version: 66.13
glider: 401
mission: 22
dive: 449
start: 8 3 117 17 53 29
data:
$ID,401
$MISSION,22
$DIVE,449
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,030817,172737,6000.2256,-17222.3223,6,0.7,13,7.7,0.0,0.0,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-2.7
$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,-0.381494,-0.044124
$KALMAN_X,56005.574219,-2159.107422,-472.115387,-163996.875000,-3.543121
$KALMAN_Y,35708.531250,1195.211060,241.022812,46028.371094,-10.940536
$MHEAD_RNG_PITCHd_Wd,255.7,20987,-7.8,-8.333,-12.24,10310
$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,7,-1.58,-583.8,2399,1893,2358,4092,0.0,0.0,0,20,5.80,0.00,-4.32,0.000,20482,0.026,0.000,1835,1893,2832,2832,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.31,50.55
$GC,23,-1.58,-583.8,1834,1893,2832,4095,0.1,0.0,1,32,0.00,1.12,-3.10,0.000,16644,0.000,1.272,1834,2315,3166,3166,4095,0,0,0,0,0,0,26.27,24.92,26.27,10.41,51.06
$GC,152,-1.58,-583.8,1834,2315,3169,4095,15.3,-12.0,20,162,0.00,1.02,0.00,0.000,1030,0.000,0.031,1834,1905,3169,3169,4095,0,0,0,0,0,0,26.09,26.07,26.10,10.48,49.88
$GC,199,-1.58,-583.8,1834,1905,3170,4095,20.3,-10.6,26,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1905,3170,3170,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.46,50.31
$GC,244,-1.58,-583.8,1834,1905,3171,4094,25.2,-10.9,32,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1905,3171,3171,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.44,49.72
$GC,288,-1.58,-583.8,1834,1905,3171,4094,30.0,-11.1,38,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1905,3172,3172,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.41,48.14
$GC,332,-1.58,-583.8,1834,1905,3173,4095,34.6,-10.6,44,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1905,3172,3172,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.40,47.71
$GC,378,-1.58,-583.8,1834,1905,3173,4094,39.3,-10.7,50,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1905,3173,3173,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.39,47.28
$GC,422,-1.58,-583.8,1834,1905,3174,4094,44.3,-11.1,56,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1905,3174,3174,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.38,46.10
$GC,467,-1.58,-583.8,1834,1905,3175,4095,49.0,-10.9,62,477,0.00,1.08,0.00,0.000,260,0.000,0.041,1834,2314,3175,3175,4094,0,0,0,0,0,0,26.48,26.21,26.49,10.38,45.62
$GC,532,-1.58,-583.8,1834,2314,3176,4094,56.0,-10.2,71,542,0.00,1.02,0.00,0.000,1030,0.000,0.031,1834,1903,3176,3176,4094,0,0,0,0,0,0,26.29,26.26,26.32,10.37,45.55
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1834,2033,3177,4095,60.1,-10.7,76,617,3.75,0.00,33.17,1.300,10244,0.053,0.000,2186,2033,2484,2484,4095,0,0,0,0,0,0,26.25,25.29,24.32,10.37,45.58
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,620,1.58,583.8,2185,2032,2484,4095,62.7,0.0,81,665,6.95,0.00,33.22,1.272,11270,0.036,0.000,2829,2033,1803,1803,4094,0,0,0,0,0,0,25.48,25.64,23.82,10.22,45.07
$GC,703,1.58,583.8,2829,2032,1803,4094,57.1,9.2,91,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1803,1803,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.07,44.05
$GC,747,1.58,583.8,2828,2033,1802,4094,52.6,10.0,97,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1802,1802,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.06,43.85
$GC,792,1.58,583.8,2829,2032,1801,4094,48.3,9.7,103,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1800,1800,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.06,44.25
$GC,836,1.58,583.8,2829,2032,1800,4094,43.8,9.8,109,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1800,1800,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.06,45.27
$GC,881,1.58,583.8,2828,2032,1799,4094,39.4,9.9,115,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1799,1799,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.05,44.80
$GC,925,1.58,583.8,2828,2032,1798,4094,35.1,9.7,121,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1797,1797,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.04,44.95
$GC,970,1.58,583.8,2829,2032,1797,4094,30.9,9.5,127,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1797,1797,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.05,45.35
$GC,1014,1.58,583.8,2828,2032,1796,4094,26.4,9.8,133,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1796,1796,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.04,45.47
$GC,1059,1.58,583.8,2829,2032,1795,4094,22.5,8.9,139,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1795,1795,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.06,45.74
$GC,1103,1.58,583.8,2828,2032,1794,4094,18.4,9.2,145,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1794,1794,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.08,46.53
$GC,1147,1.58,583.8,2829,2032,1793,4095,14.3,9.1,151,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1793,1793,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.10,47.71
$GC,1192,1.58,583.8,2828,2032,1792,4094,10.3,8.7,157,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2033,1792,1792,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.12,48.70
$GC,1237,1.62,609.9,2828,2033,1791,4094,6.7,8.1,163,1246,0.00,0.00,2.70,0.221,8198,0.000,0.000,2829,2033,1771,1771,4094,0,0,0,0,0,0,26.34,25.78,25.37,10.13,49.09
$GC,1283,1.73,680.6,2829,2033,1770,4094,3.2,7.6,169,1294,0.40,1.17,5.25,0.463,10756,0.034,0.053,2879,1592,1689,1689,4094,0,0,0,0,0,0,26.16,25.98,25.38,10.13,49.48
$STATE,1302,end climb,FINISH_DEPTH_REACHED
$STATE,1302,begin subsurface finish
$FINISH1,1.4,1.023966,114
$GC,1310,0.17,113.9,2879,2010,1689,4094,1.4,7.7,171,1328,5.12,0.00,-5.90,0.000,20486,0.047,0.000,2399,2016,2354,2354,4094,0,0,0,0,0,0,26.08,25.58,26.13,10.13,50.35
$FINISH2,0.2
$STATE,1329,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1329,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,030817,155116
$TT8_MAMPS,0.026215,0.210469
$HUMID,50.11
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.82,11.073
$10V_AH,10.24,14.205
$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,22.025,6.975,74.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,462.841,0.000,150.109,726.196,47.405,33.422,441.175,0.000,260.264,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1272.195,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.527,470.007,0.000,551.266,718.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330928
$DATA_FILE_SIZE,17710,173
$CAP_FILE_SIZE,32806,0
$CFSIZE,1024409600,997408768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,172737,6000.226,-17222.322,6,0.7,13,7.7,0.0,0.0,11,4.9