version: 66.13
glider: 401
mission: 22
dive: 418
start: 8 3 117 3 17 58
data:
$ID,401
$MISSION,22
$DIVE,418
$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,56
$R_STBD_OVSHOOT,48
$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
$GPS1,030817,030931,5959.5894,-17211.8359,9,0.8,21,7.8,0.3,88.8,10,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-40.7
$GPS2,030817,031649,5959.5977,-17211.7227,6,0.8,15,7.8,0.0,0.0,11,5.0
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.356245,-0.029666
$KALMAN_X,51772.179688,-2551.027588,-803.419373,-148996.734375,318.370605
$KALMAN_Y,32769.179688,1760.891479,683.758118,46790.257812,32.192688
$MHEAD_RNG_PITCHd_Wd,257.4,30660,-8.9,-8.333,-13.12,8635
$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,-485.8,239,1868,1736,4092,0.0,0.0,0,21,11.30,0.00,0.00,0.000,2049,0.095,0.000,1195,1868,1736,1736,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.25,49.17
$GC,23,-1.53,-485.8,1194,1868,1736,4094,0.7,0.0,1,51,7.00,1.50,-12.10,0.000,18692,0.052,1.271,1842,2410,3055,3055,4094,0,0,0,0,0,0,25.92,24.84,25.98,10.27,48.89
$GC,159,-1.53,-485.8,1842,2410,3057,4094,12.7,-13.4,20,169,0.00,1.23,0.00,0.000,1030,0.000,0.028,1842,1925,3057,3057,4094,0,0,0,0,0,0,26.02,25.96,26.01,10.54,48.26
$GC,205,-1.53,-485.8,1842,1925,3058,4094,18.3,-12.0,26,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3058,3058,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.54,48.14
$GC,249,-1.53,-485.8,1842,1925,3059,4094,23.3,-10.6,32,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1925,3059,3059,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.53,47.51
$GC,295,-1.53,-485.8,1842,1925,3059,4095,27.7,-9.7,38,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1925,3060,3060,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.50,46.88
$GC,341,-1.53,-485.8,1842,1925,3060,4094,32.0,-9.4,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1925,3061,3061,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.47,46.73
$GC,387,-1.53,-485.8,1842,1925,3061,4094,36.1,-9.0,50,396,0.00,1.45,0.00,0.000,516,0.000,0.056,1842,1368,3062,3062,4095,0,0,0,0,0,0,26.39,26.08,26.40,10.45,46.18
$GC,438,-1.53,-485.8,1842,1368,3062,4095,41.4,-10.3,57,448,0.00,1.23,0.00,0.000,1030,0.000,0.025,1842,1892,3062,3062,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.43,44.68
$GC,484,-1.53,-485.8,1842,1892,3063,4095,45.8,-9.3,63,494,0.00,1.35,0.00,0.000,260,0.000,0.041,1842,2418,3062,3062,4095,0,0,0,0,0,0,26.45,26.17,26.46,10.41,44.13
$GC,536,-1.53,-485.8,1842,2418,3064,4095,51.6,-12.0,70,546,0.00,1.27,0.00,0.000,1030,0.000,0.029,1842,1910,3064,3064,4095,0,0,0,0,0,0,26.25,26.22,26.31,10.40,44.05
$GC,583,-1.53,-485.8,1842,1910,3065,4095,56.8,-11.6,76,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1910,3065,3065,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.39,43.58
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,618,-0.45,0.0,1842,2040,3066,4094,60.3,-10.5,80,653,3.67,0.00,28.00,1.272,10244,0.054,0.000,2186,2041,2483,2483,4094,0,0,0,0,0,0,26.22,25.37,24.45,10.39,43.58
$STATE,654,end apogee,CONTROL_FINISHED_OK
$STATE,654,begin climb
$GC,656,1.53,485.8,2186,2040,2484,4094,62.2,0.0,84,701,6.75,0.00,27.75,1.247,11270,0.035,0.000,2815,2041,1918,1918,4094,0,0,0,0,0,0,25.58,25.75,23.98,10.28,43.10
$GC,738,1.53,485.8,2814,2041,1918,4094,56.0,11.2,94,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1917,1917,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.14,42.20
$GC,785,1.53,485.8,2814,2041,1917,4094,50.8,10.9,100,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1916,1916,4094,0,0,0,0,0,0,25.77,25.77,25.77,10.14,42.32
$GC,831,1.53,485.8,2814,2041,1915,4094,46.0,10.6,106,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1914,1914,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.13,42.95
$GC,874,1.53,485.8,2814,2040,1915,4094,41.2,10.4,112,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1914,1914,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.13,43.26
$GC,918,1.53,485.8,2814,2040,1913,4094,36.8,10.3,118,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1913,1913,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.12,44.25
$GC,963,1.53,485.8,2815,2041,1912,4094,32.4,9.2,124,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1912,1912,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.11,43.81
$GC,1006,1.53,485.8,2816,2040,1911,4094,28.5,8.8,130,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1911,1911,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,44.09
$GC,1051,1.53,485.8,2814,2040,1911,4094,24.1,9.8,136,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2041,1911,1911,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,44.60
$GC,1095,1.53,485.8,2814,2041,1909,4094,19.7,9.9,142,1105,0.00,1.48,0.00,0.000,516,0.000,0.054,2815,1488,1909,1909,4094,0,0,0,0,0,0,26.25,25.96,26.27,10.16,46.25
$GC,1160,1.53,485.8,2814,1487,1908,4094,13.4,9.8,151,1169,0.00,1.17,0.00,0.000,1030,0.000,0.027,2815,1989,1908,1908,4095,0,0,0,0,0,0,26.10,26.09,26.13,10.19,48.46
$GC,1205,1.53,485.8,2814,1988,1907,4095,9.4,8.7,157,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1989,1907,1907,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.20,48.22
$GC,1250,1.61,537.1,2815,1989,1906,4095,5.9,7.7,163,1260,0.15,0.00,4.03,0.394,10246,0.060,0.000,2837,1989,1856,1856,4094,0,0,0,0,0,0,26.16,25.81,25.41,10.21,48.89
$GC,1298,1.67,575.7,2836,1989,1854,4094,2.2,7.9,169,1308,0.12,0.00,3.67,0.340,10246,0.067,0.000,2860,1989,1811,1811,4094,0,0,0,0,0,0,26.17,25.82,25.44,10.22,49.44
$STATE,1316,end climb,FINISH_DEPTH_REACHED
$STATE,1316,begin subsurface finish
$FINISH1,0.5,1.024015,110
$GC,1322,0.17,110.5,2860,1991,1811,4095,0.5,8.0,171,1340,4.85,0.00,-4.72,0.000,20742,0.038,0.000,2399,1994,2358,2358,4094,0,0,0,0,0,0,26.10,25.61,26.16,10.21,49.60
$FINISH2,0.4
$STATE,1341,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,030817,014817
$TT8_MAMPS,0.025466,0.23968
$HUMID,49.92
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.98,10.178
$10V_AH,10.22,13.092
$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,33.850,10.900,63.450,0.000,0.000,24.021,20.001,275.766,0.000,0.000,17.062,482.425,0.000,154.120,1057.299,109.640,33.456,455.221,0.000,418.858,0.000,0.542,0.000
$DEVICE_MAMPS,94.860,1270.665,1272.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.716,470.050,371.899,551.144,720.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,17893,173
$CAP_FILE_SIZE,38505,0
$CFSIZE,1024409600,998932480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,031649,5959.598,-17211.723,6,0.8,15,7.8,0.0,0.0,11,5.0