version: 66.13
glider: 401
mission: 22
dive: 445
start: 8 3 117 15 58 36
data:
$ID,401
$MISSION,22
$DIVE,445
$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,600
$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,20
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,65
$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
$GPS1,030817,154936,6000.2710,-17220.8477,9,0.8,19,7.7,0.0,212.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-32.8
$GPS2,030817,155729,6000.2568,-17220.8281,6,1.0,19,7.7,0.4,182.4,9,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.381890,-0.041873
$KALMAN_X,55781.617188,-2394.672607,-712.523071,-161882.953125,366.890686
$KALMAN_Y,35401.468750,1251.547485,269.666962,46302.574219,36.755798
$MHEAD_RNG_PITCHd_Wd,256.0,22367,-7.8,-8.333,-12.24,10320
$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,-1.58,-584.3,230,1913,1671,4091,0.0,0.0,0,20,10.75,0.00,0.00,0.000,2049,0.080,0.000,1161,1914,1671,1671,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.21,49.96
$GC,23,-1.58,-584.3,1160,1913,1671,4094,0.6,0.0,1,50,7.20,1.05,-13.90,0.000,18692,0.049,1.274,1825,2298,3170,3170,4095,0,0,0,0,0,0,25.89,24.79,25.96,10.21,49.72
$GC,120,-1.58,-584.3,1825,2298,3172,4095,6.7,-10.7,14,129,0.00,1.05,0.00,0.000,1030,0.000,0.031,1826,1882,3172,3172,4094,0,0,0,0,0,0,25.96,25.94,25.97,10.54,49.40
$GC,165,-1.58,-584.3,1825,1882,3173,4094,12.5,-13.0,20,175,0.00,1.08,0.00,0.000,516,0.000,0.054,1826,1467,3173,3173,4094,0,0,0,0,0,0,26.22,25.91,26.24,10.54,48.54
$GC,335,-1.58,-584.3,1825,1466,3176,4094,30.2,-10.0,45,344,0.00,0.90,0.00,0.000,1030,0.000,0.025,1826,1876,3176,3176,4095,0,0,0,0,0,0,26.20,26.17,26.20,10.43,46.73
$GC,381,-1.58,-584.3,1825,1876,3177,4095,34.7,-10.1,51,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1876,3177,3177,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.43,45.82
$GC,426,-1.58,-584.3,1825,1876,3177,4095,39.2,-10.1,57,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1876,3177,3177,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.42,45.47
$GC,470,-1.58,-584.3,1825,1876,3178,4095,43.6,-9.6,63,480,0.00,1.10,0.00,0.000,260,0.000,0.038,1826,2307,3179,3179,4095,0,0,0,0,0,0,26.44,26.17,26.45,10.40,44.40
$GC,516,-1.58,-584.3,1825,2308,3179,4095,48.0,-9.3,69,525,0.00,1.05,0.00,0.000,1030,0.000,0.030,1826,1887,3179,3179,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.40,44.17
$GC,563,-1.58,-584.3,1825,1887,3180,4094,52.3,-9.5,75,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1887,3180,3180,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.39,44.21
$GC,607,-1.58,-584.3,1825,1887,3180,4094,56.7,-9.7,81,615,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1887,3180,3180,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.38,44.05
$STATE,642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,642,begin apogee
$GC,648,-0.45,0.0,1826,2025,3181,4094,60.3,-9.6,86,692,3.88,0.00,33.33,1.298,10244,0.054,0.000,2184,2025,2484,2484,4094,0,0,0,0,0,0,26.24,24.98,24.31,10.38,44.29
$STATE,693,end apogee,CONTROL_FINISHED_OK
$STATE,693,begin climb
$GC,695,1.58,584.3,2184,2025,2484,4094,62.7,0.0,91,739,6.97,0.00,33.35,1.274,11270,0.037,0.000,2831,2026,1803,1803,4094,0,0,0,0,0,0,25.48,25.63,23.80,10.24,44.09
$GC,776,1.58,584.3,2830,2026,1802,4094,57.9,8.6,101,786,0.00,1.05,0.00,0.000,260,0.000,0.042,2831,2417,1802,1802,4094,0,0,0,0,0,0,25.45,25.20,25.46,10.09,43.06
$GC,835,1.58,584.3,2831,2416,1801,4094,52.5,9.1,109,844,0.00,1.02,0.00,0.000,1030,0.000,0.028,2831,2018,1801,1801,4094,0,0,0,0,0,0,25.51,25.48,25.53,10.08,43.69
$GC,880,1.58,584.3,2830,2018,1800,4094,48.5,8.6,115,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2018,1800,1800,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.08,44.05
$GC,926,1.59,589.7,2830,2018,1799,4094,44.9,8.3,121,936,0.00,1.10,0.00,0.000,516,0.000,0.052,2831,1596,1799,1799,4094,0,0,0,0,0,0,25.93,25.64,25.94,10.07,44.09
$GC,998,1.59,589.7,2830,1596,1797,4094,38.8,8.4,131,1007,0.00,0.90,0.00,0.000,1030,0.000,0.024,2831,1993,1798,1798,4094,0,0,0,0,0,0,25.86,25.85,25.88,10.06,44.76
$GC,1044,1.59,589.7,2830,1993,1797,4094,35.0,8.4,137,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1993,1797,1797,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.06,44.64
$GC,1090,1.60,598.7,2831,1993,1796,4094,31.1,8.2,143,1099,0.00,0.00,2.40,0.198,8198,0.000,0.000,2831,1993,1785,1785,4094,0,0,0,0,0,0,26.15,25.54,24.98,10.07,44.88
$GC,1136,1.60,598.7,2831,1993,1784,4094,27.2,8.8,149,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1993,1784,1784,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.05,45.23
$GC,1181,1.60,599.2,2831,1992,1783,4094,23.2,8.3,155,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1993,1783,1783,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.05,45.66
$GC,1226,1.61,604.4,2830,1992,1782,4094,19.6,8.3,161,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1993,1782,1782,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.07,46.45
$GC,1270,1.61,604.4,2831,1992,1781,4094,15.8,8.5,167,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1993,1781,1781,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.08,46.88
$GC,1315,1.71,667.5,2830,1994,1781,4094,12.3,7.7,173,1326,0.28,1.02,5.05,0.518,10756,0.042,0.054,2870,1594,1704,1704,4094,0,0,0,0,0,0,26.15,25.94,25.27,10.11,47.99
$GC,1355,1.72,675.7,2869,1594,1704,4094,9.1,8.3,178,1366,0.00,0.95,2.28,0.119,9222,0.000,0.027,2870,2009,1695,1695,4094,0,0,0,0,0,0,26.10,26.10,25.32,10.11,48.81
$GC,1402,1.88,785.6,2869,2009,1694,4094,5.6,7.2,184,1412,0.55,0.00,7.22,0.557,10246,0.037,0.000,2929,2010,1567,1567,4094,0,0,0,0,0,0,26.11,25.88,25.31,10.13,49.60
$STATE,1448,end climb,FINISH_DEPTH_REACHED
$STATE,1448,begin subsurface finish
$FINISH1,1.8,1.024039,109
$GC,1454,0.16,108.8,2929,2009,1566,4094,1.8,8.2,190,1472,5.72,0.00,-6.57,0.000,20486,0.049,0.000,2398,2012,2363,2363,4094,0,0,0,0,0,0,26.03,25.13,26.09,10.12,49.96
$FINISH2,0.4
$STATE,1473,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1473,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,142352
$TT8_MAMPS,0.026215,0.202979
$HUMID,50.63
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.80,10.945
$10V_AH,10.25,14.061
$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,35.350,12.600,83.625,0.000,0.000,22.879,24.049,299.085,0.000,0.000,21.156,526.664,0.000,158.608,1170.921,111.632,33.455,474.252,0.000,288.833,0.000,0.543,0.000
$DEVICE_MAMPS,80.325,1273.725,1298.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.838,521.587,0.000,611.748,798.416,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329432
$DATA_FILE_SIZE,17746,192
$CAP_FILE_SIZE,41525,0
$CFSIZE,1024409600,997605376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,155729,6000.257,-17220.828,6,1.0,19,7.7,0.4,182.4,9,4.9