version: 66.13
glider: 401
mission: 22
dive: 457
start: 8 3 117 21 45 23
data:
$ID,401
$MISSION,22
$DIVE,457
$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
$GPS1,030817,213230,6000.4204,-17230.5078,16,0.8,35,7.6,0.0,265.5,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-38.3
$GPS2,030817,214414,6000.4395,-17230.7266,14,0.8,18,7.6,0.4,340.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.351617,-0.153423
$KALMAN_X,53751.960938,-2830.931152,-1191.998779,-168259.843750,-231.808960
$KALMAN_Y,37089.039062,1084.550781,185.648743,45205.773438,40.757462
$MHEAD_RNG_PITCHd_Wd,238.8,13405,-7.8,-8.333,-12.26,10283
$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,-582.2,229,1940,1613,4092,0.0,0.0,0,20,11.32,0.00,0.00,0.000,2049,0.090,0.000,1192,1941,1613,1613,4094,0,0,0,0,0,0,26.14,28.83,28.83,10.21,48.74
$GC,23,-1.58,-582.2,1191,1941,1613,4094,0.8,0.0,1,50,6.88,1.17,-14.40,0.000,18692,0.049,1.276,1826,2359,3167,3167,4094,0,0,0,0,0,0,25.86,24.77,25.93,10.22,49.05
$GC,198,-1.58,-582.2,1826,2359,3170,4094,18.2,-12.2,26,207,0.00,1.05,0.00,0.000,1030,0.000,0.028,1827,1939,3170,3170,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.51,47.51
$GC,243,-1.58,-582.2,1826,1939,3171,4094,23.3,-10.9,32,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3171,3171,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.47,46.85
$GC,287,-1.58,-582.2,1826,1939,3171,4094,28.2,-11.0,38,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3172,3172,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.44,45.86
$GC,333,-1.58,-582.2,1826,1939,3173,4095,33.1,-10.8,44,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3173,3173,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.43,45.07
$GC,377,-1.58,-582.2,1826,1939,3173,4095,38.1,-10.7,50,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3173,3173,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.42,44.40
$GC,421,-1.58,-582.2,1826,1939,3174,4095,42.8,-10.7,56,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3174,3174,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.41,44.52
$GC,465,-1.58,-582.2,1826,1939,3175,4095,47.5,-10.4,62,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3175,3175,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,44.29
$GC,509,-1.58,-582.2,1826,1939,3176,4095,52.7,-10.8,68,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3176,3176,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.39,43.42
$GC,554,-1.58,-582.2,1826,1939,3177,4094,57.8,-11.6,74,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3177,3177,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.39,43.42
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,582,-0.45,0.0,1827,1939,3177,4094,60.5,-10.6,77,625,3.88,0.00,33.17,1.308,10244,0.054,0.000,2185,1940,2484,2484,4095,0,0,0,0,0,0,26.20,25.20,24.26,10.38,44.13
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,628,1.58,582.2,2185,1939,2484,4095,62.8,0.0,82,673,6.95,0.00,33.33,1.278,11270,0.035,0.000,2831,1939,1804,1804,4094,0,0,0,0,0,0,25.44,25.60,23.77,10.24,43.30
$GC,710,1.58,582.2,2831,1938,1804,4094,57.1,9.5,92,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1939,1804,1804,4095,0,0,0,0,0,0,25.44,25.46,25.45,10.09,42.43
$GC,755,1.58,582.2,2831,1939,1803,4095,52.5,9.9,98,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1939,1803,1803,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.09,43.22
$GC,799,1.58,582.2,2830,1938,1802,4094,47.9,10.0,104,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1939,1802,1802,4094,0,0,0,0,0,0,25.79,25.80,25.79,10.08,43.10
$GC,844,1.58,582.2,2830,1938,1801,4094,43.6,10.2,110,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1939,1800,1800,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.08,43.54
$GC,888,1.58,582.2,2831,1938,1800,4094,38.9,9.7,116,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,1800,1800,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.08,44.56
$GC,932,1.58,582.2,2831,1939,1799,4094,34.6,9.6,122,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1939,1799,1799,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.07,44.21
$GC,977,1.58,582.2,2830,1939,1797,4094,30.2,9.9,128,989,0.00,1.10,0.00,0.000,260,0.000,0.041,2831,2354,1797,1797,4094,0,0,0,0,0,0,26.10,25.82,26.11,10.06,44.21
$GC,1051,1.58,582.2,2831,2354,1795,4094,22.2,11.1,138,1060,0.00,1.00,0.00,0.000,1030,0.000,0.030,2831,1961,1795,1795,4094,0,0,0,0,0,0,25.95,25.96,25.98,10.05,44.60
$GC,1096,1.58,582.2,2831,1960,1795,4094,17.7,9.4,144,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1794,1794,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.07,45.74
$GC,1142,1.58,582.2,2830,1960,1794,4094,13.7,8.9,150,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1794,1794,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.09,45.58
$GC,1187,1.63,616.6,2830,1960,1792,4094,9.9,8.0,156,1196,0.00,0.00,3.12,0.316,8198,0.000,0.000,2831,1960,1763,1763,4094,0,0,0,0,0,0,26.29,25.72,25.27,10.12,47.20
$GC,1233,1.72,672.1,2830,1961,1762,4094,6.4,7.8,162,1244,0.32,0.00,4.53,0.448,10246,0.038,0.000,2875,1961,1699,1699,4094,0,0,0,0,0,0,26.10,25.89,25.30,10.12,48.22
$GC,1281,1.75,694.1,2874,1960,1698,4094,2.6,8.1,168,1290,0.00,0.00,2.92,0.252,8198,0.000,0.000,2875,1961,1674,1674,4094,0,0,0,0,0,0,26.29,25.75,25.35,10.13,48.77
$STATE,1298,end climb,FINISH_DEPTH_REACHED
$STATE,1298,begin subsurface finish
$FINISH1,1.0,1.023962,114
$GC,1304,0.17,114.2,2875,1960,1673,4094,1.0,7.7,170,1322,4.95,0.00,-5.97,0.000,20486,0.027,0.000,2396,1961,2350,2350,4094,0,0,0,0,0,0,26.06,25.56,26.11,10.14,49.92
$FINISH2,0.2
$STATE,1323,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1324,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,030817,213415
$TT8_MAMPS,0.025466,0.20223
$HUMID,50.82
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.77,11.347
$10V_AH,10.24,14.493
$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,34.300,4.325,77.075,0.000,0.000,76.958,61.922,327.324,0.000,0.000,20.639,465.937,89.397,155.519,1219.590,120.496,33.456,453.187,0.000,260.545,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1276.020,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.891,467.286,0.000,547.656,712.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,17872,172
$CAP_FILE_SIZE,40054,0
$CFSIZE,1024409600,997015552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,978.06,0x236162,1,24
$GPS,030817,214414,6000.439,-17230.727,14,0.8,18,7.6,0.4,340.0,10,4.9