version: 66.13
glider: 401
mission: 22
dive: 414
start: 8 3 117 1 21 27
data:
$ID,401
$MISSION,22
$DIVE,414
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,030817,002835,5958.9058,-17211.7188,6,0.8,17,7.8,0.7,45.2,10,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.7
$GPS2,030817,002835,5958.9058,-17211.7188,6,0.8,17,7.8,0.7,45.2,10,4.8
$SPEED_LIMITS,0.229,0.358
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.318929,-0.163656
$KALMAN_X,50376.082031,-2716.318848,-1075.467529,-147163.687500,155.336792
$KALMAN_Y,31152.550781,1629.449219,585.578430,47362.437500,231.601746
$MHEAD_RNG_PITCHd_Wd,235.0,30620,-8.8,-8.333,-13.09,8694
$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,-487.5,2396,1895,2359,4092,0.0,0.0,0,21,5.65,0.00,-5.18,0.000,20482,0.026,0.000,1848,1895,2929,2929,4095,0,0,0,0,0,0,26.12,28.83,26.14,10.33,50.70
$GC,23,-1.53,-487.5,1847,1895,2927,4095,0.0,0.0,1,33,0.00,1.48,-1.12,0.000,16644,0.000,1.271,1848,2426,3051,3051,4094,0,0,0,0,0,0,26.31,24.98,26.28,10.46,51.22
$GC,235,-1.53,-487.5,1847,2425,3055,4094,23.5,-9.7,32,244,0.00,1.33,0.00,0.000,1030,0.000,0.029,1847,1902,3055,3055,4095,0,0,0,0,0,0,26.15,26.10,26.15,10.49,50.19
$GC,282,-1.53,-487.5,1847,1902,3056,4095,27.7,-8.5,38,291,0.00,1.40,0.00,0.000,516,0.000,0.058,1848,1369,3056,3056,4095,0,0,0,0,0,0,26.39,26.07,26.40,10.46,49.48
$GC,353,-1.53,-487.5,1847,1368,3058,4095,34.7,-10.0,48,362,0.00,1.20,0.00,0.000,1030,0.000,0.027,1848,1880,3058,3058,4094,0,0,0,0,0,0,26.24,26.21,26.25,10.42,48.62
$GC,400,-1.53,-487.5,1847,1880,3058,4094,39.0,-9.4,54,409,0.00,1.40,0.00,0.000,260,0.000,0.044,1847,2418,3059,3059,4095,0,0,0,0,0,0,26.46,26.16,26.46,10.40,48.03
$GC,458,-1.53,-487.5,1847,2418,3059,4095,44.7,-9.8,62,467,0.00,1.35,0.00,0.000,1030,0.000,0.031,1847,1886,3060,3060,4095,0,0,0,0,0,0,26.26,26.22,26.28,10.38,46.37
$GC,505,-1.53,-487.5,1847,1885,3060,4095,49.3,-9.8,68,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1886,3060,3060,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,45.58
$GC,551,-1.53,-487.5,1847,1885,3061,4095,54.0,-10.6,74,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1886,3061,3061,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.37,45.19
$GC,597,-1.53,-487.5,1847,1886,3061,4094,58.9,-10.7,80,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1886,3062,3062,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.37,44.99
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,619,-0.45,0.0,1847,2028,3062,4094,60.9,-10.8,82,654,3.62,0.00,27.80,1.285,10244,0.054,0.000,2185,2028,2484,2484,4094,0,0,0,0,0,0,26.27,25.40,24.47,10.37,45.07
$STATE,655,end apogee,CONTROL_FINISHED_OK
$STATE,655,begin climb
$GC,657,1.53,487.5,2185,2028,2484,4094,62.9,0.0,86,700,6.78,0.00,27.80,1.258,11270,0.037,0.000,2814,2029,1917,1917,4094,0,0,0,0,0,0,25.60,25.78,23.98,10.24,44.68
$GC,738,1.53,487.5,2813,2028,1916,4094,57.2,10.0,96,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2029,1916,1916,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.11,43.69
$GC,784,1.53,487.5,2813,2028,1914,4094,52.6,9.9,102,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2029,1915,1915,4095,0,0,0,0,0,0,25.76,25.77,25.77,10.11,44.09
$GC,830,1.53,487.5,2813,2029,1914,4095,47.8,10.5,108,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2029,1914,1914,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.11,43.77
$GC,876,1.53,487.5,2813,2028,1914,4094,43.0,10.5,114,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2029,1913,1913,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.10,44.44
$GC,922,1.53,487.5,2813,2028,1912,4094,38.3,10.1,120,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2029,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.10,44.40
$GC,968,1.53,487.5,2813,2028,1911,4094,33.3,10.5,126,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2029,1911,1911,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.09,44.44
$GC,1011,1.53,487.5,2813,2028,1910,4094,28.7,9.9,132,1021,0.00,1.48,0.00,0.000,516,0.000,0.056,2813,1482,1910,1910,4095,0,0,0,0,0,0,26.16,25.86,26.17,10.09,45.19
$GC,1063,1.53,487.5,2813,1481,1909,4095,23.7,9.3,139,1072,0.00,1.27,0.00,0.000,1030,0.000,0.026,2814,2010,1909,1909,4094,0,0,0,0,0,0,26.02,25.98,26.03,10.11,45.15
$GC,1110,1.53,487.5,2813,2009,1908,4094,19.6,8.8,145,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2009,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.14,46.41
$GC,1156,1.53,487.5,2813,2010,1907,4094,15.4,8.8,151,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2010,1907,1907,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.17,48.18
$GC,1201,1.53,487.5,2813,2010,1906,4094,11.4,8.8,157,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2010,1906,1906,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,48.81
$GC,1247,1.53,487.5,2813,2009,1905,4094,7.4,8.5,163,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2010,1905,1905,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.19,48.89
$GC,1294,1.63,549.5,2813,2010,1904,4094,3.9,7.6,169,1304,0.20,0.00,4.50,0.422,10246,0.052,0.000,2840,2010,1841,1841,4094,0,0,0,0,0,0,26.17,25.99,25.44,10.20,49.37
$STATE,1318,end climb,SURFACE_DEPTH_REACHED
$STATE,1318,begin surface coast
$FINISH,0.1,1.002575
$STATE,1346,end surface coast,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$SM_CCo,1442,0.00,0.000,0,0,1840,553.80
$SM_GC,1.03,27.27,0.28,0.00,0.023,0.046,0.000,230,1868,1840,-6.59,1.23,553.80,0,0,0,0,0,0,26.03,26.19,26.15
$IRIDIUM_FIX,5955.74,-17228.01,030817,001706
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.27
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.98,10.056
$10V_AH,10.21,12.948
$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,43.525,11.725,60.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,501.636,59.646,157.949,735.953,50.058,33.417,430.642,0.000,424.453,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1270.665,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.615,478.130,378.333,560.643,733.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,17841,176
$CAP_FILE_SIZE,33255,0
$CFSIZE,1024409600,999129088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030817,014632,5959.300,-17211.801,10,0.8,29,7.8,0.4,48.6,10,4.6