version: 66.13
glider: 401
mission: 22
dive: 459
start: 8 3 117 22 34 19
data:
$ID,401
$MISSION,22
$DIVE,459
$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,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,50
$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
$GPS1,030817,214414,6000.4395,-17230.7266,14,0.8,18,7.6,0.4,340.0,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.0
$GPS2,030817,214414,6000.4395,-17230.7266,14,0.8,18,7.6,0.4,340.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.336236,-0.185943
$KALMAN_X,54440.832031,-2836.260010,-1154.234009,-169032.078125,-23.664429
$KALMAN_Y,37496.878906,1076.554321,196.612305,44797.324219,143.233643
$MHEAD_RNG_PITCHd_Wd,233.5,13405,-7.8,-8.333,-12.24,10323
$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,-584.5,2400,1953,2355,4092,0.0,0.0,0,21,5.88,0.00,-4.70,0.000,20482,0.025,0.000,1832,1954,2870,2870,4094,0,0,0,0,0,0,26.11,28.83,26.13,10.29,52.12
$GC,24,-1.58,-584.5,1832,1954,2870,4094,0.1,0.0,1,33,0.00,0.00,-2.62,0.000,16390,0.000,0.000,1832,1954,3168,3168,4094,0,0,0,0,0,0,26.30,25.61,26.30,10.40,51.37
$GC,69,-1.58,-584.5,1831,1954,3169,4094,4.7,-12.3,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3169,3169,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.47,51.49
$GC,114,-1.58,-584.5,1832,1954,3170,4094,10.7,-14.2,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3170,3170,4095,0,0,0,0,0,0,26.27,26.27,26.28,10.46,50.98
$GC,158,-1.58,-584.5,1831,1954,3171,4095,16.6,-12.4,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3171,3171,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.44,51.14
$GC,202,-1.58,-584.5,1831,1954,3172,4094,21.2,-10.3,25,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3172,3172,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.42,50.11
$GC,247,-1.58,-584.5,1832,1953,3173,4094,25.7,-10.2,31,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3173,3173,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.39,48.77
$GC,293,-1.58,-584.5,1831,1954,3173,4095,30.2,-10.4,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3174,3174,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.38,48.18
$GC,337,-1.58,-584.5,1831,1953,3175,4094,35.0,-10.4,43,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3176,3176,4095,0,0,0,0,0,0,26.42,26.42,26.43,10.37,47.48
$GC,382,-1.58,-584.5,1831,1954,3175,4095,39.6,-10.3,49,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3175,3175,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.37,47.04
$GC,426,-1.58,-584.5,1831,1954,3176,4095,44.3,-10.5,55,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3176,3176,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.36,47.20
$GC,471,-1.58,-584.5,1831,1954,3177,4095,49.0,-10.7,61,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3177,3177,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.36,46.61
$GC,515,-1.58,-584.5,1831,1954,3178,4094,53.9,-10.6,67,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3178,3178,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.36,46.06
$GC,560,-1.58,-584.5,1831,1954,3178,4094,58.7,-10.9,73,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3179,3179,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.35,46.73
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,581,-0.45,0.0,1832,1954,3179,4094,60.8,-11.6,75,624,3.78,0.00,33.28,1.309,10246,0.052,0.000,2185,1954,2484,2484,4094,0,0,0,0,0,0,26.25,25.24,24.30,10.35,46.69
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,627,1.58,584.5,2185,1953,2484,4094,63.2,0.0,80,671,6.97,0.00,33.38,1.284,10246,0.037,0.000,2831,1954,1803,1803,4094,0,0,0,0,0,0,25.47,24.68,23.80,10.20,45.31
$GC,709,1.58,584.5,2830,1953,1803,4094,58.4,8.6,90,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1802,1802,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.05,45.07
$GC,752,1.58,584.5,2829,1953,1802,4094,53.9,10.3,96,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1801,1801,4094,0,0,0,0,0,0,25.65,25.66,25.65,10.04,44.92
$GC,797,1.58,584.5,2830,1953,1801,4094,49.3,10.5,102,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1800,1800,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.04,44.80
$GC,843,1.58,584.5,2830,1953,1800,4094,44.9,9.7,108,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1800,1800,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.04,45.31
$GC,886,1.58,584.5,2830,1953,1798,4094,40.5,9.7,114,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1798,1798,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.04,46.14
$GC,931,1.58,584.5,2830,1953,1797,4094,36.2,9.6,120,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1797,1797,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.04,45.39
$GC,975,1.58,584.5,2830,1953,1796,4094,32.0,9.6,126,985,0.00,1.08,0.00,0.000,260,0.000,0.042,2831,2349,1796,1796,4094,0,0,0,0,0,0,26.09,25.81,26.10,10.03,45.86
$GC,1053,1.58,584.5,2830,2348,1795,4094,24.5,9.6,137,1062,0.00,1.02,0.00,0.000,1030,0.000,0.031,2831,1951,1795,1795,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.02,46.29
$GC,1098,1.58,584.5,2830,1951,1794,4094,20.5,8.8,143,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1951,1794,1794,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.03,46.18
$GC,1143,1.66,633.6,2830,1951,1794,4094,16.9,7.8,149,1153,0.12,0.00,3.80,0.445,10246,0.064,0.000,2852,1951,1747,1747,4094,0,0,0,0,0,0,26.05,25.65,25.17,10.05,46.41
$GC,1190,1.66,633.6,2852,1951,1747,4094,13.0,8.7,155,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1951,1747,1747,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.06,47.44
$GC,1233,1.72,679.8,2851,1951,1746,4094,9.4,7.9,161,1244,0.12,0.00,4.30,0.448,10246,0.062,0.000,2876,1951,1690,1690,4094,0,0,0,0,0,0,26.09,25.71,25.27,10.07,49.40
$GC,1281,1.78,719.4,2875,1951,1689,4094,5.7,7.9,167,1291,0.10,0.00,3.80,0.379,10246,0.075,0.000,2893,1951,1644,1644,4094,0,0,0,0,0,0,26.08,25.72,25.31,10.08,49.40
$STATE,1327,end climb,SURFACE_DEPTH_REACHED
$STATE,1327,begin surface coast
$FINISH,0.1,1.008452
$STATE,1348,end surface coast,CONTROL_FINISHED_OK
$STATE,1348,begin surface
$SM_CCo,1445,0.00,0.000,0,0,1643,723.80
$SM_GC,0.83,27.92,0.00,0.00,0.023,0.000,0.000,231,1951,1643,-6.59,0.05,723.80,0,0,0,0,0,0,26.04,26.32,26.10
$IRIDIUM_FIX,5952.82,-17420.78,030817,213415
$TT8_MAMPS,0.026215,0.218708
$HUMID,51.10
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.80,11.398
$10V_AH,10.21,14.560
$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,44.900,2.100,78.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,470.808,60.035,176.238,736.210,52.670,33.409,469.205,0.000,264.603,0.000,0.540,0.000
$DEVICE_MAMPS,74.970,42.075,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.969,478.109,0.000,560.742,728.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,17820,176
$CAP_FILE_SIZE,34979,0
$CFSIZE,1024409600,996917248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,225904,6000.524,-17233.211,6,0.8,15,7.6,0.0,257.6,10,4.9