version: 66.13
glider: 401
mission: 22
dive: 401
start: 8 2 117 19 16 54
data:
$ID,401
$MISSION,22
$DIVE,401
$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,500
$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,2360
$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,25
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$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
$GPS1,020817,185037,5956.9443,-17203.9902,6,0.7,18,7.9,0.4,240.0,11,4.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-0.5
$GPS2,020817,185037,5956.9443,-17203.9902,6,0.7,18,7.9,0.4,240.0,11,4.8
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.353559,0.060916
$KALMAN_X,50465.417969,-2031.319214,-693.448486,-141009.937500,-144.156982
$KALMAN_Y,27513.718750,1382.873657,282.536530,47919.906250,-33.314178
$MHEAD_RNG_PITCHd_Wd,271.9,37915,-8.8,-8.333,-13.08,8712
$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,-1.53,-487.5,2412,1896,2389,4092,0.0,0.0,0,21,5.62,0.00,-5.07,0.000,20482,0.028,0.000,1874,1897,2935,2935,4094,0,0,0,0,0,0,26.09,28.83,26.12,10.33,49.60
$GC,23,-1.53,-487.5,1873,1896,2936,4094,0.0,0.0,1,33,0.00,1.45,-1.20,0.000,16644,0.000,1.270,1873,2419,3071,3071,4095,0,0,0,0,0,0,26.31,24.97,26.25,10.45,50.03
$GC,135,-1.53,-487.5,1873,2419,3073,4095,11.8,-12.4,17,145,0.00,1.30,0.00,0.000,1030,0.000,0.028,1873,1907,3074,3074,4095,0,0,0,0,0,0,26.05,26.06,26.08,10.49,50.03
$GC,181,-1.53,-487.5,1873,1907,3074,4095,17.4,-12.0,23,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3075,3075,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.49,49.13
$GC,225,-1.53,-487.5,1874,1907,3075,4095,21.9,-9.8,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3075,3075,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.48,49.25
$GC,270,-1.53,-487.5,1873,1907,3076,4095,26.3,-10.0,35,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3076,3076,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.44,48.66
$GC,314,-1.53,-487.5,1873,1907,3077,4095,30.1,-8.4,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3077,3077,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.41,47.67
$GC,358,-1.53,-487.5,1873,1907,3077,4095,33.9,-8.6,47,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3077,3077,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.39,46.77
$GC,403,-1.53,-487.5,1873,1907,3078,4095,38.0,-9.1,53,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3078,3078,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,46.22
$GC,447,-1.53,-487.5,1873,1907,3078,4095,42.2,-9.8,59,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3079,3079,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,45.70
$GC,491,-1.53,-487.5,1873,1907,3080,4095,46.6,-9.8,65,501,0.00,1.38,0.00,0.000,260,0.000,0.043,1873,2423,3080,3080,4094,0,0,0,0,0,0,26.49,26.20,26.50,10.38,45.07
$GC,556,-1.53,-487.5,1873,2423,3080,4094,52.8,-9.3,74,565,0.00,1.30,0.00,0.000,1030,0.000,0.029,1873,1908,3081,3081,4094,0,0,0,0,0,0,26.29,26.27,26.33,10.37,44.84
$GC,603,-1.53,-487.5,1872,1907,3081,4094,57.1,-9.5,80,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,1908,3081,3081,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.36,44.72
$STATE,632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,632,begin apogee
$GC,638,-0.45,0.0,1873,2042,3082,4095,60.3,-9.9,84,673,3.58,0.00,28.05,1.296,10244,0.054,0.000,2204,2043,2500,2500,4094,0,0,0,0,0,0,26.27,25.39,24.46,10.35,44.40
$STATE,674,end apogee,CONTROL_FINISHED_OK
$STATE,674,begin climb
$GC,676,1.53,487.5,2203,2043,2500,4094,62.0,0.0,88,719,6.78,0.00,27.88,1.268,11270,0.037,0.000,2836,2043,1932,1932,4094,0,0,0,0,0,0,25.60,25.77,23.98,10.23,44.99
$GC,757,1.53,487.5,2835,2042,1931,4094,56.8,10.3,98,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2043,1931,1931,4095,0,0,0,0,0,0,25.56,25.58,25.57,10.10,43.73
$GC,801,1.53,487.5,2835,2043,1930,4095,51.9,10.5,104,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2043,1930,1930,4094,0,0,0,0,0,0,25.75,25.75,25.75,10.10,43.62
$GC,845,1.53,487.5,2835,2042,1929,4094,47.1,10.9,110,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2043,1929,1929,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.09,43.77
$GC,890,1.53,487.5,2835,2042,1928,4094,42.3,10.7,116,898,0.00,1.33,0.00,0.000,260,0.000,0.050,2836,2529,1928,1928,4094,0,0,0,0,0,0,25.96,25.66,25.97,10.09,44.13
$GC,947,1.53,487.5,2835,2528,1927,4094,35.9,11.5,124,956,0.00,1.30,0.00,0.000,1030,0.000,0.028,2835,2022,1926,1926,4094,0,0,0,0,0,0,25.84,25.79,25.86,10.08,44.99
$GC,992,1.53,487.5,2835,2021,1926,4094,30.8,11.4,130,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2022,1926,1926,4095,0,0,0,0,0,0,26.11,26.13,26.12,10.08,44.80
$GC,1036,1.53,487.5,2835,2021,1925,4095,25.8,11.0,136,1046,0.00,1.42,0.00,0.000,516,0.000,0.057,2835,1484,1924,1924,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.08,45.31
$GC,1116,1.53,487.5,2835,1484,1922,4094,17.8,10.6,147,1125,0.00,1.20,0.00,0.000,1030,0.000,0.026,2835,1987,1922,1922,4094,0,0,0,0,0,0,26.03,26.02,26.06,10.13,46.06
$GC,1161,1.53,487.5,2835,1987,1921,4094,13.3,9.6,153,1171,0.00,1.50,0.00,0.000,260,0.000,0.050,2835,2545,1921,1921,4094,0,0,0,0,0,0,26.27,25.98,26.29,10.16,47.99
$GC,1206,1.53,487.5,2835,2544,1920,4094,9.2,9.0,159,1216,0.00,1.33,0.00,0.000,1030,0.000,0.028,2836,2026,1921,1921,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.17,49.17
$GC,1251,1.53,487.5,2835,2025,1919,4094,5.3,8.6,165,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2026,1919,1919,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.18,49.40
$STATE,1294,end climb,FINISH_DEPTH_REACHED
$STATE,1294,begin subsurface finish
$FINISH1,1.5,1.024150,101
$GC,1300,0.15,101.0,2835,2025,1918,4094,1.5,8.4,171,1319,4.65,0.00,-4.18,0.000,20998,0.065,0.000,2415,2026,2385,2385,4094,0,0,0,0,0,0,26.08,25.63,26.16,10.19,49.80
$FINISH2,0.1
$STATE,1320,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1320,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,184154
$TT8_MAMPS,0.025466,0.208222
$HUMID,50.31
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.98,9.694
$10V_AH,10.26,12.473
$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,20.625,14.000,55.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,467.340,0.000,140.430,727.920,42.971,33.426,424.485,0.000,260.269,0.000,0.542,0.000
$DEVICE_MAMPS,65.025,1269.900,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.665,469.977,0.000,551.399,720.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,17832,173
$CAP_FILE_SIZE,32232,0
$CFSIZE,1024409600,999784448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,185037,5956.944,-17203.990,6,0.7,18,7.9,0.4,240.0,11,4.8