version: 66.13
glider: 401
mission: 22
dive: 455
start: 8 3 117 20 43 5
data:
$ID,401
$MISSION,22
$DIVE,455
$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,20
$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
$GPS1,030817,201700,6000.2930,-17227.5391,11,0.9,16,7.7,0.5,264.5,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.3
$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,-0.369960,-0.102968
$KALMAN_X,54884.316406,-2487.682617,-846.372070,-167117.000000,-189.406982
$KALMAN_Y,36523.015625,1106.489136,194.333618,45472.328125,15.984192
$MHEAD_RNG_PITCHd_Wd,246.7,16234,-7.8,-8.333,-12.24,10309
$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,-583.7,2397,1965,2360,4092,0.0,0.0,0,20,5.82,0.00,-4.43,0.000,20482,0.024,0.000,1833,1965,2842,2842,4095,0,0,0,0,0,0,26.09,28.83,26.12,10.30,51.06
$GC,23,-1.58,-583.7,1833,1965,2842,4095,0.1,0.0,1,33,0.00,1.08,-2.95,0.000,16644,0.000,1.281,1833,2351,3166,3166,4095,0,0,0,0,0,0,26.28,24.94,26.29,10.40,51.33
$GC,153,-1.58,-583.7,1832,2351,3169,4095,15.2,-12.0,20,162,0.00,1.02,-0.03,0.000,17414,0.000,0.030,1833,1944,3183,3183,4095,0,0,0,0,0,0,26.07,26.05,25.61,10.46,50.70
$GC,198,-1.58,-583.7,1832,1943,3183,4095,20.3,-11.3,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1943,3184,3184,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.44,50.31
$GC,242,-1.58,-583.7,1832,1943,3184,4094,24.7,-9.6,32,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3184,3184,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.41,49.37
$GC,287,-1.58,-583.7,1833,1944,3185,4094,28.8,-9.5,38,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3185,3185,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.40,48.85
$GC,331,-1.58,-583.7,1832,1943,3186,4095,33.1,-9.8,44,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3186,3186,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.39,47.44
$GC,375,-1.58,-583.7,1832,1943,3186,4094,37.6,-10.2,50,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3186,3186,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.38,47.00
$GC,420,-1.58,-583.7,1832,1943,3187,4094,42.2,-10.5,56,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3187,3187,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.38,46.61
$GC,464,-1.58,-583.7,1832,1944,3188,4095,46.8,-10.0,62,474,0.00,1.10,0.00,0.000,260,0.000,0.041,1833,2356,3188,3188,4095,0,0,0,0,0,0,26.40,26.13,26.41,10.37,46.33
$GC,518,-1.58,-583.7,1832,2356,3189,4095,52.5,-11.0,69,527,0.00,1.00,0.00,0.000,1030,0.000,0.028,1833,1960,3189,3189,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.37,45.98
$GC,563,-1.58,-583.7,1832,1960,3190,4094,57.7,-10.8,75,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1960,3190,3190,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.36,46.25
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,591,-0.45,0.0,1832,1960,3190,4094,60.6,-12.0,78,634,3.80,0.00,33.90,1.307,10244,0.054,0.000,2186,1959,2484,2484,4095,0,0,0,0,0,0,26.18,25.17,24.24,10.36,46.29
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,637,1.58,583.7,2185,1959,2484,4095,62.9,0.0,83,683,6.97,1.08,33.35,1.284,10500,0.036,0.041,2832,2355,1803,1803,4094,0,0,0,0,0,0,25.37,25.32,23.77,10.21,45.86
$GC,725,1.58,583.7,2831,2355,1803,4094,56.9,9.7,94,735,0.00,1.08,0.00,0.000,1030,0.000,0.028,2832,1944,1803,1803,4094,0,0,0,0,0,0,25.27,25.24,25.28,10.05,44.36
$GC,772,1.58,583.7,2831,1944,1802,4094,52.7,8.6,100,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1944,1802,1802,4095,0,0,0,0,0,0,25.67,25.68,25.67,10.05,44.68
$GC,817,1.58,583.7,2832,1944,1801,4095,48.3,9.4,106,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1944,1801,1801,4095,0,0,0,0,0,0,25.79,25.81,25.81,10.05,44.76
$GC,861,1.58,583.7,2832,1944,1800,4095,44.0,9.4,112,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1944,1800,1800,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.05,45.15
$GC,906,1.58,583.7,2832,1944,1799,4094,39.5,10.0,118,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1944,1798,1798,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.04,45.43
$GC,950,1.58,583.7,2832,1944,1797,4094,35.0,10.3,124,960,0.00,1.12,0.00,0.000,260,0.000,0.041,2832,2358,1797,1797,4094,0,0,0,0,0,0,26.04,25.76,26.05,10.04,45.35
$GC,1028,1.58,583.7,2832,2357,1796,4094,26.7,10.6,135,1038,0.00,1.05,0.00,0.000,1030,0.000,0.032,2832,1950,1796,1796,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.03,45.86
$GC,1074,1.58,583.7,2831,1949,1795,4094,22.1,9.8,141,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1950,1794,1794,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.03,45.94
$GC,1120,1.58,583.7,2832,1949,1794,4094,17.9,9.3,147,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1950,1793,1793,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.03,46.25
$GC,1165,1.62,609.3,2832,1949,1793,4094,14.2,8.1,153,1174,0.00,0.00,2.58,0.216,8198,0.000,0.000,2832,1950,1776,1776,4094,0,0,0,0,0,0,26.26,25.69,25.21,10.05,46.96
$GC,1212,1.71,668.7,2832,1949,1776,4094,10.6,7.7,159,1223,0.30,1.12,4.90,0.501,10500,0.038,0.041,2873,2360,1704,1704,4094,0,0,0,0,0,0,26.08,25.89,25.24,10.08,47.59
$GC,1271,1.71,668.7,2872,2359,1703,4094,5.7,8.4,167,1281,0.00,1.02,0.00,0.000,1030,0.000,0.031,2873,1957,1702,1702,4094,0,0,0,0,0,0,26.06,26.00,26.08,10.09,49.52
$STATE,1315,end climb,FINISH_DEPTH_REACHED
$STATE,1315,begin subsurface finish
$FINISH1,1.9,1.023963,114
$GC,1322,0.17,114.1,2873,1957,1701,4094,1.9,8.2,173,1340,5.12,0.00,-5.30,0.000,20486,0.051,0.000,2400,1957,2355,2355,4094,0,0,0,0,0,0,26.05,25.57,26.11,10.11,49.88
$FINISH2,0.5
$STATE,1341,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,030817,184435
$TT8_MAMPS,0.026215,0.202979
$HUMID,51.10
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.77,11.269
$10V_AH,10.23,14.420
$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,22.025,10.675,74.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,470.604,0.371,145.149,735.184,46.661,33.424,434.858,0.000,263.181,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1280.610,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.297,475.444,0.000,557.509,728.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,17802,175
$CAP_FILE_SIZE,33080,0
$CFSIZE,1024409600,997113856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,201700,6000.293,-17227.539,11,0.9,16,7.7,0.5,264.5,9,4.8