version: 66.13
glider: 401
mission: 22
dive: 411
start: 8 2 117 23 50 32
data:
$ID,401
$MISSION,22
$DIVE,411
$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,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,25
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,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
$GPS1,020817,230008,5958.1763,-17210.6367,6,0.8,14,7.8,0.0,318.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.7
$GPS2,020817,230008,5958.1763,-17210.6367,6,0.8,14,7.8,0.0,318.6,10,5.0
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.346077,-0.096349
$KALMAN_X,50086.246094,-2694.268799,-1163.422363,-145785.687500,112.519287
$KALMAN_Y,29630.607422,1489.204956,451.798309,47807.835938,149.886627
$MHEAD_RNG_PITCHd_Wd,246.6,31633,-8.8,-8.333,-13.06,8740
$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,-1.53,-487.5,2397,1901,2361,4092,0.0,0.0,0,19,5.62,0.00,-3.62,0.000,20482,0.028,0.000,1852,1902,2753,2753,4095,0,0,0,0,0,0,26.09,28.83,26.14,10.32,50.82
$GC,22,-1.53,-487.5,1851,1901,2753,4095,0.0,0.0,1,32,0.00,1.45,-2.85,0.000,16644,0.000,1.273,1851,2423,3054,3054,4094,0,0,0,0,0,0,26.29,24.96,26.30,10.40,50.98
$GC,200,-1.53,-487.5,1851,2423,3058,4094,18.9,-11.8,27,210,0.00,1.35,0.00,0.000,1030,0.000,0.029,1852,1892,3058,3058,4094,0,0,0,0,0,0,26.13,26.07,26.14,10.47,50.31
$GC,246,-1.53,-487.5,1851,1892,3059,4094,24.2,-10.9,33,255,0.00,1.38,0.00,0.000,516,0.000,0.058,1851,1367,3059,3059,4095,0,0,0,0,0,0,26.37,26.06,26.38,10.46,49.64
$GC,291,-1.53,-487.5,1851,1367,3059,4095,28.8,-10.4,39,300,0.00,1.25,0.00,0.000,1030,0.000,0.027,1852,1895,3059,3059,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.43,49.13
$GC,336,-1.53,-487.5,1851,1894,3060,4094,33.1,-9.2,45,346,0.00,1.38,0.00,0.000,260,0.000,0.044,1851,2420,3060,3060,4095,0,0,0,0,0,0,26.43,26.14,26.44,10.39,48.03
$GC,394,-1.53,-487.5,1851,2420,3061,4095,38.5,-9.4,53,404,0.00,1.33,0.00,0.000,1030,0.000,0.030,1851,1896,3061,3061,4095,0,0,0,0,0,0,26.24,26.20,26.25,10.38,47.12
$GC,439,-1.53,-487.5,1851,1896,3062,4095,42.9,-9.8,59,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1896,3062,3062,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,46.14
$GC,484,-1.53,-487.5,1851,1896,3063,4095,47.3,-10.0,65,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1896,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.37,46.53
$GC,528,-1.53,-487.5,1851,1896,3064,4095,51.8,-10.3,71,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1896,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,45.31
$GC,573,-1.53,-487.5,1851,1896,3064,4095,56.4,-10.6,77,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1896,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.37,45.31
$STATE,609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,609,begin apogee
$GC,614,-0.45,0.0,1851,2031,3066,4095,60.5,-10.8,82,649,3.58,0.00,27.95,1.287,10244,0.054,0.000,2185,2032,2484,2484,4094,0,0,0,0,0,0,26.26,25.39,24.46,10.36,45.27
$STATE,650,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,652,1.53,487.5,2185,2031,2484,4094,62.8,0.0,86,695,6.78,0.00,27.77,1.267,11270,0.037,0.000,2813,2031,1917,1917,4094,0,0,0,0,0,0,25.60,25.77,23.95,10.23,44.56
$GC,733,1.53,487.5,2812,2031,1917,4094,57.6,9.6,96,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2031,1917,1917,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.10,44.68
$GC,777,1.53,487.5,2813,2031,1915,4094,53.1,9.9,102,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2031,1915,1915,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.10,44.13
$GC,822,1.53,487.5,2813,2031,1915,4094,48.7,9.9,108,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2032,1914,1914,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.09,44.40
$GC,866,1.53,487.5,2812,2031,1913,4094,44.1,10.5,114,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2031,1913,1913,4094,0,0,0,0,0,0,25.96,25.97,25.96,10.08,44.68
$GC,910,1.53,487.5,2812,2031,1912,4094,39.3,10.9,120,920,0.00,1.48,0.00,0.000,516,0.000,0.054,2813,1487,1913,1913,4094,0,0,0,0,0,0,26.03,25.72,26.04,10.08,44.76
$GC,968,1.53,487.5,2812,1486,1911,4094,33.4,9.7,128,978,0.00,1.23,0.00,0.000,1030,0.000,0.026,2813,1997,1911,1911,4095,0,0,0,0,0,0,25.91,25.89,25.93,10.08,44.84
$GC,1015,1.53,487.5,2812,1996,1911,4095,29.4,8.7,134,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1997,1911,1911,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,45.07
$GC,1060,1.63,554.7,2813,1997,1910,4094,25.7,7.5,140,1070,0.25,0.00,5.07,0.613,10246,0.047,0.000,2844,1997,1836,1836,4094,0,0,0,0,0,0,25.98,25.75,25.06,10.08,46.02
$GC,1108,1.63,554.7,2844,1997,1836,4094,21.9,8.4,146,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1997,1836,1836,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.09,45.70
$GC,1152,1.68,588.0,2843,1996,1835,4094,18.2,7.9,152,1162,0.10,0.00,3.58,0.410,10246,0.077,0.000,2864,1997,1796,1796,4094,0,0,0,0,0,0,26.03,25.65,25.16,10.12,47.28
$GC,1199,1.68,588.0,2863,1997,1795,4094,14.1,9.2,158,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1997,1795,1795,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.14,48.54
$GC,1244,1.68,588.0,2863,1997,1794,4094,9.8,9.2,164,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1997,1794,1794,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.15,49.21
$GC,1288,1.68,588.0,2863,1997,1793,4094,5.5,9.6,170,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1997,1793,1793,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.16,49.92
$STATE,1324,end climb,SURFACE_DEPTH_REACHED
$STATE,1324,begin surface coast
$FINISH,0.2,1.024047
$STATE,1347,end surface coast,CONTROL_FINISHED_OK
$STATE,1347,begin surface
$SM_CCo,1444,0.00,0.000,0,0,1791,595.87
$SM_GC,0.97,27.42,0.25,0.00,0.023,0.058,0.000,238,1901,1791,-6.55,1.32,595.87,0,0,0,0,0,0,26.14,26.12,26.18
$IRIDIUM_FIX,5955.74,-17228.01,020817,213034
$TT8_MAMPS,0.025466,0.203728
$HUMID,50.94
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.95,9.964
$10V_AH,10.25,12.829
$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,43.750,11.625,64.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,491.268,60.338,160.702,747.968,47.231,33.412,440.205,0.000,267.385,0.000,0.543,0.000
$DEVICE_MAMPS,77.265,1272.960,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.371,483.613,0.000,567.120,740.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,17642,178
$CAP_FILE_SIZE,34430,0
$CFSIZE,1024409600,999276544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,001528,5958.781,-17211.773,9,0.9,18,7.8,0.5,1.3,9,4.9