version: 66.13
glider: 401
mission: 22
dive: 405
start: 8 2 117 21 4 32
data:
$ID,401
$MISSION,22
$DIVE,405
$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,35
$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
$GPS1,020817,201453,5957.2061,-17206.4453,6,0.9,15,7.8,0.0,279.1,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.7
$GPS2,020817,201453,5957.2061,-17206.4453,6,0.9,15,7.8,0.0,279.1,10,4.8
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.357292,0.006185
$KALMAN_X,50537.054688,-2305.016602,-936.343506,-142887.234375,40.465210
$KALMAN_Y,27800.472656,1339.635376,267.387207,48175.718750,26.764893
$MHEAD_RNG_PITCHd_Wd,263.2,35608,-8.9,-8.333,-13.13,8627
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.53,-485.4,2414,1896,2386,4092,0.0,0.0,0,20,5.62,0.00,-4.75,0.000,20482,0.026,0.000,1874,1897,2903,2903,4094,0,0,0,0,0,0,26.09,28.83,26.12,10.32,51.14
$GC,22,-1.53,-485.4,1873,1897,2903,4094,0.1,0.0,1,32,0.00,1.48,-1.50,0.000,16644,0.000,1.273,1873,2427,3069,3069,4095,0,0,0,0,0,0,26.32,24.98,26.32,10.43,50.82
$GC,134,-1.53,-485.4,1873,2427,3072,4095,11.7,-12.1,17,144,0.00,1.33,0.00,0.000,1030,0.000,0.030,1873,1907,3073,3073,4095,0,0,0,0,0,0,26.07,26.03,26.08,10.47,50.23
$GC,180,-1.53,-485.4,1873,1907,3073,4095,17.4,-12.2,23,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1907,3074,3074,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.47,50.51
$GC,224,-1.53,-485.4,1873,1907,3074,4095,22.3,-10.5,29,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1907,3074,3074,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,49.76
$GC,269,-1.54,-487.5,1873,1907,3075,4095,26.2,-8.2,35,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1907,3075,3075,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.41,49.37
$GC,315,-1.54,-487.5,1873,1907,3076,4095,29.9,-8.4,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1907,3076,3076,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.39,47.79
$GC,359,-1.54,-487.5,1873,1907,3076,4094,34.0,-9.1,47,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1907,3077,3077,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.38,47.87
$GC,403,-1.54,-487.5,1873,1906,3077,4095,38.1,-9.4,53,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1907,3077,3077,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.37,46.25
$GC,448,-1.54,-487.5,1873,1906,3078,4095,42.4,-9.7,59,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1907,3078,3078,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.37,46.10
$GC,492,-1.54,-487.5,1873,1907,3078,4094,46.6,-9.7,65,502,0.00,1.38,0.00,0.000,260,0.000,0.044,1874,2423,3078,3078,4094,0,0,0,0,0,0,26.50,26.21,26.51,10.36,46.57
$GC,557,-1.54,-487.5,1873,2423,3080,4094,52.9,-9.7,74,565,0.00,1.33,0.00,0.000,1030,0.000,0.029,1874,1897,3080,3080,4095,0,0,0,0,0,0,26.30,26.27,26.33,10.35,45.51
$GC,601,-1.54,-487.5,1873,1897,3080,4095,57.3,-10.4,80,609,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,1897,3080,3080,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.34,45.39
$STATE,630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,630,begin apogee
$GC,635,-0.45,0.0,1873,2038,3081,4094,60.4,-10.2,84,671,3.58,0.00,28.00,1.298,10244,0.054,0.000,2204,2038,2500,2500,4094,0,0,0,0,0,0,26.27,25.39,24.48,10.35,45.43
$STATE,672,end apogee,CONTROL_FINISHED_OK
$STATE,672,begin climb
$GC,674,1.54,487.5,2204,2038,2500,4094,62.5,0.0,88,719,6.78,1.33,27.90,1.274,10500,0.035,0.047,2840,2531,1933,1933,4094,0,0,0,0,0,0,25.58,25.51,23.96,10.22,45.43
$GC,756,1.54,487.5,2840,2530,1932,4094,57.3,9.8,98,766,0.00,1.33,0.00,0.000,1030,0.000,0.028,2840,2025,1932,1932,4094,0,0,0,0,0,0,25.37,25.33,25.39,10.09,44.09
$GC,802,1.54,487.5,2839,2025,1931,4094,52.3,10.5,104,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2026,1931,1931,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.09,44.40
$GC,846,1.54,487.5,2840,2025,1930,4094,47.6,10.7,110,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2026,1930,1930,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.08,44.76
$GC,891,1.54,487.5,2839,2025,1929,4094,42.7,10.8,116,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2026,1929,1929,4095,0,0,0,0,0,0,25.96,25.97,25.96,10.08,44.68
$GC,934,1.54,487.5,2840,2025,1928,4095,37.9,11.0,122,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2026,1928,1928,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.07,45.62
$GC,978,1.54,487.5,2840,2025,1927,4094,33.0,11.1,128,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2025,1927,1927,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.07,45.03
$GC,1023,1.54,487.5,2839,2025,1926,4094,27.9,11.3,134,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2025,1926,1926,4094,0,0,0,0,0,0,26.15,26.15,26.16,10.07,45.66
$GC,1067,1.54,487.5,2840,2025,1924,4094,22.6,11.7,140,1076,0.00,1.42,0.00,0.000,516,0.000,0.058,2840,1486,1924,1924,4094,0,0,0,0,0,0,26.20,25.89,26.20,10.07,45.62
$GC,1137,1.54,487.5,2839,1487,1923,4094,15.9,8.6,150,1146,0.00,1.23,0.00,0.000,1030,0.000,0.027,2840,1998,1923,1923,4094,0,0,0,0,0,0,26.05,26.03,26.08,10.12,46.77
$GC,1184,1.54,487.5,2840,1998,1922,4094,11.9,9.2,156,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1998,1922,1922,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.15,48.26
$GC,1227,1.54,487.5,2839,1998,1920,4095,7.9,8.7,162,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1998,1921,1921,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.17,49.64
$GC,1271,1.54,487.5,2840,1998,1920,4095,4.0,8.9,168,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1998,1920,1920,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.17,49.80
$STATE,1294,end climb,SURFACE_DEPTH_REACHED
$STATE,1294,begin surface coast
$FINISH,0.1,1.002018
$STATE,1316,end surface coast,CONTROL_FINISHED_OK
$STATE,1316,begin surface
$SM_CCo,1412,0.00,0.000,0,0,1918,500.56
$SM_GC,1.09,27.17,0.25,0.00,0.023,0.053,0.000,239,1892,1918,-6.61,1.28,500.56,0,0,0,0,0,0,26.15,26.17,26.20
$IRIDIUM_FIX,5955.74,-17228.01,020817,184649
$TT8_MAMPS,0.025466,0.206724
$HUMID,51.29
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.96,9.797
$10V_AH,10.26,12.614
$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,43.150,11.600,55.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.136,60.146,163.071,729.864,46.333,33.414,444.039,0.000,261.707,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1272.960,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.603,472.743,0.000,554.642,722.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17834,174
$CAP_FILE_SIZE,34165,0
$CFSIZE,1024409600,999571456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,212856,5957.636,-17208.775,5,0.7,18,7.8,0.6,309.0,11,4.8