version: 66.13
glider: 401
mission: 22
dive: 451
start: 8 3 117 18 51 10
data:
$ID,401
$MISSION,22
$DIVE,451
$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,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,37
$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
$GPS1,030817,184248,6000.3018,-17224.5918,9,0.7,18,7.7,0.5,270.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.0
$GPS2,030817,185004,6000.3062,-17224.7129,7,0.8,32,7.7,0.3,265.6,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.378206,-0.068446
$KALMAN_X,55322.671875,-2342.292236,-676.667358,-165150.625000,-142.048279
$KALMAN_Y,36021.875000,1165.177856,220.582123,45913.117188,-10.112808
$MHEAD_RNG_PITCHd_Wd,252.0,18819,-7.8,-8.333,-12.23,10331
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.58,-585.0,230,1898,1662,4092,0.0,0.0,0,21,10.50,0.00,0.00,0.000,2049,0.096,0.000,1117,1898,1663,1663,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.20,49.68
$GC,23,-1.58,-585.0,1117,1898,1663,4094,0.8,0.0,1,49,7.68,0.00,-13.85,0.000,18694,0.049,0.000,1826,1898,3171,3171,4095,0,0,0,0,0,0,25.91,25.04,25.98,10.20,49.56
$GC,85,-1.58,-585.0,1825,1898,3172,4095,3.7,-11.3,9,94,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1898,3172,3172,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.53,49.76
$GC,129,-1.58,-585.0,1825,1897,3173,4095,9.7,-13.8,15,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1898,3173,3173,4095,0,0,0,0,0,0,26.22,26.24,26.24,10.52,49.17
$GC,173,-1.58,-585.0,1825,1898,3174,4095,15.3,-12.4,21,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1898,3174,3174,4095,0,0,0,0,0,0,26.26,26.28,26.27,10.50,48.42
$GC,217,-1.58,-585.0,1825,1898,3175,4095,19.7,-9.1,27,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1898,3175,3175,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.49,48.38
$GC,262,-1.58,-585.0,1825,1898,3175,4094,23.3,-8.3,33,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1898,3175,3175,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.47,47.44
$GC,307,-1.58,-585.0,1825,1897,3176,4094,27.7,-9.7,39,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1898,3177,3177,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.45,47.28
$GC,352,-1.58,-585.0,1825,1898,3177,4095,31.9,-9.4,45,361,0.00,1.10,0.00,0.000,260,0.000,0.040,1826,2317,3177,3177,4095,0,0,0,0,0,0,26.39,26.11,26.40,10.42,45.98
$GC,430,-1.58,-585.0,1825,2316,3178,4095,39.8,-10.4,56,439,0.00,1.05,0.00,0.000,1030,0.000,0.029,1826,1895,3178,3178,4095,0,0,0,0,0,0,26.23,26.19,26.24,10.40,44.95
$GC,475,-1.58,-585.0,1825,1894,3179,4095,44.6,-10.8,62,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1895,3180,3180,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.40,44.64
$GC,520,-1.58,-585.0,1825,1895,3180,4095,49.5,-10.7,68,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1895,3180,3180,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.39,44.80
$GC,564,-1.58,-585.0,1825,1894,3181,4094,54.5,-11.3,74,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1895,3181,3181,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,44.09
$GC,608,-1.58,-585.0,1826,1894,3182,4095,59.3,-11.2,80,617,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1894,3182,3182,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.38,44.17
$STATE,624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,624,begin apogee
$GC,630,-0.45,0.0,1826,2044,3182,4095,61.6,-12.0,82,674,3.88,0.00,33.45,1.320,10244,0.054,0.000,2184,2044,2484,2484,4094,0,0,0,0,0,0,26.25,24.98,24.28,10.38,44.48
$STATE,675,end apogee,CONTROL_FINISHED_OK
$STATE,675,begin climb
$GC,677,1.58,585.0,2184,2044,2484,4094,64.3,0.0,87,722,6.97,1.20,33.45,1.294,10756,0.037,0.048,2830,1596,1802,1802,4094,0,0,0,0,0,0,25.42,25.37,23.78,10.24,44.09
$GC,975,1.58,585.0,2829,1595,1796,4094,37.5,10.0,130,984,0.00,0.95,0.00,0.000,1030,0.000,0.025,2830,1999,1796,1796,4094,0,0,0,0,0,0,25.85,25.85,25.86,10.06,45.11
$GC,1021,1.58,585.0,2828,1999,1795,4094,33.1,10.0,136,1030,0.00,1.15,0.00,0.000,260,0.000,0.047,2829,2430,1795,1795,4094,0,0,0,0,0,0,26.10,25.82,26.11,10.06,45.86
$GC,1283,1.58,585.0,2829,2430,1790,4094,9.5,8.6,175,1292,0.00,1.02,0.00,0.000,1030,0.000,0.028,2830,2021,1789,1789,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.10,48.58
$GC,1330,1.74,691.5,2829,2021,1789,4094,6.0,7.3,181,1340,0.43,0.00,6.57,0.545,10246,0.034,0.000,2881,2020,1676,1676,4094,0,0,0,0,0,0,26.17,25.93,25.34,10.12,49.48
$GC,1378,1.84,755.0,2880,2020,1676,4094,2.4,7.7,187,1388,0.25,0.00,4.93,0.442,10246,0.050,0.000,2910,2021,1602,1602,4094,0,0,0,0,0,0,26.08,25.91,25.36,10.11,50.00
$STATE,1396,end climb,FINISH_DEPTH_REACHED
$STATE,1396,begin subsurface finish
$FINISH1,0.7,1.023997,112
$GC,1402,0.17,111.7,2910,2020,1601,4094,0.7,7.7,189,1421,5.30,0.00,-6.65,0.000,20486,0.026,0.000,2397,2021,2356,2356,4095,0,0,0,0,0,0,26.06,25.56,26.11,10.11,50.19
$FINISH2,0.2
$STATE,1421,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1422,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,172113
$TT8_MAMPS,0.025466,0.216461
$HUMID,51.57
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.78,11.143
$10V_AH,10.24,14.279
$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,35.000,6.750,78.400,0.000,0.000,26.413,24.202,248.749,0.000,0.000,33.854,509.007,0.000,135.470,1126.324,107.029,33.454,419.285,0.000,287.402,0.000,0.542,0.000
$DEVICE_MAMPS,95.625,48.195,1319.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.922,518.890,0.000,608.688,794.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,17804,191
$CAP_FILE_SIZE,35051,0
$CFSIZE,1024409600,997310464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,185004,6000.306,-17224.713,7,0.8,32,7.7,0.3,265.6,10,4.9