version: 66.13
glider: 401
mission: 22
dive: 415
start: 8 3 117 1 54 54
data:
$ID,401
$MISSION,22
$DIVE,415
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,030817,014632,5959.3003,-17211.8008,10,0.8,29,7.8,0.4,48.6,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-40.8
$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,-0.347396,-0.088053
$KALMAN_X,50846.000000,-2735.749268,-1075.249878,-147599.156250,327.935791
$KALMAN_Y,31955.148438,1710.073120,667.185608,47185.808594,120.156311
$MHEAD_RNG_PITCHd_Wd,248.0,30654,-8.8,-8.333,-13.09,8689
$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,-1.53,-487.5,230,1868,1840,4092,0.0,0.0,0,20,11.32,0.00,0.00,0.000,2049,0.084,0.000,1207,1869,1840,1840,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.28,49.05
$GC,23,-1.53,-487.5,1206,1867,1840,4094,0.6,0.0,1,51,6.82,1.55,-11.20,0.000,18692,0.047,1.271,1842,2428,3055,3055,4095,0,0,0,0,0,0,25.92,24.85,25.99,10.28,49.44
$GC,191,-1.53,-487.5,1841,2428,3058,4095,17.5,-12.6,25,201,0.00,1.27,0.00,0.000,1030,0.000,0.027,1842,1925,3058,3058,4094,0,0,0,0,0,0,26.01,26.02,26.03,10.54,47.95
$GC,238,-1.53,-487.5,1841,1925,3059,4094,22.8,-11.4,31,248,0.00,1.45,0.00,0.000,516,0.000,0.054,1842,1369,3060,3060,4095,0,0,0,0,0,0,26.27,25.97,26.28,10.53,47.87
$GC,290,-1.53,-487.5,1841,1369,3060,4095,28.2,-10.0,38,299,0.00,1.25,0.00,0.000,1030,0.000,0.025,1842,1898,3060,3060,4094,0,0,0,0,0,0,26.12,26.10,26.13,10.51,46.57
$GC,336,-1.53,-487.5,1841,1900,3061,4094,32.7,-10.0,44,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1900,3061,3061,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.48,46.37
$GC,381,-1.53,-487.5,1841,1901,3062,4095,37.2,-9.2,50,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1901,3062,3062,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,45.58
$GC,425,-1.53,-487.5,1841,1902,3062,4095,41.3,-9.5,56,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1902,3062,3062,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.43,44.68
$GC,470,-1.53,-487.5,1841,1901,3062,4094,45.8,-10.3,62,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1902,3063,3063,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.43,44.36
$GC,515,-1.53,-487.5,1841,1902,3064,4094,50.4,-10.7,68,524,0.00,1.38,0.00,0.000,260,0.000,0.043,1842,2426,3064,3064,4095,0,0,0,0,0,0,26.46,26.16,26.47,10.41,43.42
$GC,568,-1.53,-487.5,1841,2425,3065,4095,55.8,-10.8,75,576,0.00,1.35,0.00,0.000,1030,0.000,0.030,1842,1890,3065,3065,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.40,43.30
$STATE,604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,604,begin apogee
$GC,609,-0.45,0.0,1841,2039,3066,4095,60.1,-10.9,80,644,3.72,0.00,28.02,1.274,10244,0.056,0.000,2185,2039,2484,2484,4094,0,0,0,0,0,0,26.21,25.36,24.44,10.39,43.14
$STATE,645,end apogee,CONTROL_FINISHED_OK
$STATE,645,begin climb
$GC,647,1.53,487.5,2185,2039,2484,4094,62.7,0.0,84,692,6.78,0.00,27.77,1.251,11270,0.037,0.000,2814,2039,1919,1919,4094,0,0,0,0,0,0,25.57,25.73,23.96,10.28,42.75
$GC,729,1.53,487.5,2814,2038,1918,4094,57.0,10.0,94,738,0.00,1.33,0.00,0.000,260,0.000,0.045,2814,2528,1917,1917,4094,0,0,0,0,0,0,25.57,25.30,25.58,10.14,42.43
$GC,795,1.53,487.5,2814,2527,1916,4094,50.0,10.9,103,805,0.00,1.30,0.00,0.000,1030,0.000,0.027,2814,2023,1916,1916,4094,0,0,0,0,0,0,25.61,25.58,25.63,10.13,43.14
$GC,841,1.53,487.5,2814,2023,1915,4094,45.2,10.4,109,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2023,1915,1915,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.13,43.26
$GC,885,1.53,487.5,2814,2023,1914,4094,40.7,10.1,115,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2023,1914,1914,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.12,43.89
$GC,930,1.53,487.5,2814,2022,1913,4094,36.3,9.8,121,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2023,1913,1913,4095,0,0,0,0,0,0,26.07,26.09,26.08,10.12,44.01
$GC,974,1.53,487.5,2813,2023,1912,4095,31.7,10.3,127,984,0.00,1.40,0.00,0.000,516,0.000,0.056,2814,1488,1912,1912,4094,0,0,0,0,0,0,26.13,25.85,26.15,10.11,44.13
$GC,1039,1.53,487.5,2813,1488,1911,4094,25.7,9.0,136,1048,0.00,1.20,0.00,0.000,1030,0.000,0.025,2814,1993,1911,1911,4094,0,0,0,0,0,0,25.98,26.03,26.03,10.12,44.05
$GC,1084,1.53,487.5,2814,1993,1910,4094,21.7,8.6,142,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1993,1910,1910,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.14,44.92
$GC,1129,1.53,487.5,2813,1992,1909,4094,17.9,8.5,148,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1993,1909,1909,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.17,45.98
$GC,1173,1.63,550.3,2814,1993,1908,4094,14.5,7.6,154,1183,0.22,0.00,4.72,0.505,10246,0.051,0.000,2842,1993,1841,1841,4094,0,0,0,0,0,0,26.10,25.89,25.27,10.18,47.44
$GC,1221,1.63,550.3,2841,1993,1841,4094,10.6,8.8,160,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1993,1840,1840,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,48.58
$GC,1265,1.63,550.3,2842,1993,1840,4094,6.6,8.5,166,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1993,1840,1840,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.19,49.01
$GC,1310,1.63,550.3,2842,1993,1838,4094,2.8,8.5,172,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1993,1838,1838,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.21,48.97
$STATE,1326,end climb,FINISH_DEPTH_REACHED
$STATE,1326,begin subsurface finish
$FINISH1,1.3,1.024013,111
$GC,1332,0.17,110.6,2842,1993,1838,4094,1.3,8.3,174,1351,4.78,0.00,-4.50,0.000,20486,0.053,0.000,2396,1997,2353,2353,4095,0,0,0,0,0,0,26.15,25.64,26.20,10.22,49.09
$FINISH2,0.2
$STATE,1352,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1352,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,002427
$TT8_MAMPS,0.025466,0.21721
$HUMID,49.48
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.96,10.095
$10V_AH,10.27,12.981
$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,33.650,13.775,60.525,0.000,0.000,25.639,22.156,262.816,0.000,0.000,16.816,484.349,0.000,150.058,1066.162,108.339,33.482,449.814,0.000,266.192,0.000,0.543,0.000
$DEVICE_MAMPS,84.150,1270.665,1274.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.365,478.195,0.000,560.868,734.195,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,17834,176
$CAP_FILE_SIZE,38225,0
$CFSIZE,1024409600,999079936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,015343,5959.338,-17211.705,6,0.8,15,7.8,0.0,0.0,11,4.9