version: 66.13
glider: 401
mission: 22
dive: 448
start: 8 3 117 17 28 43
data:
$ID,401
$MISSION,22
$DIVE,448
$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,27
$R_STBD_OVSHOOT,38
$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
$GPS1,030817,171804,6000.2480,-17222.2617,23,0.8,26,7.7,0.3,163.3,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-33.8
$GPS2,030817,172737,6000.2256,-17222.3223,6,0.7,13,7.7,0.0,0.0,11,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.383724,-0.018338
$KALMAN_X,55784.167969,-2268.778076,-573.639404,-163535.015625,49.294800
$KALMAN_Y,35651.613281,1221.787476,259.535126,46042.195312,-41.353378
$MHEAD_RNG_PITCHd_Wd,259.6,20987,-7.8,-8.333,-12.24,10318
$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,6,begin dive
$GC,8,-1.58,-584.3,230,1899,1589,4092,0.0,0.0,0,21,10.62,0.00,0.00,0.000,2049,0.085,0.000,1144,1899,1590,1590,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.20,49.05
$GC,23,-1.58,-584.3,1144,1899,1590,4094,0.7,0.0,1,51,7.38,1.17,-14.60,0.000,18692,0.049,1.274,1827,2319,3168,3168,4095,0,0,0,0,0,0,25.89,24.79,25.96,10.21,49.37
$GC,187,-1.58,-584.3,1827,2319,3171,4095,16.4,-13.2,24,197,0.00,1.05,0.00,0.000,1030,0.000,0.030,1827,1901,3172,3172,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.53,48.11
$GC,234,-1.58,-584.3,1826,1900,3173,4094,21.8,-10.8,30,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1900,3173,3173,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.51,47.91
$GC,281,-1.58,-584.3,1827,1900,3173,4095,26.7,-10.5,36,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1900,3174,3174,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.47,47.16
$GC,327,-1.58,-584.3,1827,1900,3174,4095,31.6,-10.8,42,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1900,3174,3174,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.45,45.86
$GC,373,-1.58,-584.3,1827,1900,3175,4094,36.9,-11.8,48,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1900,3175,3175,4094,0,0,0,0,0,0,26.39,26.39,26.40,10.43,45.07
$GC,419,-1.58,-584.3,1826,1900,3176,4094,42.0,-11.1,54,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1901,3176,3176,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.42,44.72
$GC,465,-1.58,-584.3,1826,1900,3177,4095,47.0,-10.8,60,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1900,3177,3177,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.41,44.01
$GC,511,-1.58,-584.3,1826,1900,3178,4094,52.0,-10.8,66,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1900,3178,3178,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.40,43.97
$GC,554,-1.58,-584.3,1827,1900,3179,4094,57.0,-11.3,72,564,0.00,1.08,0.00,0.000,260,0.000,0.040,1827,2315,3178,3178,4094,0,0,0,0,0,0,26.48,26.20,26.49,10.39,44.25
$STATE,585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,585,begin apogee
$GC,590,-0.45,0.0,1827,2000,3179,4095,60.5,-10.6,76,634,3.88,0.00,33.33,1.303,10244,0.054,0.000,2186,2000,2484,2484,4094,0,0,0,0,0,0,26.22,24.96,24.31,10.39,43.54
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,638,1.58,584.3,2185,2000,2484,4094,63.2,0.0,81,682,6.95,0.00,33.35,1.278,11270,0.036,0.000,2831,2000,1803,1803,4094,0,0,0,0,0,0,25.45,25.61,23.80,10.25,43.26
$GC,720,1.58,584.3,2830,1999,1802,4094,57.9,9.2,91,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2000,1802,1802,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.10,42.67
$GC,766,1.58,584.3,2831,1999,1801,4094,53.4,9.4,97,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2000,1801,1801,4095,0,0,0,0,0,0,25.66,25.67,25.67,10.09,42.83
$GC,812,1.58,584.3,2831,2000,1800,4095,48.9,9.8,103,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2001,1800,1800,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.09,43.66
$GC,855,1.58,584.3,2830,2000,1798,4094,44.6,9.9,109,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2000,1798,1798,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.07,43.81
$GC,900,1.58,584.3,2830,2000,1798,4094,40.2,9.9,115,909,0.00,1.20,0.00,0.000,260,0.000,0.044,2831,2437,1797,1797,4094,0,0,0,0,0,0,25.98,25.70,25.99,10.08,43.69
$GC,960,1.58,584.3,2830,2437,1796,4094,34.3,10.3,123,969,0.00,1.05,0.00,0.000,1030,0.000,0.028,2831,2024,1796,1796,4094,0,0,0,0,0,0,25.85,25.86,25.88,10.07,44.17
$GC,1007,1.58,584.3,2830,2023,1795,4094,29.7,9.4,129,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2024,1795,1795,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.07,44.56
$GC,1053,1.58,584.3,2831,2023,1794,4094,25.7,8.6,135,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2024,1794,1794,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.06,44.99
$GC,1099,1.58,584.3,2831,2023,1793,4095,21.6,8.9,141,1108,0.00,1.10,0.00,0.000,516,0.000,0.052,2831,1596,1793,1793,4094,0,0,0,0,0,0,26.22,25.93,26.23,10.08,45.51
$GC,1178,1.58,584.3,2831,1595,1791,4094,14.4,8.7,152,1188,0.00,0.98,0.00,0.000,1030,0.000,0.025,2831,2015,1791,1791,4094,0,0,0,0,0,0,26.08,26.06,26.08,10.11,46.73
$GC,1225,1.58,584.3,2831,2014,1790,4094,10.4,8.6,158,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2014,1790,1790,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.13,48.14
$GC,1269,1.74,691.3,2830,2014,1789,4094,7.1,7.3,164,1279,0.43,0.00,6.62,0.557,10246,0.035,0.000,2882,2015,1676,1676,4094,0,0,0,0,0,0,26.15,25.90,25.31,10.15,48.89
$GC,1317,1.86,772.5,2882,2014,1675,4094,3.5,7.5,170,1328,0.20,0.00,5.72,0.491,10246,0.054,0.000,2906,2015,1582,1582,4094,0,0,0,0,0,0,26.06,25.88,25.32,10.14,49.40
$STATE,1335,end climb,FINISH_DEPTH_REACHED
$STATE,1335,begin subsurface finish
$FINISH1,1.8,1.024007,111
$GC,1341,0.17,111.0,2906,2014,1582,4094,1.8,7.7,172,1360,5.47,0.00,-6.25,0.000,20486,0.050,0.000,2399,2015,2358,2358,4094,0,0,0,0,0,0,26.00,25.52,26.06,10.13,49.21
$FINISH2,0.5
$STATE,1361,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1361,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,155116
$TT8_MAMPS,0.025466,0.250166
$HUMID,50.15
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.80,11.048
$10V_AH,10.19,14.178
$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,34.925,8.400,79.025,0.000,0.000,55.851,24.627,319.363,0.000,0.000,14.999,492.493,44.543,154.937,1140.963,121.950,33.454,454.908,0.000,422.228,0.000,0.541,0.000
$DEVICE_MAMPS,84.915,1274.490,1302.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.814,472.678,374.144,554.066,724.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,17933,174
$CAP_FILE_SIZE,39067,0
$CFSIZE,1024409600,997457920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030817,172737,6000.226,-17222.322,6,0.7,13,7.7,0.0,0.0,11,4.9