version: 66.13
glider: 401
mission: 22
dive: 462
start: 8 3 117 23 57 25
data:
$ID,401
$MISSION,22
$DIVE,462
$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,22
$R_STBD_OVSHOOT,39
$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,0.15
$_SM_ANGLEo,-1.4
$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,-0.316710,-0.214996
$KALMAN_X,53809.414062,-3081.031494,-1318.164429,-170421.453125,17.558716
$KALMAN_Y,38417.085938,1084.114136,227.344513,44059.277344,169.061615
$MHEAD_RNG_PITCHd_Wd,228.2,11179,-7.8,-8.333,-12.28,10227
$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,-578.9,2402,1944,2355,4092,0.0,0.0,0,20,5.85,0.00,-4.30,0.000,20482,0.026,0.000,1835,1945,2822,2822,4094,0,0,0,0,0,0,26.11,28.83,26.13,10.29,51.65
$GC,23,-1.58,-578.9,1835,1945,2823,4094,0.1,0.0,1,33,0.00,1.15,-3.15,0.000,16644,0.000,1.279,1836,2367,3163,3163,4095,0,0,0,0,0,0,26.29,24.94,26.31,10.39,51.96
$GC,160,-1.58,-578.9,1835,2367,3165,4095,15.9,-12.5,21,169,0.00,1.08,0.00,0.000,1030,0.000,0.031,1835,1941,3165,3165,4095,0,0,0,0,0,0,26.09,26.06,26.12,10.44,51.10
$GC,206,-1.58,-578.9,1834,1941,3165,4095,21.0,-11.0,27,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3166,3166,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.41,51.02
$GC,253,-1.58,-578.9,1834,1941,3167,4095,25.9,-10.9,33,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3167,3167,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.39,49.60
$GC,299,-1.58,-578.9,1835,1941,3168,4095,30.7,-10.4,39,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3168,3168,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,48.62
$GC,345,-1.58,-578.9,1834,1942,3169,4095,35.3,-9.9,45,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3169,3169,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,47.71
$GC,391,-1.58,-578.9,1834,1941,3170,4095,40.2,-11.0,51,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3170,3170,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,47.20
$GC,437,-1.58,-578.9,1834,1941,3171,4095,45.2,-10.5,57,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3171,3171,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.36,46.81
$GC,483,-1.58,-578.9,1834,1941,3172,4094,50.1,-10.5,63,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3172,3172,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.36,46.81
$GC,529,-1.58,-578.9,1834,1941,3172,4095,54.8,-10.1,69,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3173,3173,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,46.29
$GC,573,-1.58,-578.9,1834,1941,3173,4095,59.9,-11.5,75,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3174,3174,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.34,46.37
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1835,1941,3174,4095,61.5,-10.1,77,638,3.80,0.00,33.00,1.318,10244,0.055,0.000,2185,1940,2484,2484,4094,0,0,0,0,0,0,26.25,24.99,24.30,10.34,46.22
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.58,578.9,2185,1940,2484,4094,63.8,0.0,82,686,6.97,0.00,33.08,1.288,11270,0.037,0.000,2829,1940,1809,1809,4095,0,0,0,0,0,0,25.48,25.65,23.80,10.19,46.37
$GC,724,1.58,578.9,2828,1940,1808,4095,58.3,8.7,92,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1940,1808,1808,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.05,45.47
$GC,770,1.58,578.9,2828,1940,1807,4094,53.6,10.4,98,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1940,1807,1807,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.04,44.99
$GC,814,1.58,578.9,2828,1940,1806,4094,49.0,9.9,104,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1941,1806,1806,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.04,44.99
$GC,858,1.58,578.9,2828,1940,1805,4094,44.3,11.2,110,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1940,1805,1805,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.03,45.51
$GC,902,1.58,578.9,2828,1940,1804,4094,39.8,9.7,116,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1940,1804,1804,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.03,45.43
$GC,946,1.58,578.9,2828,1940,1803,4094,35.3,10.3,122,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1940,1804,1804,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.03,46.02
$GC,990,1.58,578.9,2828,1940,1802,4094,30.8,10.2,128,1000,0.00,1.15,0.00,0.000,260,0.000,0.041,2829,2363,1802,1802,4094,0,0,0,0,0,0,26.09,25.82,26.10,10.03,45.78
$GC,1062,1.58,578.9,2828,2363,1801,4094,23.6,9.9,138,1072,0.00,1.08,0.00,0.000,1030,0.000,0.032,2829,1946,1801,1801,4094,0,0,0,0,0,0,25.96,25.91,25.97,10.02,46.41
$GC,1109,1.58,578.9,2828,1946,1800,4094,19.1,9.9,144,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1799,1799,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.03,46.85
$GC,1155,1.58,578.9,2828,1946,1798,4094,14.7,9.3,150,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1798,1798,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.05,46.81
$GC,1201,1.58,578.9,2828,1946,1797,4094,10.6,8.9,156,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1797,1797,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.07,48.11
$GC,1247,1.60,592.6,2828,1946,1796,4094,6.7,8.2,162,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1946,1796,1796,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.09,49.05
$GC,1294,1.70,660.5,2828,1946,1795,4094,3.1,7.7,168,1303,0.32,0.00,5.28,0.468,10246,0.037,0.000,2872,1946,1712,1712,4094,0,0,0,0,0,0,26.14,25.94,25.37,10.11,49.52
$STATE,1311,end climb,SURFACE_DEPTH_REACHED
$STATE,1311,begin surface coast
$FINISH,0.1,1.017567
$STATE,1340,end surface coast,CONTROL_FINISHED_OK
$STATE,1340,begin surface
$SM_CCo,1437,0.00,0.000,0,0,1711,665.42
$SM_GC,0.90,27.75,0.00,0.00,0.023,0.000,0.000,230,1946,1711,-6.59,-0.18,665.42,0,0,0,0,0,0,26.03,26.34,26.10
$IRIDIUM_FIX,5952.82,-17420.78,030817,213903
$TT8_MAMPS,0.026215,0.23968
$HUMID,51.02
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,1.80
$XPDR_PINGS,0
$24V_AH,23.80,11.492
$10V_AH,10.18,14.671
$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,44.700,4.450,71.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,487.246,60.553,168.966,726.725,54.278,33.415,453.151,0.000,419.939,0.000,0.540,0.000
$DEVICE_MAMPS,55.080,1279.080,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.391,472.694,374.279,554.364,723.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,17738,174
$CAP_FILE_SIZE,32947,0
$CFSIZE,1024409600,996769792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,002235,6000.707,-17234.869,34,0.8,38,7.6,0.3,58.1,11,4.8