version: 66.13
glider: 401
mission: 22
dive: 441
start: 8 3 117 13 56 31
data:
$ID,401
$MISSION,22
$DIVE,441
$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,29
$R_STBD_OVSHOOT,49
$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
$GPS1,030817,130553,5959.9541,-17220.2988,10,1.1,22,7.7,0.4,33.9,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.5
$GPS2,030817,130553,5959.9541,-17220.2988,10,1.1,22,7.7,0.4,33.9,9,4.9
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.345340,-0.092714
$KALMAN_X,54474.066406,-2415.457520,-765.113647,-159997.796875,156.755371
$KALMAN_Y,34565.148438,1265.430542,255.442154,46584.636719,98.832474
$MHEAD_RNG_PITCHd_Wd,247.3,22788,-8.9,-8.333,-13.12,8640
$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,-486.1,2395,1914,2358,4092,0.0,0.0,0,21,5.65,0.00,-4.82,0.000,20482,0.026,0.000,1851,1914,2880,2880,4095,0,0,0,0,0,0,26.09,28.83,26.11,10.31,51.26
$GC,24,-1.53,-486.1,1851,1914,2880,4095,0.1,0.0,1,33,0.00,0.00,-1.65,0.000,16390,0.000,0.000,1852,1914,3054,3054,4095,0,0,0,0,0,0,26.29,25.60,26.27,10.42,51.22
$GC,69,-1.53,-486.1,1851,1914,3055,4095,3.0,-9.7,7,78,0.00,1.33,0.00,0.000,260,0.000,0.044,1851,2409,3055,3055,4094,0,0,0,0,0,0,26.20,25.91,26.21,10.46,51.41
$GC,133,-1.53,-486.1,1851,2409,3056,4094,10.4,-12.0,16,142,0.00,1.30,0.00,0.000,1030,0.000,0.031,1851,1899,3056,3056,4095,0,0,0,0,0,0,26.05,26.01,26.06,10.48,51.33
$GC,180,-1.53,-486.1,1851,1899,3057,4095,15.5,-11.5,22,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1899,3058,3058,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.46,50.47
$GC,224,-1.53,-486.1,1851,1898,3058,4094,20.3,-10.2,28,234,0.00,1.40,0.00,0.000,516,0.000,0.057,1851,1365,3058,3058,4094,0,0,0,0,0,0,26.34,26.03,26.34,10.43,50.90
$GC,269,-1.53,-486.1,1851,1365,3059,4094,24.6,-9.2,34,279,0.00,1.27,0.00,0.000,1030,0.000,0.027,1851,1901,3059,3059,4095,0,0,0,0,0,0,26.17,26.16,26.19,10.40,50.11
$GC,315,-1.53,-486.1,1851,1901,3060,4095,28.9,-9.2,40,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,1902,3060,3060,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,48.07
$GC,359,-1.53,-486.1,1851,1902,3061,4095,33.3,-10.2,46,369,0.00,1.38,0.00,0.000,260,0.000,0.044,1851,2425,3061,3061,4095,0,0,0,0,0,0,26.42,26.13,26.43,10.37,47.55
$GC,424,-1.53,-486.1,1851,2425,3062,4095,40.3,-11.1,55,434,0.00,1.30,0.00,0.000,1030,0.000,0.029,1851,1909,3061,3061,4095,0,0,0,0,0,0,26.24,26.20,26.25,10.36,47.24
$GC,469,-1.53,-486.1,1851,1909,3062,4095,45.0,-10.3,61,479,0.00,1.42,0.00,0.000,516,0.000,0.057,1852,1364,3062,3062,4095,0,0,0,0,0,0,26.48,26.16,26.48,10.36,46.25
$GC,535,-1.53,-486.1,1851,1363,3064,4095,51.8,-10.3,70,544,0.00,1.25,0.00,0.000,1030,0.000,0.028,1851,1893,3064,3064,4094,0,0,0,0,0,0,26.29,26.28,26.32,10.35,46.10
$GC,580,-1.53,-486.1,1851,1893,3064,4094,56.5,-10.3,76,590,0.00,1.38,0.00,0.000,260,0.000,0.045,1851,2420,3065,3065,4095,0,0,0,0,0,0,26.51,26.22,26.53,10.34,46.49
$STATE,617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,617,begin apogee
$GC,623,-0.45,0.0,1851,2015,3065,4094,60.4,-9.9,81,659,3.58,0.00,28.05,1.291,10244,0.054,0.000,2185,2015,2484,2484,4094,0,0,0,0,0,0,26.25,25.38,24.44,10.34,46.41
$STATE,660,end apogee,CONTROL_FINISHED_OK
$STATE,660,begin climb
$GC,662,1.53,486.1,2185,2015,2484,4094,62.6,0.0,85,704,6.78,0.00,27.80,1.268,11270,0.037,0.000,2813,2015,1917,1917,4094,0,0,0,0,0,0,25.58,25.75,23.94,10.21,45.35
$GC,742,1.53,486.1,2813,2015,1916,4094,57.5,9.5,95,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1915,1915,4094,0,0,0,0,0,0,25.56,25.57,25.56,10.08,45.43
$GC,785,1.53,486.1,2813,2014,1915,4094,52.9,10.1,101,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1914,1914,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.08,44.84
$GC,830,1.53,486.1,2812,2014,1914,4094,48.3,10.2,107,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1914,1914,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.08,45.03
$GC,874,1.53,486.1,2812,2014,1913,4094,43.9,10.0,113,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1913,1913,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.07,45.35
$GC,919,1.53,486.1,2813,2014,1912,4094,39.5,9.9,119,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1912,1912,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.07,45.19
$GC,963,1.53,486.1,2813,2014,1911,4095,35.3,9.3,125,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1911,1911,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.07,45.35
$GC,1007,1.53,486.1,2812,2014,1910,4094,31.3,9.1,131,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1910,1910,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.06,45.90
$GC,1052,1.53,486.1,2812,2014,1909,4094,27.3,9.0,137,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1909,1909,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.06,45.55
$GC,1096,1.53,486.1,2812,2014,1908,4094,23.2,9.3,143,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.06,46.25
$GC,1139,1.53,486.1,2812,2014,1907,4094,18.9,10.1,149,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1907,1907,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.07,46.02
$GC,1183,1.53,486.1,2812,2014,1906,4094,14.9,8.5,155,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1906,1906,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.11,47.36
$GC,1228,1.53,486.1,2813,2014,1905,4094,10.9,9.0,161,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2015,1905,1905,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.13,48.54
$GC,1272,1.65,564.0,2812,2014,1905,4094,7.4,7.4,167,1283,0.28,0.00,5.22,0.500,10246,0.047,0.000,2847,2015,1825,1825,4094,0,0,0,0,0,0,26.13,25.93,25.32,10.15,50.00
$GC,1320,1.77,645.4,2846,2014,1824,4094,4.0,7.4,173,1331,0.38,0.00,5.72,0.496,10246,0.036,0.000,2890,2015,1730,1730,4094,0,0,0,0,0,0,26.12,25.91,25.34,10.14,49.76
$STATE,1345,end climb,SURFACE_DEPTH_REACHED
$STATE,1345,begin surface coast
$FINISH,0.2,1.024081
$STATE,1373,end surface coast,CONTROL_FINISHED_OK
$STATE,1373,begin surface
$SM_CCo,1470,0.00,0.000,0,0,1729,649.10
$SM_GC,0.92,27.98,0.28,0.00,0.023,0.060,0.000,231,1900,1729,-6.59,1.32,649.10,0,0,0,0,0,0,26.00,26.06,26.09
$IRIDIUM_FIX,5953.06,-17035.79,030817,113743
$TT8_MAMPS,0.025466,0.238182
$HUMID,51.61
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.94,10.810
$10V_AH,10.20,13.904
$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,44.625,14.300,66.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,494.014,59.815,173.811,754.647,51.318,33.415,468.038,0.000,270.188,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,60.435,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.664,489.033,0.000,573.625,747.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330960
$DATA_FILE_SIZE,17760,180
$CAP_FILE_SIZE,37012,0
$CFSIZE,1024409600,997801984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,142209,6000.027,-17221.338,9,0.7,34,7.7,0.2,122.3,11,4.8