0,26.42,26.13,26.44,10.38,45.23
$GC,510,-1.53,-485.1,1840,1366,3057,4094,51.0,-11.3,66,519,0.00,1.25,0.00,0.000,1030,0.000,0.026,1840,1895,3058,3058,4095,0,0,0,0,0,0,26.26,26.21,26.27,10.38,45.03
$GC,557,-1.53,-485.1,1839,1894,3058,4095,56.0,-11.1,72,565,0.00,1.38,0.00,0.000,260,0.000,0.044,1840,2419,3059,3059,4094,0,0,0,0,0,0,26.47,26.18,26.48,10.38,44.29
$STATE,593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,593,begin apogee
$GC,599,-0.45,0.0,1840,2014,3060,4094,60.3,-10.9,77,635,3.75,0.00,27.77,1.283,10244,0.055,0.000,2186,2014,2484,2484,4094,0,0,0,0,0,0,26.20,25.35,24.41,10.37,44.09
$STATE,636,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,638,1.53,485.1,2186,2014,2484,4094,62.7,0.0,81,682,6.78,0.00,27.70,1.261,11270,0.037,0.000,2814,2014,1920,1920,4094,0,0,0,0,0,0,25.56,25.73,23.92,10.24,43.97
$GC,720,1.53,485.1,2813,2014,1919,4094,57.4,9.2,91,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1919,1919,4095,0,0,0,0,0,0,25.56,25.58,25.57,10.12,43.18
$GC,764,1.53,485.1,2813,2014,1919,4095,52.7,9.8,97,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1918,1918,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.11,43.42
$GC,808,1.53,485.1,2813,2014,1918,4094,48.3,9.8,103,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1917,1917,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.11,43.62
$GC,853,1.53,485.1,2813,2014,1917,4094,43.7,10.3,109,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1917,1917,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.10,44.44
$GC,898,1.53,485.1,2813,2014,1915,4094,39.3,10.2,115,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1916,1916,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.10,44.36
$GC,941,1.53,485.1,2813,2014,1914,4094,34.8,10.3,121,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1914,1914,4094,0,0,0,0,0,0,26.10,26.10,26.10,10.09,44.25
$GC,986,1.53,485.1,2813,2014,1913,4094,30.1,10.6,127,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1913,1913,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.09,44.56
$GC,1030,1.53,485.1,2813,2014,1912,4094,25.4,10.7,133,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1912,1912,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.09,44.80
$GC,1074,1.53,485.1,2813,2014,1910,4094,21.1,9.5,139,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1911,1911,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.09,45.70
$GC,1119,1.53,485.1,2813,2014,1911,4094,17.1,8.6,145,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2014,1910,1910,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.11,46.37
$GC,1163,1.56,499.9,2813,2014,1910,4094,13.5,8.2,151,1173,0.00,1.42,2.35,0.149,8452,0.000,0.046,2814,2539,1899,1899,4094,0,0,0,0,0,0,26.31,25.75,25.28,10.14,46.85
$GC,1203,1.57,510.8,2813,2539,1898,4094,10.3,8.2,156,1212,0.00,1.33,2.33,0.136,9222,0.000,0.028,2814,2019,1888,1888,4094,0,0,0,0,0,0,26.10,26.08,25.32,10.17,47.95
$GC,1248,1.72,607.2,2813,2018,1887,4094,7.0,7.2,162,1259,0.50,0.00,6.57,0.547,10246,0.032,0.000,2874,2018,1774,1774,4094,0,0,0,0,0,0,26.15,25.91,25.32,10.17,49.13
$GC,1296,1.72,607.2,2873,2018,1773,4094,3.1,8.7,168,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2018,1773,1773,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.16,50.07
$STATE,1313,end climb,FINISH_DEPTH_REACHED
$STATE,1313,begin subsurface finish
$FINISH1,1.3,1.024033,109
$GC,1319,0.16,109.2,2873,2018,1773,4094,1.3,8.8,170,1338,5.07,1.45,-5.22,0.000,20996,0.043,1.297,2394,1488,2360,2360,4094,0,0,0,0,0,0,26.10,24.95,26.15,10.17,49.44
$FINISH2,0.1
$STATE,1339,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1339,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,085247
$TT8_MAMPS,0.025466,0.204477
$HUMID,50.23
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.92,10.599
$10V_AH,10.25,13.627
$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,34.575,14.600,66.725,0.000,0.000,23.988,19.086,251.244,0.000,0.000,16.852,475.376,0.000,161.341,1030.131,111.165,33.454,471.838,0.000,260.571,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1296.675,1282.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.509,467.282,0.000,547.673,714.999,0.000,0.000,0.000,0.000,0.000
$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,14293,172
$CAP_FILE_SIZE,40389,0
$CFSIZE,1024409600,998211584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,102052,5959.559,-17217.584,6,0.8,15,7.7,0.5,9.0,10,4.9