version: 66.13
glider: 401
mission: 22
dive: 454
start: 8 3 117 20 18 6
data:
$ID,401
$MISSION,22
$DIVE,454
$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,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,50
$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
$GPS1,030817,200755,6000.2764,-17227.3652,23,1.1,68,7.7,0.5,262.0,8,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-36.9
$GPS2,030817,201700,6000.2930,-17227.5391,11,0.9,16,7.7,0.5,264.5,9,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.374311,-0.083876
$KALMAN_X,54657.730469,-2552.300049,-914.385864,-166708.484375,-207.612305
$KALMAN_Y,36414.906250,1119.418579,196.138168,45568.000000,-15.682648
$MHEAD_RNG_PITCHd_Wd,249.7,16234,-7.8,-8.333,-12.26,10280
$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,-582.0,238,1897,1648,4092,0.0,0.0,0,21,10.52,0.00,0.00,0.000,2049,0.096,0.000,1124,1897,1648,1648,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.20,49.33
$GC,23,-1.58,-582.0,1123,1897,1648,4094,0.7,0.0,1,51,7.57,1.30,-14.10,0.000,18692,0.046,1.279,1827,2357,3168,3168,4094,0,0,0,0,0,0,25.89,24.78,25.95,10.21,49.92
$GC,154,-1.58,-582.0,1827,2358,3170,4094,12.3,-12.8,19,164,0.00,1.02,0.00,0.000,1030,0.000,0.028,1827,1950,3170,3170,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.52,49.40
$GC,201,-1.58,-582.0,1827,1949,3171,4095,18.3,-12.6,25,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3171,3171,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.49,48.11
$GC,247,-1.58,-582.0,1827,1949,3172,4094,23.3,-10.1,31,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3172,3172,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.45,47.24
$GC,293,-1.58,-582.0,1827,1949,3173,4095,28.0,-10.2,37,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3173,3173,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.44,46.85
$GC,339,-1.58,-582.0,1827,1949,3173,4094,32.7,-10.5,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3174,3174,4095,0,0,0,0,0,0,26.36,26.36,26.36,10.42,45.47
$GC,385,-1.58,-582.0,1827,1949,3175,4095,37.6,-10.7,49,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3174,3174,4095,0,0,0,0,0,0,26.38,26.40,26.39,10.41,44.72
$GC,431,-1.58,-582.0,1827,1949,3175,4095,42.6,-10.7,55,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3175,3175,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.40,44.40
$GC,477,-1.58,-582.0,1827,1949,3176,4094,47.7,-11.5,61,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3176,3176,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.40,44.21
$GC,524,-1.58,-582.0,1827,1949,3177,4095,52.9,-11.4,67,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3177,3177,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.38,44.21
$GC,570,-1.58,-582.0,1827,1949,3178,4094,58.5,-12.4,73,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3178,3178,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.38,44.21
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,591,-0.45,0.0,1827,1949,3179,4095,60.8,-11.7,75,635,3.85,0.00,33.30,1.311,10244,0.055,0.000,2183,1949,2484,2484,4094,0,0,0,0,0,0,26.20,24.96,24.26,10.38,44.13
$STATE,636,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,638,1.58,582.0,2183,1949,2484,4094,63.5,0.0,80,683,7.03,0.00,33.22,1.284,11270,0.038,0.000,2832,1949,1806,1806,4094,0,0,0,0,0,0,25.44,25.60,23.78,10.24,43.69
$GC,720,1.58,582.0,2831,1949,1805,4094,57.8,10.3,90,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1949,1805,1805,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.09,42.99
$GC,766,1.58,582.0,2831,1948,1804,4094,53.2,10.2,96,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1949,1803,1803,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.08,43.30
$GC,812,1.58,582.0,2831,1948,1803,4094,49.1,8.9,102,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1949,1802,1802,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.07,43.50
$GC,858,1.58,582.0,2831,1949,1802,4094,45.0,8.8,108,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1949,1801,1801,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.07,43.77
$GC,904,1.58,582.0,2831,1948,1801,4094,40.6,9.3,114,914,0.00,1.10,0.00,0.000,260,0.000,0.039,2831,2355,1801,1801,4094,0,0,0,0,0,0,25.98,25.72,25.99,10.07,44.09
$GC,976,1.58,582.0,2831,2355,1799,4094,33.6,9.9,124,985,0.00,1.02,0.00,0.000,1030,0.000,0.031,2832,1956,1799,1799,4094,0,0,0,0,0,0,25.87,25.85,25.87,10.06,44.76
$GC,1022,1.58,582.0,2831,1955,1798,4094,29.3,9.2,130,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1798,1798,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.05,45.27
$GC,1069,1.58,582.0,2831,1955,1797,4094,25.1,9.1,136,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1955,1797,1797,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.05,45.19
$GC,1112,1.58,582.0,2830,1955,1796,4094,20.8,9.5,142,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1795,1795,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.05,45.11
$GC,1157,1.58,582.0,2831,1955,1795,4094,16.7,8.8,148,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1795,1795,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.06,45.70
$GC,1201,1.79,720.4,2831,1955,1794,4094,13.5,7.0,154,1221,0.60,1.08,8.27,0.652,10500,0.031,0.038,2896,2356,1644,1644,4094,0,0,0,0,0,0,26.08,25.69,25.18,10.09,46.65
$GC,1276,1.82,741.4,2895,2356,1642,4094,7.7,8.1,164,1287,0.00,1.00,2.90,0.262,9222,0.000,0.033,2896,1966,1618,1618,4094,0,0,0,0,0,0,26.03,25.99,25.26,10.09,48.66
$GC,1325,1.90,795.6,2895,1966,1617,4094,4.0,7.8,170,1335,0.28,0.00,4.45,0.422,10246,0.044,0.000,2930,1965,1555,1555,4094,0,0,0,0,0,0,26.04,25.86,25.29,10.10,49.05
$STATE,1349,end climb,FINISH_DEPTH_REACHED
$STATE,1349,begin subsurface finish
$FINISH1,1.7,1.023994,112
$GC,1355,0.17,111.9,2930,1965,1554,4094,1.7,8.0,173,1373,5.75,0.00,-6.75,0.000,20486,0.050,0.000,2398,1965,2360,2360,4094,0,0,0,0,0,0,25.99,25.10,26.06,10.10,50.07
$FINISH2,0.3
$STATE,1374,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1374,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,030817,184435
$TT8_MAMPS,0.026215,0.261401
$HUMID,50.66
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.78,11.243
$10V_AH,10.17,14.392
$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,35.600,6.525,82.150,0.000,0.000,59.237,28.691,287.671,0.000,0.000,18.088,492.350,48.653,162.062,1117.822,118.843,33.453,472.055,0.000,424.089,0.000,0.542,0.000
$DEVICE_MAMPS,96.390,1279.080,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.552,475.407,376.384,556.958,726.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,17673,175
$CAP_FILE_SIZE,39227,0
$CFSIZE,1024409600,997163008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030817,201700,6000.293,-17227.539,11,0.9,16,7.7,0.5,264.5,9,4.8