version: 66.13
glider: 401
mission: 22
dive: 426
start: 8 3 117 7 1 49
data:
$ID,401
$MISSION,22
$DIVE,426
$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,27
$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
$GPS1,030817,061000,5959.4233,-17212.3359,6,0.8,20,7.8,0.4,182.2,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.9
$GPS2,030817,061000,5959.4233,-17212.3359,6,0.8,20,7.8,0.4,182.2,11,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.357525,0.023356
$KALMAN_X,53997.097656,-2055.882812,-308.956940,-152795.812500,208.314728
$KALMAN_Y,32912.593750,1506.322632,340.180908,46929.539062,-47.365295
$MHEAD_RNG_PITCHd_Wd,265.9,30076,-8.8,-8.333,-13.09,8683
$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,8,-1.53,-487.5,2395,1897,2361,4092,0.0,0.0,0,21,5.62,0.00,-4.82,0.000,20482,0.024,0.000,1848,1897,2886,2886,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.32,51.06
$GC,24,-1.53,-487.5,1847,1897,2887,4094,0.1,0.0,1,33,0.00,1.42,-1.55,0.000,16644,0.000,1.272,1848,2410,3056,3056,4093,0,0,0,0,0,0,26.33,24.98,26.32,10.44,50.63
$GC,194,-1.53,-487.5,1847,2410,3060,4093,18.1,-10.0,26,204,0.00,1.27,0.00,0.000,1030,0.000,0.030,1848,1906,3060,3060,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.47,49.92
$GC,240,-1.53,-487.5,1847,1906,3060,4095,22.8,-10.3,32,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3061,3061,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.45,50.03
$GC,285,-1.53,-487.5,1847,1906,3061,4094,27.5,-10.8,38,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1907,3061,3061,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.43,49.29
$GC,330,-1.53,-487.5,1847,1906,3062,4094,32.6,-10.7,44,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3062,3062,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.41,47.83
$GC,374,-1.53,-487.5,1847,1906,3063,4095,36.9,-9.5,50,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3063,3063,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.39,47.59
$GC,418,-1.53,-487.5,1847,1906,3064,4094,41.4,-10.3,56,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1906,3064,3064,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.38,47.12
$GC,463,-1.53,-487.5,1847,1906,3064,4094,45.9,-10.3,62,472,0.00,1.35,0.00,0.000,260,0.000,0.041,1848,2415,3065,3065,4094,0,0,0,0,0,0,26.50,26.20,26.51,10.38,46.14
$GC,525,-1.53,-487.5,1847,2415,3066,4094,52.0,-10.1,70,534,0.00,1.30,0.00,0.000,1030,0.000,0.029,1848,1897,3066,3066,4095,0,0,0,0,0,0,26.31,26.28,26.32,10.37,45.58
$GC,571,-1.53,-487.5,1847,1897,3066,4095,57.0,-11.1,76,580,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1897,3067,3067,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.36,45.51
$STATE,601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,601,begin apogee
$GC,606,-0.45,0.0,1847,2032,3067,4095,60.4,-10.3,80,641,3.62,0.00,28.02,1.279,10244,0.056,0.000,2184,2033,2484,2484,4094,0,0,0,0,0,0,26.27,25.41,24.49,10.36,45.94
$STATE,642,end apogee,CONTROL_FINISHED_OK
$STATE,643,begin climb
$GC,645,1.53,487.5,2185,2033,2484,4094,62.6,0.0,84,689,6.75,0.00,27.77,1.258,11270,0.037,0.000,2813,2033,1917,1917,4095,0,0,0,0,0,0,25.62,25.78,23.99,10.23,45.35
$GC,727,1.53,487.5,2813,2032,1917,4095,57.4,9.7,94,735,0.00,1.33,0.00,0.000,260,0.000,0.047,2813,2517,1916,1916,4095,0,0,0,0,0,0,25.59,25.32,25.60,10.11,44.40
$GC,778,1.53,487.5,2812,2517,1915,4095,51.7,10.1,101,787,0.00,1.30,0.00,0.000,1030,0.000,0.028,2813,2017,1916,1916,4094,0,0,0,0,0,0,25.58,25.53,25.60,10.10,44.09
$GC,823,1.53,487.5,2812,2016,1915,4094,47.4,10.2,107,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2016,1914,1914,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.09,44.36
$GC,867,1.53,487.5,2812,2016,1914,4094,43.0,10.1,113,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2016,1914,1914,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.09,44.52
$GC,913,1.53,487.5,2812,2016,1913,4094,38.4,10.3,119,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2017,1913,1913,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.09,44.72
$GC,959,1.53,487.5,2812,2016,1911,4094,33.9,9.9,125,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2017,1911,1911,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.09,45.07
$GC,1005,1.53,487.5,2812,2016,1911,4094,29.4,9.5,131,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2017,1911,1911,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.08,45.15
$GC,1051,1.53,487.5,2812,2016,1910,4094,25.1,9.2,137,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2017,1910,1910,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.09,45.39
$GC,1097,1.53,487.5,2812,2016,1908,4094,20.8,9.5,143,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2017,1908,1908,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.10,45.98
$GC,1143,1.53,487.5,2812,2016,1907,4094,16.4,9.7,149,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2017,1907,1907,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.13,46.85
$GC,1187,1.59,522.7,2812,2016,1907,4094,12.7,7.9,155,1196,0.10,0.00,3.25,0.341,10246,0.076,0.000,2832,2016,1874,1874,4094,0,0,0,0,0,0,26.14,25.94,25.32,10.16,48.11
$GC,1233,1.72,609.3,2831,2016,1873,4094,9.2,7.3,161,1243,0.25,0.00,6.15,0.545,10246,0.044,0.000,2868,2016,1772,1772,4094,0,0,0,0,0,0,26.13,25.91,25.31,10.16,49.80
$GC,1280,1.72,610.7,2867,2016,1771,4094,5.6,8.3,167,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2016,1771,1771,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.15,49.72
$STATE,1325,end climb,SURFACE_DEPTH_REACHED
$STATE,1325,begin surface coast
$FINISH,0.2,1.023938
$STATE,1348,end surface coast,CONTROL_FINISHED_OK
$STATE,1348,begin surface
$SM_CCo,1445,0.00,0.000,0,0,1769,614.76
$SM_GC,0.98,27.55,0.30,0.00,0.022,0.056,0.000,231,1882,1769,-6.59,0.87,614.76,0,0,0,0,0,0,26.06,26.13,26.14
$IRIDIUM_FIX,5953.06,-17035.79,030817,043545
$TT8_MAMPS,0.025466,0.238931
$HUMID,50.66
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.99,10.393
$10V_AH,10.21,13.384
$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,43.900,8.800,65.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,500.346,60.476,161.534,732.279,53.047,33.406,435.601,0.000,424.189,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,1272.195,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.595,478.146,378.485,561.138,729.304,0.000,0.000,0.000,0.000,0.000
$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,17782,176
$CAP_FILE_SIZE,34559,0
$CFSIZE,1024409600,998539264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,470.71,0x2138e4,0,24
$GPS,030817,072644,5959.333,-17213.727,9,0.8,16,7.8,0.4,272.9,10,4.9