version: 66.13
glider: 401
mission: 22
dive: 460
start: 8 3 117 23 8 28
data:
$ID,401
$MISSION,22
$DIVE,460
$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
$GPS1,030817,225904,6000.5239,-17233.2109,6,0.8,15,7.6,0.0,257.6,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-39.4
$GPS2,030817,230720,6000.5586,-17233.2949,10,0.8,18,7.6,0.3,283.1,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.335465,-0.186458
$KALMAN_X,53198.867188,-3099.333252,-1414.025879,-169656.500000,-132.632690
$KALMAN_Y,37946.140625,1078.889038,205.975372,44555.156250,71.995895
$MHEAD_RNG_PITCHd_Wd,233.3,11179,-7.8,-8.333,-12.25,10294
$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,-582.9,230,1951,1642,4092,0.0,0.0,0,21,11.35,0.00,0.00,0.000,2049,0.089,0.000,1200,1951,1642,1642,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,50.27
$GC,23,-1.58,-582.9,1199,1951,1642,4094,0.7,0.0,1,50,6.78,1.15,-13.88,0.000,18692,0.050,1.279,1826,2360,3168,3168,4095,0,0,0,0,0,0,25.90,24.80,25.97,10.20,49.92
$GC,186,-1.58,-582.9,1825,2360,3171,4095,17.0,-11.8,24,196,0.00,1.05,0.00,0.000,1030,0.000,0.028,1826,1941,3172,3172,4095,0,0,0,0,0,0,26.03,26.01,26.04,10.50,48.77
$GC,234,-1.58,-582.9,1825,1941,3172,4095,22.1,-10.5,30,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3173,3173,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.45,48.26
$GC,277,-1.58,-582.9,1826,1941,3173,4095,27.0,-10.8,36,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3174,3174,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.43,46.77
$GC,322,-1.58,-582.9,1825,1940,3174,4095,31.7,-10.4,42,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3174,3174,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.42,45.86
$GC,366,-1.58,-582.9,1825,1941,3175,4095,36.2,-10.1,48,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3175,3175,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.41,46.22
$GC,411,-1.58,-582.9,1825,1941,3176,4094,41.1,-11.1,54,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1941,3176,3176,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.40,44.72
$GC,455,-1.58,-582.9,1826,1941,3177,4095,46.2,-11.4,60,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3177,3177,4094,0,0,0,0,0,0,26.43,26.44,26.45,10.39,44.92
$GC,499,-1.58,-582.9,1826,1941,3178,4094,51.3,-11.6,66,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3177,3177,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,45.27
$GC,544,-1.58,-582.9,1826,1941,3178,4094,56.4,-11.4,72,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3179,3179,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,44.99
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,584,-0.45,0.0,1826,1941,3179,4094,60.7,-11.3,77,628,3.85,0.00,33.22,1.307,10244,0.054,0.000,2186,1941,2484,2484,4095,0,0,0,0,0,0,26.20,25.20,24.27,10.38,45.15
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.58,582.9,2185,1941,2484,4095,63.1,0.0,82,675,6.97,0.00,33.25,1.278,11270,0.037,0.000,2832,1941,1805,1805,4094,0,0,0,0,0,0,25.45,25.60,23.80,10.23,44.05
$GC,713,1.58,582.9,2832,1941,1803,4094,57.6,9.5,92,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1941,1803,1803,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.08,43.50
$GC,759,1.58,582.9,2832,1940,1803,4094,53.1,9.7,98,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1941,1803,1803,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.08,43.46
$GC,805,1.58,582.9,2832,1941,1802,4094,48.5,9.7,104,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1941,1802,1802,4094,0,0,0,0,0,0,25.79,25.80,25.81,10.07,44.01
$GC,849,1.58,582.9,2831,1940,1801,4094,44.0,10.0,110,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1941,1802,1802,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.07,43.85
$GC,892,1.58,582.9,2832,1940,1800,4094,39.6,10.1,116,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1941,1800,1800,4095,0,0,0,0,0,0,25.97,25.98,25.98,10.06,44.52
$GC,937,1.58,582.9,2831,1940,1799,4095,35.1,10.1,122,946,0.00,1.12,0.00,0.000,260,0.000,0.041,2833,2356,1799,1799,4094,0,0,0,0,0,0,26.04,25.75,26.05,10.06,45.23
$GC,1029,1.58,582.9,2831,2355,1797,4094,26.0,10.2,135,1038,0.00,1.02,0.00,0.000,1030,0.000,0.031,2832,1957,1796,1796,4094,0,0,0,0,0,0,25.93,25.90,25.96,10.05,45.39
$GC,1074,1.58,582.9,2832,1957,1795,4094,21.4,9.6,141,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1957,1795,1795,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.05,45.55
$GC,1117,1.58,582.9,2831,1956,1795,4094,17.3,9.2,147,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1957,1794,1794,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.07,46.45
$GC,1162,1.62,607.9,2831,1956,1794,4094,13.6,8.1,153,1172,0.00,0.00,2.53,0.198,8198,0.000,0.000,2833,1957,1779,1779,4094,0,0,0,0,0,0,26.27,25.70,25.23,10.10,46.69
$GC,1209,1.71,669.7,2832,1956,1778,4094,10.1,7.7,159,1220,0.22,0.00,5.03,0.498,10246,0.044,0.000,2866,1956,1703,1703,4094,0,0,0,0,0,0,26.08,25.86,25.26,10.11,48.18
$GC,1257,1.71,669.7,2865,1956,1702,4094,6.1,8.5,165,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1956,1701,1701,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.11,49.01
$GC,1303,1.72,677.4,2865,1956,1701,4094,2.3,8.3,171,1313,0.00,0.00,0.20,0.003,8198,0.000,0.000,2866,1956,1701,1701,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.12,49.21
$STATE,1320,end climb,FINISH_DEPTH_REACHED
$STATE,1321,begin subsurface finish
$FINISH1,0.7,1.023919,117
$GC,1327,0.18,117.2,2866,1956,1700,4094,0.7,8.0,173,1345,4.80,0.00,-5.78,0.000,20486,0.027,0.000,2397,1956,2350,2350,4094,0,0,0,0,0,0,26.10,25.58,26.15,10.13,49.80
$FINISH2,0.2
$STATE,1346,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,030817,213903
$TT8_MAMPS,0.025466,0.25466
$HUMID,50.39
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.80,11.442
$10V_AH,10.16,14.605
$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,33.975,4.350,74.225,0.000,0.000,57.262,22.463,245.665,0.000,0.000,20.191,479.939,45.089,154.733,1068.021,118.039,33.455,450.163,0.000,423.616,0.000,0.543,0.000
$DEVICE_MAMPS,88.740,1279.080,1307.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.797,475.371,376.429,557.605,724.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329384
$DATA_FILE_SIZE,17850,175
$CAP_FILE_SIZE,37975,0
$CFSIZE,1024409600,996868096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030817,230720,6000.559,-17233.295,10,0.8,18,7.6,0.3,283.1,10,5.0