version: 66.13
glider: 401
mission: 22
dive: 452
start: 8 3 117 19 16 56
data:
$ID,401
$MISSION,22
$DIVE,452
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,030817,185004,6000.3062,-17224.7129,7,0.8,32,7.7,0.3,265.6,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.1
$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,-0.372510,-0.092660
$KALMAN_X,55550.718750,-2259.955566,-604.297119,-165576.156250,-143.059631
$KALMAN_Y,36121.605469,1149.807129,215.160187,45834.761719,25.630966
$MHEAD_RNG_PITCHd_Wd,248.3,18819,-7.8,-8.333,-12.25,10298
$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,-1.58,-583.1,2397,1889,2355,4092,0.0,0.0,0,21,5.82,0.00,-5.22,0.000,20482,0.027,0.000,1836,1890,2921,2921,4095,0,0,0,0,0,0,26.10,28.83,26.12,10.31,51.65
$GC,24,-1.58,-583.1,1835,1889,2921,4095,0.1,0.0,1,34,0.00,1.15,-2.35,0.000,16644,0.000,1.272,1836,2316,3168,3168,4095,0,0,0,0,0,0,26.29,24.95,26.30,10.43,51.37
$GC,108,-1.58,-583.1,1835,2315,3170,4095,8.4,-12.3,13,118,0.00,1.05,0.00,0.000,1030,0.000,0.031,1836,1898,3169,3169,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.47,50.70
$GC,154,-1.58,-583.1,1835,1898,3170,4095,13.9,-11.9,19,163,0.00,1.10,0.00,0.000,516,0.000,0.054,1836,1474,3170,3170,4094,0,0,0,0,0,0,26.29,25.99,26.30,10.47,50.31
$GC,205,-1.58,-583.1,1835,1474,3172,4094,19.8,-11.3,26,214,0.00,0.98,0.00,0.000,1030,0.000,0.026,1836,1898,3172,3172,4095,0,0,0,0,0,0,26.18,26.12,26.15,10.44,49.68
$GC,252,-1.58,-583.1,1835,1899,3172,4095,24.8,-11.1,32,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1898,3173,3173,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.42,49.92
$GC,298,-1.58,-583.1,1835,1900,3173,4095,29.4,-9.9,38,308,0.00,1.05,0.00,0.000,260,0.000,0.041,1836,2311,3173,3173,4095,0,0,0,0,0,0,26.39,26.12,26.40,10.40,48.54
$GC,369,-1.58,-583.1,1835,2310,3175,4095,36.7,-10.2,48,379,0.00,1.05,0.00,0.000,1030,0.000,0.031,1836,1892,3175,3175,4095,0,0,0,0,0,0,26.22,26.18,26.24,10.38,47.36
$GC,416,-1.58,-583.1,1835,1892,3175,4095,41.4,-10.4,54,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1892,3175,3175,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,46.81
$GC,462,-1.58,-583.1,1835,1892,3176,4095,46.3,-10.5,60,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1892,3176,3176,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.37,46.33
$GC,506,-1.58,-583.1,1835,1892,3177,4095,51.2,-10.7,66,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1892,3177,3177,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.37,46.65
$GC,551,-1.58,-583.1,1835,1892,3178,4094,56.0,-11.0,72,560,0.00,1.10,0.00,0.000,260,0.000,0.039,1836,2312,3178,3178,4095,0,0,0,0,0,0,26.51,26.24,26.53,10.36,45.86
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1836,2011,3179,4095,60.3,-10.9,77,637,3.78,0.00,33.25,1.303,10244,0.052,0.000,2185,2011,2483,2483,4094,0,0,0,0,0,0,26.25,25.00,24.31,10.36,46.18
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,640,1.58,583.1,2185,2011,2483,4094,62.6,0.0,82,685,6.97,0.00,33.22,1.280,11270,0.036,0.000,2832,2011,1803,1803,4094,0,0,0,0,0,0,25.48,25.65,23.82,10.21,45.51
$GC,723,1.58,583.1,2831,2010,1803,4094,57.6,9.4,92,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2011,1802,1802,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.06,44.32
$GC,768,1.58,583.1,2832,2010,1802,4094,53.0,9.4,98,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2011,1802,1802,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.05,44.68
$GC,815,1.58,583.1,2831,2010,1801,4094,48.3,10.1,104,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2011,1801,1801,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.04,45.07
$GC,861,1.58,583.1,2832,2011,1800,4094,43.5,10.5,110,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2011,1799,1799,4094,0,0,0,0,0,0,25.91,25.92,25.91,10.05,45.19
$GC,907,1.58,583.1,2831,2010,1798,4094,38.7,10.5,116,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2012,1798,1798,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.04,45.27
$GC,950,1.58,583.1,2831,2011,1797,4094,34.1,10.4,122,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2011,1797,1797,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.04,45.90
$GC,994,1.58,583.1,2832,2010,1796,4094,29.3,10.7,128,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2011,1796,1796,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.04,46.57
$GC,1039,1.58,583.1,2831,2010,1795,4094,24.4,11.2,134,1047,0.00,1.12,0.00,0.000,260,0.000,0.047,2832,2423,1795,1795,4094,0,0,0,0,0,0,26.15,25.88,26.17,10.04,45.86
$GC,1090,1.58,583.1,2831,2422,1794,4094,19.0,9.9,141,1099,0.00,1.02,0.00,0.000,1030,0.000,0.028,2832,2019,1794,1794,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.04,45.98
$GC,1137,1.58,583.1,2831,2019,1793,4094,14.7,9.3,147,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2019,1793,1793,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.07,47.32
$GC,1183,1.58,583.1,2831,2019,1792,4094,10.7,8.6,153,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2019,1792,1792,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.08,48.58
$GC,1229,1.71,669.0,2831,2019,1791,4094,7.1,7.5,159,1239,0.30,0.00,5.55,0.516,10246,0.041,0.000,2873,2019,1702,1702,4094,0,0,0,0,0,0,26.10,25.89,25.29,10.11,49.17
$GC,1277,1.82,742.3,2872,2019,1701,4094,3.6,7.6,165,1287,0.25,0.00,5.38,0.476,10758,0.048,0.000,2901,2019,1617,1617,4095,0,0,0,0,0,0,26.06,25.87,25.31,10.10,49.37
$STATE,1295,end climb,FINISH_DEPTH_REACHED
$STATE,1295,begin subsurface finish
$FINISH1,1.9,1.023964,114
$GC,1301,0.17,114.0,2902,2018,1617,4094,1.9,7.9,167,1320,5.43,0.00,-5.82,0.000,20998,0.052,0.000,2401,2019,2355,2355,4094,0,0,0,0,0,0,25.99,25.51,26.06,10.10,49.64
$FINISH2,0.6
$STATE,1321,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1322,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,172113
$TT8_MAMPS,0.026215,0.249417
$HUMID,50.55
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.82,11.169
$10V_AH,10.16,14.317
$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,22.550,10.675,77.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,471.160,0.139,149.877,706.356,51.001,33.421,439.774,0.000,408.553,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1272.195,1302.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.576,459.071,363.506,538.344,702.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17814,169
$CAP_FILE_SIZE,33556,0
$CFSIZE,1024409600,997261312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,185004,6000.306,-17224.713,7,0.8,32,7.7,0.3,265.6,10,4.9