version: 66.13
glider: 401
mission: 22
dive: 461
start: 8 3 117 23 32 58
data:
$ID,401
$MISSION,22
$DIVE,461
$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,20
$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
$GPS1,030817,230720,6000.5586,-17233.2949,10,0.8,18,7.6,0.3,283.1,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.7
$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,-0.328217,-0.202105
$KALMAN_X,53370.613281,-3043.039062,-1307.452759,-170033.468750,-141.979126
$KALMAN_Y,38140.714844,1092.776978,230.202286,44323.140625,94.069031
$MHEAD_RNG_PITCHd_Wd,230.8,11179,-7.7,-8.333,-12.20,10405
$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,-585.0,2397,1956,2350,4092,0.0,0.0,0,21,5.80,0.00,-4.68,0.000,20482,0.024,0.000,1833,1956,2859,2859,4095,0,0,0,0,0,0,26.11,28.83,26.12,10.30,51.57
$GC,24,-1.58,-585.0,1833,1956,2860,4095,0.1,0.0,1,34,0.00,1.12,-2.83,0.000,16644,0.000,1.279,1832,2357,3168,3168,4095,0,0,0,0,0,0,26.29,24.94,26.29,10.41,50.66
$GC,173,-1.58,-585.0,1832,2356,3171,4095,17.7,-11.5,23,183,0.00,1.05,0.00,0.000,1030,0.000,0.030,1832,1940,3171,3171,4095,0,0,0,0,0,0,26.08,26.04,26.11,10.45,50.23
$GC,220,-1.58,-585.0,1832,1939,3172,4095,22.4,-9.9,29,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1940,3173,3173,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.41,49.92
$GC,265,-1.58,-585.0,1832,1939,3173,4094,27.3,-10.9,35,275,0.00,1.05,0.00,0.000,516,0.000,0.051,1832,1526,3173,3173,4095,0,0,0,0,0,0,26.37,26.08,26.39,10.39,48.66
$GC,318,-1.58,-585.0,1832,1526,3174,4095,32.8,-10.7,42,328,0.00,0.93,0.00,0.000,1030,0.000,0.026,1833,1931,3174,3174,4094,0,0,0,0,0,0,26.21,26.19,26.22,10.38,48.34
$GC,364,-1.58,-585.0,1832,1931,3175,4094,37.6,-9.9,48,373,0.00,1.15,0.00,0.000,260,0.000,0.045,1833,2368,3175,3175,4094,0,0,0,0,0,0,26.43,26.14,26.44,10.38,47.32
$GC,435,-1.58,-585.0,1832,2368,3176,4094,44.9,-10.5,58,445,0.00,1.05,0.00,0.000,1030,0.000,0.031,1833,1948,3176,3176,4095,0,0,0,0,0,0,26.23,26.21,26.27,10.37,47.12
$GC,482,-1.58,-585.0,1832,1948,3177,4095,49.6,-10.3,64,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3178,3178,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.37,46.53
$GC,527,-1.58,-585.0,1832,1948,3178,4094,54.6,-10.4,70,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3178,3178,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.36,46.33
$GC,572,-1.58,-585.0,1832,1948,3179,4094,59.1,-10.4,76,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3179,3179,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.36,45.74
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1832,1948,3179,4094,60.9,-10.0,78,637,3.80,0.00,33.33,1.309,10244,0.054,0.000,2184,1948,2483,2483,4095,0,0,0,0,0,0,26.25,24.98,24.29,10.36,46.14
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,640,1.58,585.0,2183,1948,2483,4095,63.5,0.0,83,685,6.97,0.00,33.38,1.284,11270,0.034,0.000,2830,1948,1802,1802,4094,0,0,0,0,0,0,25.48,25.63,23.80,10.21,45.31
$GC,723,1.58,585.0,2829,1948,1801,4094,58.1,10.1,93,732,0.00,1.17,0.00,0.000,260,0.000,0.042,2830,2368,1801,1801,4094,0,0,0,0,0,0,25.45,25.19,25.46,10.05,44.95
$GC,800,1.58,585.0,2829,2368,1800,4094,50.1,10.5,104,809,0.00,1.08,0.00,0.000,1030,0.000,0.031,2830,1955,1799,1799,4094,0,0,0,0,0,0,25.57,25.52,25.57,10.05,45.03
$GC,845,1.58,585.0,2829,1955,1798,4094,45.5,10.4,110,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1798,1798,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.04,45.74
$GC,890,1.58,585.0,2829,1955,1797,4094,41.1,9.9,116,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1797,1797,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.04,45.43
$GC,934,1.58,585.0,2829,1955,1796,4094,36.8,9.8,122,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.04,45.66
$GC,977,1.58,585.0,2829,1955,1795,4094,32.6,9.9,128,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1795,1795,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.04,46.02
$GC,1021,1.58,585.0,2830,1955,1794,4094,28.3,9.8,134,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.03,45.94
$GC,1067,1.58,585.0,2829,1955,1794,4094,23.9,9.9,140,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1793,1793,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.03,46.18
$GC,1112,1.58,585.0,2829,1955,1792,4094,19.1,10.6,146,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1792,1792,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.03,46.45
$GC,1156,1.58,585.0,2829,1955,1791,4094,14.8,9.3,152,1166,0.00,1.10,0.00,0.000,260,0.000,0.041,2830,2364,1791,1791,4094,0,0,0,0,0,0,26.26,25.98,26.27,10.06,46.41
$GC,1228,1.58,585.0,2829,2363,1790,4094,8.7,8.4,162,1237,0.00,1.08,0.00,0.000,1030,0.000,0.032,2830,1945,1789,1789,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.09,48.66
$GC,1273,1.66,639.5,2829,1944,1788,4094,5.2,7.8,168,1283,0.17,0.00,3.92,0.392,10246,0.052,0.000,2858,1945,1737,1737,4094,0,0,0,0,0,0,26.16,25.94,25.35,10.10,49.96
$STATE,1318,end climb,FINISH_DEPTH_REACHED
$STATE,1319,begin subsurface finish
$FINISH1,1.5,1.023971,114
$GC,1325,0.17,113.6,2858,1945,1736,4094,1.5,7.9,174,1343,4.93,0.00,-5.47,0.000,20486,0.051,0.000,2402,1944,2355,2355,4094,0,0,0,0,0,0,26.07,25.59,26.14,10.11,49.92
$FINISH2,0.2
$STATE,1344,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1344,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,030817,213903
$TT8_MAMPS,0.025466,0.204477
$HUMID,51.37
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.80,11.467
$10V_AH,10.23,14.632
$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,21.675,10.775,70.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.896,0.000,141.150,738.372,45.822,33.421,424.211,0.000,264.464,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1279.080,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.117,478.130,0.000,561.064,731.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,17740,176
$CAP_FILE_SIZE,32070,0
$CFSIZE,1024409600,996835328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,230720,6000.559,-17233.295,10,0.8,18,7.6,0.3,283.1,10,5.0