version: 66.13
glider: 401
mission: 22
dive: 417
start: 8 3 117 2 44 14
data:
$ID,401
$MISSION,22
$DIVE,417
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,030817,015343,5959.3379,-17211.7051,6,0.8,15,7.8,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.8
$GPS2,030817,015343,5959.3379,-17211.7051,6,0.8,15,7.8,0.0,0.0,11,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.339225,-0.114399
$KALMAN_X,51368.496094,-2571.526611,-837.111694,-148524.031250,260.026794
$KALMAN_Y,32245.332031,1718.986694,646.566589,46919.328125,155.842224
$MHEAD_RNG_PITCHd_Wd,243.6,30654,-8.8,-8.333,-13.10,8665
$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,-1.54,-487.5,2399,1893,2361,4092,0.0,0.0,0,28,5.68,0.00,-6.43,0.000,20486,0.026,0.000,1848,1893,3056,3056,4095,0,0,0,0,0,0,26.12,25.63,26.14,10.34,50.55
$GC,31,-1.54,-487.5,1847,1893,3056,4095,0.1,-0.9,2,40,0.00,1.42,0.00,0.000,260,0.000,0.043,1847,2422,3056,3056,4095,0,0,0,0,0,0,26.15,25.89,26.16,10.49,50.59
$GC,181,-1.54,-487.5,1846,2422,3060,4095,18.2,-12.3,24,191,0.00,1.30,0.00,0.000,1030,0.000,0.029,1847,1910,3060,3060,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.49,49.84
$GC,227,-1.54,-487.5,1846,1910,3061,4095,23.2,-10.7,30,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1910,3060,3060,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.48,50.27
$GC,271,-1.54,-487.5,1847,1910,3061,4095,27.5,-9.5,36,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1910,3061,3061,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.45,49.72
$GC,316,-1.54,-487.5,1847,1910,3062,4095,31.9,-9.8,42,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1910,3062,3062,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.43,48.03
$GC,360,-1.54,-487.5,1847,1910,3063,4095,36.1,-9.5,48,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1909,3064,3064,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.40,47.28
$GC,403,-1.54,-487.5,1847,1910,3064,4094,40.6,-10.4,54,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1910,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.39,46.49
$GC,447,-1.54,-487.5,1847,1910,3065,4094,45.0,-9.4,60,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1910,3064,3064,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.38,45.94
$GC,492,-1.54,-487.5,1846,1910,3065,4095,49.2,-9.3,66,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1910,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.38,45.82
$GC,536,-1.54,-487.5,1847,1910,3066,4095,53.9,-11.0,72,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1910,3066,3066,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.38,45.43
$GC,581,-1.54,-487.5,1847,1910,3067,4094,58.8,-11.0,78,590,0.00,1.35,0.00,0.000,260,0.000,0.044,1847,2415,3067,3067,4095,0,0,0,0,0,0,26.54,26.25,26.55,10.37,45.31
$STATE,598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,598,begin apogee
$GC,604,-0.45,0.0,1847,2014,3067,4094,60.8,-11.0,80,640,3.65,0.00,28.05,1.284,10244,0.056,0.000,2183,2014,2484,2484,4095,0,0,0,0,0,0,26.27,25.40,24.47,10.37,45.15
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,643,1.54,487.5,2183,2013,2484,4095,63.1,0.0,84,686,6.80,0.00,27.83,1.263,11270,0.036,0.000,2815,2013,1918,1918,4094,0,0,0,0,0,0,25.60,25.77,23.99,10.24,44.44
$GC,724,1.54,487.5,2814,2013,1918,4094,57.8,9.8,94,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2013,1917,1917,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.11,43.54
$GC,769,1.54,487.5,2814,2013,1917,4094,53.1,9.7,100,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2013,1916,1916,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.11,43.50
$GC,813,1.54,487.5,2814,2013,1916,4094,48.5,10.2,106,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2013,1915,1915,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.10,44.36
$GC,857,1.54,487.5,2815,2013,1915,4094,44.3,9.6,112,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2013,1915,1915,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.10,44.95
$GC,902,1.54,487.5,2815,2013,1913,4094,39.8,9.7,118,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2013,1914,1914,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,44.64
$GC,946,1.54,487.5,2815,2013,1913,4094,35.4,9.9,124,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2014,1913,1913,4095,0,0,0,0,0,0,26.10,26.12,26.12,10.09,44.95
$GC,991,1.54,487.5,2815,2013,1912,4095,30.9,9.6,130,1000,0.00,1.38,0.00,0.000,516,0.000,0.056,2815,1493,1911,1911,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.09,45.31
$GC,1023,1.57,510.5,2815,1493,1911,4094,28.3,8.1,134,1033,0.00,1.23,2.92,0.340,9222,0.000,0.027,2815,2020,1888,1888,4094,0,0,0,0,0,0,26.01,25.99,25.06,10.10,45.62
$GC,1070,1.57,510.5,2815,2020,1888,4094,24.4,8.9,140,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2020,1887,1887,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.10,45.82
$GC,1115,1.57,510.5,2815,2020,1887,4094,20.2,9.0,146,1124,0.00,1.40,0.00,0.000,516,0.000,0.059,2815,1493,1886,1886,4094,0,0,0,0,0,0,26.26,25.95,26.27,10.12,46.57
$GC,1168,1.57,510.5,2814,1493,1885,4094,15.8,8.5,153,1177,0.00,1.20,0.00,0.000,1030,0.000,0.027,2815,2012,1885,1885,4095,0,0,0,0,0,0,26.12,26.09,26.13,10.15,47.71
$GC,1213,1.76,639.8,2815,2011,1885,4095,12.3,6.8,159,1233,0.65,1.40,7.93,0.627,10500,0.031,0.047,2887,2530,1740,1740,4094,0,0,0,0,0,0,26.14,25.71,25.27,10.16,48.66
$GC,1282,1.77,643.8,2886,2530,1739,4094,6.9,8.3,168,1292,0.00,1.33,0.62,0.003,9222,0.000,0.028,2887,2010,1739,1739,4094,0,0,0,0,0,0,26.10,26.03,26.10,10.16,49.72
$GC,1328,1.77,643.8,2887,2009,1738,4094,2.8,9.0,174,1337,0.00,0.00,1.10,0.003,8198,0.000,0.000,2887,2010,1737,1737,4094,0,0,0,0,0,0,26.32,26.30,26.31,10.17,49.72
$STATE,1344,end climb,SURFACE_DEPTH_REACHED
$STATE,1344,begin surface coast
$FINISH,0.1,1.013049
$STATE,1366,end surface coast,CONTROL_FINISHED_OK
$STATE,1366,begin surface
$SM_CCo,1462,0.00,0.000,0,0,1736,643.09
$SM_GC,0.94,27.65,0.25,0.00,0.022,0.051,0.000,240,1868,1736,-6.55,1.23,643.09,0,0,0,0,0,0,26.13,26.15,26.17
$IRIDIUM_FIX,5955.74,-17228.01,030817,002427
$TT8_MAMPS,0.025466,0.238182
$HUMID,50.19
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.99,10.138
$10V_AH,10.24,13.048
$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,44.425,13.525,68.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,489.028,59.779,176.162,751.838,48.358,33.412,473.681,0.000,268.796,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,58.905,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.533,486.272,0.000,570.340,744.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330860
$DATA_FILE_SIZE,17846,179
$CAP_FILE_SIZE,36345,0
$CFSIZE,1024409600,998981632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,030931,5959.589,-17211.836,9,0.8,21,7.8,0.3,88.8,10,4.2