version: 66.13
glider: 401
mission: 22
dive: 446
start: 8 3 117 16 25 13
data:
$ID,401
$MISSION,22
$DIVE,446
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,030817,155729,6000.2568,-17220.8281,6,1.0,19,7.7,0.4,182.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.6
$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,-0.378895,-0.066276
$KALMAN_X,56037.933594,-2269.007812,-573.418701,-162396.796875,279.183960
$KALMAN_Y,35486.500000,1234.626465,262.555481,46247.949219,61.102722
$MHEAD_RNG_PITCHd_Wd,252.4,22367,-7.7,-8.333,-12.22,10351
$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,-585.0,2397,1900,2363,4092,0.0,0.0,0,20,5.78,0.00,-3.88,0.000,20482,0.024,0.000,1832,1901,2793,2793,4095,0,0,0,0,0,0,26.12,28.83,26.15,10.33,51.96
$GC,23,-1.58,-585.0,1832,1900,2793,4095,0.1,0.0,1,33,0.00,1.08,-3.17,0.000,16644,0.000,1.277,1832,2310,3169,3169,4095,0,0,0,0,0,0,26.29,24.95,26.31,10.40,50.90
$GC,107,-1.58,-585.0,1831,2311,3170,4095,9.4,-13.3,13,117,0.00,1.02,0.00,0.000,1030,0.000,0.032,1832,1905,3170,3170,4095,0,0,0,0,0,0,26.07,26.03,26.08,10.49,50.59
$GC,153,-1.58,-585.0,1832,1905,3172,4095,15.1,-11.5,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,3171,3171,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.49,50.70
$GC,197,-1.58,-585.0,1832,1905,3172,4094,19.1,-9.5,25,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,3172,3172,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.47,50.74
$GC,242,-1.58,-585.0,1832,1905,3173,4095,23.1,-9.1,31,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,3173,3173,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.44,49.80
$GC,286,-1.58,-585.0,1831,1905,3173,4094,27.6,-10.0,37,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1905,3173,3173,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.42,49.40
$GC,329,-1.58,-585.0,1831,1905,3174,4094,32.0,-10.0,43,339,0.00,1.12,0.00,0.000,516,0.000,0.056,1832,1469,3175,3175,4094,0,0,0,0,0,0,26.43,26.12,26.44,10.40,47.87
$GC,394,-1.58,-585.0,1832,1469,3175,4094,38.3,-10.0,52,404,0.00,0.95,-0.03,0.000,17414,0.000,0.025,1832,1893,3195,3195,4095,0,0,0,0,0,0,26.26,26.26,25.78,10.39,47.48
$GC,441,-1.58,-585.0,1831,1893,3196,4095,42.9,-9.6,58,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1893,3196,3196,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.38,46.53
$GC,485,-1.58,-585.0,1832,1893,3196,4094,47.0,-9.4,64,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1893,3197,3197,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.38,46.06
$GC,531,-1.58,-585.0,1832,1893,3198,4095,51.3,-9.3,70,540,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1893,3198,3198,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,46.06
$GC,577,-1.58,-585.0,1832,1893,3198,4095,55.6,-9.5,76,586,0.00,1.05,0.00,0.000,260,0.000,0.038,1832,2305,3199,3199,4095,0,0,0,0,0,0,26.41,26.14,26.41,10.37,45.78
$STATE,626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,626,begin apogee
$GC,632,-0.45,0.0,1832,2008,3199,4094,60.6,-9.5,83,676,3.85,0.00,34.25,1.302,10244,0.055,0.000,2186,2008,2484,2484,4094,0,0,0,0,0,0,26.16,25.15,24.21,10.37,46.10
$STATE,677,end apogee,CONTROL_FINISHED_OK
$STATE,677,begin climb
$GC,679,1.58,585.0,2185,2008,2484,4094,63.1,0.0,88,724,6.97,0.00,33.35,1.278,11270,0.034,0.000,2831,2008,1802,1802,4094,0,0,0,0,0,0,25.40,25.55,23.77,10.21,45.35
$GC,761,1.58,585.0,2830,2008,1801,4094,58.1,8.7,98,771,0.00,1.15,0.00,0.000,260,0.000,0.043,2831,2421,1801,1801,4094,0,0,0,0,0,0,25.43,25.18,25.44,10.06,44.29
$GC,820,1.58,585.0,2830,2421,1800,4094,52.5,9.6,106,829,0.00,1.00,0.00,0.000,1030,0.000,0.027,2831,2030,1800,1800,4094,0,0,0,0,0,0,25.49,25.46,25.51,10.06,44.56
$GC,867,1.58,585.0,2830,2030,1799,4094,48.4,8.9,112,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2031,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.84,10.06,44.56
$GC,913,1.58,585.0,2830,2030,1798,4094,44.1,9.2,118,922,0.00,1.15,0.00,0.000,516,0.000,0.053,2831,1596,1798,1798,4094,0,0,0,0,0,0,25.92,25.63,25.93,10.05,45.19
$GC,977,1.58,585.0,2830,1596,1797,4094,38.2,8.8,127,987,0.00,0.95,0.00,0.000,1030,0.000,0.026,2831,2004,1796,1796,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.05,45.39
$GC,1023,1.58,585.0,2830,2004,1796,4094,34.2,8.8,133,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2005,1795,1795,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.04,46.06
$GC,1066,1.58,585.0,2830,2004,1795,4094,30.3,8.7,139,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2005,1795,1795,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.04,45.74
$GC,1110,1.58,585.0,2830,2004,1794,4094,26.4,8.9,145,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2004,1794,1794,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.04,46.02
$GC,1154,1.58,585.0,2831,2004,1793,4094,22.3,8.8,151,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2005,1793,1793,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.04,46.22
$GC,1199,1.58,585.0,2830,2004,1792,4094,18.5,8.7,157,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2004,1792,1792,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.06,46.22
$GC,1243,1.65,633.7,2830,2004,1791,4094,15.0,7.9,163,1253,0.15,0.00,3.88,0.439,10246,0.063,0.000,2854,2005,1744,1744,4094,0,0,0,0,0,0,26.07,25.68,25.22,10.07,47.75
$GC,1291,1.76,703.5,2854,2006,1743,4094,11.4,7.6,169,1302,0.22,0.00,5.32,0.532,10246,0.045,0.000,2885,2007,1663,1663,4094,0,0,0,0,0,0,26.09,25.86,25.24,10.09,48.58
$GC,1339,1.83,752.4,2884,2007,1662,4094,7.7,7.8,175,1349,0.12,0.00,4.25,0.428,10246,0.069,0.000,2901,2007,1605,1605,4094,0,0,0,0,0,0,26.06,25.86,25.27,10.10,50.15
$GC,1386,1.89,787.6,2901,2007,1604,4094,4.0,8.0,181,1397,0.17,1.08,3.55,0.342,10756,0.056,0.051,2926,1590,1565,1565,4094,0,0,0,0,0,0,26.05,25.72,25.31,10.10,49.84
$STATE,1412,end climb,FINISH_DEPTH_REACHED
$STATE,1412,begin subsurface finish
$FINISH1,1.6,1.024030,109
$GC,1419,0.16,109.4,2925,2028,1564,4094,1.6,8.0,184,1438,5.72,0.00,-7.05,0.000,20486,0.054,0.000,2399,2029,2363,2363,4095,0,0,0,0,0,0,26.00,25.52,26.06,10.10,51.10
$FINISH2,0.2
$STATE,1439,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1439,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,142352
$TT8_MAMPS,0.026215,0.250166
$HUMID,50.90
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.77,10.972
$10V_AH,10.17,14.102
$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,23.000,12.625,84.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,510.631,0.000,157.576,773.525,53.875,33.424,462.680,0.000,446.697,0.000,0.543,0.000
$DEVICE_MAMPS,68.850,1276.785,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,127.386,505.289,399.984,592.595,770.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,17885,186
$CAP_FILE_SIZE,37593,0
$CFSIZE,1024409600,997556224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,155729,6000.257,-17220.828,6,1.0,19,7.7,0.4,182.4,9,4.9