version: 66.13
glider: 401
mission: 22
dive: 416
start: 8 3 117 2 19 32
data:
$ID,401
$MISSION,22
$DIVE,416
$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,45
$R_STBD_OVSHOOT,32
$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
$GPS1,030817,015343,5959.3379,-17211.7051,6,0.8,15,7.8,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.3
$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,-0.343555,-0.100445
$KALMAN_X,51038.625000,-2624.079346,-910.990234,-148066.843750,223.698669
$KALMAN_Y,32099.378906,1715.126587,653.003662,47062.472656,134.093384
$MHEAD_RNG_PITCHd_Wd,245.9,30654,-8.8,-8.333,-13.11,8662
$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,-1.54,-487.4,2396,1884,2352,4092,0.0,0.0,0,21,5.65,0.00,-5.35,0.000,20482,0.026,0.000,1848,1884,2938,2938,4095,0,0,0,0,0,0,26.13,28.83,26.14,10.35,49.68
$GC,23,-1.54,-487.4,1848,1883,2938,4095,0.0,0.0,1,32,0.00,1.52,-1.05,0.000,16644,0.000,1.274,1848,2428,3052,3052,4094,0,0,0,0,0,0,26.32,24.98,26.26,10.48,50.63
$GC,140,-1.54,-487.4,1848,2428,3055,4094,11.9,-13.2,18,148,0.00,1.30,0.00,0.000,1030,0.000,0.029,1848,1917,3056,3056,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.50,50.00
$GC,184,-1.54,-487.4,1848,1917,3057,4095,17.6,-12.8,24,193,0.00,1.45,0.00,0.000,516,0.000,0.057,1848,1364,3056,3056,4094,0,0,0,0,0,0,26.33,26.03,26.34,10.51,49.80
$GC,241,-1.54,-487.4,1847,1363,3058,4094,23.8,-10.3,32,250,0.00,1.27,0.00,0.000,1030,0.000,0.026,1848,1901,3058,3058,4095,0,0,0,0,0,0,26.17,26.15,26.19,10.48,48.58
$GC,287,-1.54,-487.4,1848,1902,3058,4095,28.2,-9.7,38,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1902,3058,3058,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.46,48.54
$GC,331,-1.54,-487.4,1848,1903,3059,4094,33.0,-10.7,44,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1904,3059,3059,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.44,48.46
$GC,375,-1.54,-487.4,1848,1904,3060,4095,37.4,-9.4,50,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3060,3060,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,46.73
$GC,420,-1.54,-487.4,1847,1905,3061,4095,41.4,-8.8,56,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3061,3061,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.40,46.14
$GC,464,-1.54,-487.4,1848,1905,3061,4095,45.5,-9.3,62,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.39,45.39
$GC,509,-1.54,-487.4,1848,1905,3062,4095,49.5,-9.1,68,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3062,3062,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.38,45.15
$GC,553,-1.54,-487.4,1848,1905,3063,4095,53.9,-10.3,74,562,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1905,3063,3063,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.38,44.72
$GC,597,-1.54,-487.4,1848,1905,3064,4095,58.4,-9.8,80,607,0.00,1.35,0.00,0.000,260,0.000,0.046,1848,2418,3064,3064,4095,0,0,0,0,0,0,26.55,26.26,26.55,10.38,44.76
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,621,-0.45,0.0,1848,2011,3064,4094,60.4,-10.0,82,657,3.65,0.00,27.95,1.274,10244,0.054,0.000,2185,2011,2483,2483,4094,0,0,0,0,0,0,26.27,25.41,24.50,10.38,44.64
$STATE,658,end apogee,CONTROL_FINISHED_OK
$STATE,658,begin climb
$GC,660,1.54,487.4,2185,2011,2484,4094,62.5,0.0,86,704,6.78,0.00,27.77,1.254,11270,0.037,0.000,2815,2012,1917,1917,4094,0,0,0,0,0,0,25.62,25.79,24.01,10.25,43.89
$GC,741,1.54,487.4,2814,2011,1917,4094,57.6,9.5,96,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2011,1917,1917,4095,0,0,0,0,0,0,25.59,25.60,25.60,10.12,43.58
$GC,787,1.54,487.4,2814,2011,1915,4095,52.9,10.2,102,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2011,1915,1915,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.12,43.34
$GC,833,1.54,487.4,2814,2011,1915,4094,48.5,9.5,108,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2012,1915,1915,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,43.66
$GC,879,1.54,487.4,2814,2011,1914,4094,43.9,10.1,114,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2011,1914,1914,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.11,44.05
$GC,925,1.54,487.4,2814,2011,1913,4094,39.4,9.5,120,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2012,1913,1913,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.10,44.68
$GC,970,1.54,487.4,2814,2011,1911,4094,34.9,10.0,126,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2011,1911,1911,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,44.44
$GC,1016,1.54,487.4,2814,2011,1911,4094,30.2,10.2,132,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2011,1911,1911,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.10,44.88
$GC,1062,1.54,487.4,2814,2011,1911,4094,25.7,9.5,138,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2012,1910,1910,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.11,45.51
$GC,1108,1.54,487.4,2814,2011,1909,4094,21.5,9.0,144,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2012,1908,1908,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.13,46.06
$GC,1152,1.54,487.4,2814,2011,1907,4094,17.1,9.9,150,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2012,1907,1907,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.15,47.44
$GC,1196,1.54,487.4,2814,2011,1908,4094,12.9,9.6,156,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2011,1907,1907,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,48.50
$GC,1240,1.54,487.4,2814,2011,1905,4094,8.8,8.9,162,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2011,1905,1905,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.20,48.85
$GC,1285,1.59,525.6,2814,2011,1905,4094,5.3,7.9,168,1295,0.10,0.00,3.40,0.327,10246,0.078,0.000,2833,2011,1869,1869,4094,0,0,0,0,0,0,26.19,25.84,25.44,10.20,49.64
$STATE,1331,end climb,FINISH_DEPTH_REACHED
$STATE,1331,begin subsurface finish
$FINISH1,1.6,1.024022,110
$GC,1337,0.16,110.0,2832,2011,1868,4094,1.6,8.1,174,1355,4.75,0.00,-4.32,0.000,20486,0.060,0.000,2399,2012,2361,2361,4094,0,0,0,0,0,0,26.12,25.66,26.19,10.20,49.64
$FINISH2,0.2
$STATE,1356,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1356,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,002427
$TT8_MAMPS,0.025466,0.244174
$HUMID,50.70
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.01,10.116
$10V_AH,10.20,13.020
$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,20.925,8.150,59.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,484.018,0.000,149.459,732.122,50.157,33.426,440.430,0.000,423.940,0.000,0.544,0.000
$DEVICE_MAMPS,78.030,1273.725,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.086,478.141,378.367,560.726,729.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330860
$DATA_FILE_SIZE,17886,176
$CAP_FILE_SIZE,33412,0
$CFSIZE,1024409600,999030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,015343,5959.338,-17211.705,6,0.8,15,7.8,0.0,0.0,11,4.9