version: 66.13
glider: 401
mission: 22
dive: 398
start: 8 2 117 17 54 36
data:
$ID,401
$MISSION,22
$DIVE,398
$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,22
$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,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,36
$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
$GPS1,020817,173040,5956.8862,-17201.8105,6,0.7,14,7.9,0.0,0.0,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-5.2
$GPS2,020817,173040,5956.8862,-17201.8105,6,0.7,14,7.9,0.0,0.0,11,4.6
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.336861,0.044342
$KALMAN_X,50910.859375,-1893.536743,-544.595459,-139674.796875,-33.216980
$KALMAN_Y,27507.984375,1447.065552,335.024994,47700.890625,-19.482971
$MHEAD_RNG_PITCHd_Wd,269.6,39936,-11.3,-9.091,-14.98,6435
$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,-1.61,-390.0,2414,1894,2387,4092,0.0,0.0,0,21,5.88,0.00,-4.82,0.000,20482,0.027,0.000,1843,1894,2905,2905,4095,0,0,0,0,0,0,26.23,28.83,26.25,10.32,49.68
$GC,23,-1.61,-390.0,1842,1894,2905,4095,0.0,0.0,1,33,0.00,1.48,-0.45,0.000,16644,0.000,1.289,1843,2425,2956,2956,4095,0,0,0,0,0,0,26.41,25.06,26.32,10.43,50.15
$GC,187,-1.61,-390.0,1842,2426,2959,4095,19.2,-12.3,25,197,0.00,1.33,0.00,0.000,1030,0.000,0.029,1843,1904,2961,2961,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.45,49.80
$GC,233,-1.61,-390.0,1842,1904,2961,4094,24.5,-11.8,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1904,2961,2961,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.43,49.44
$GC,277,-1.61,-390.0,1842,1903,2962,4094,29.3,-10.4,37,286,0.00,1.42,0.00,0.000,516,0.000,0.058,1843,1357,2962,2962,4094,0,0,0,0,0,0,26.43,26.12,26.44,10.39,48.93
$GC,316,-1.61,-390.0,1842,1357,2963,4094,33.6,-11.2,42,325,0.00,1.30,0.00,0.000,1030,0.000,0.027,1842,1903,2963,2963,4095,0,0,0,0,0,0,26.25,26.22,26.25,10.38,47.55
$GC,362,-1.61,-390.0,1842,1904,2963,4095,38.5,-10.9,48,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1904,2964,2964,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.37,47.08
$GC,406,-1.61,-390.0,1841,1903,2965,4095,43.4,-10.8,54,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1904,2965,2965,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.35,46.02
$GC,450,-1.61,-390.0,1842,1903,2966,4095,48.1,-10.7,60,459,0.00,1.38,0.00,0.000,260,0.000,0.045,1842,2428,2966,2966,4095,0,0,0,0,0,0,26.51,26.22,26.52,10.34,45.43
$GC,510,-1.61,-390.0,1842,2428,2966,4095,54.4,-10.8,68,519,0.00,1.30,0.00,0.000,1030,0.000,0.031,1842,1913,2967,2967,4095,0,0,0,0,0,0,26.31,26.27,26.34,10.33,44.84
$GC,556,-1.61,-390.0,1842,1913,2968,4095,59.4,-11.0,74,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1913,2968,2968,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.33,45.15
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,578,-0.45,0.0,1842,2040,2968,4094,61.6,-11.0,76,613,3.92,0.00,22.88,1.289,10244,0.057,0.000,2203,2040,2500,2500,4094,0,0,0,0,0,0,26.27,25.28,24.58,10.33,45.11
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.61,390.0,2203,2039,2500,4094,64.0,0.0,80,651,6.97,0.00,22.67,1.268,11270,0.034,0.000,2861,2040,2045,2045,4094,0,0,0,0,0,0,25.75,25.91,24.12,10.23,44.68
$GC,688,1.61,390.0,2861,2039,2044,4094,58.9,10.9,89,698,0.00,1.33,0.00,0.000,260,0.000,0.047,2861,2522,2044,2044,4094,0,0,0,0,0,0,25.65,25.37,25.66,10.12,43.93
$GC,759,1.61,390.0,2861,2522,2041,4094,50.2,11.9,99,769,0.00,1.33,0.00,0.000,1030,0.000,0.028,2861,2012,2042,2042,4094,0,0,0,0,0,0,25.66,25.63,25.70,10.11,44.48
$GC,806,1.61,390.0,2861,2012,2041,4094,44.7,11.7,105,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2012,2041,2041,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.11,44.44
$GC,852,1.61,390.0,2860,2012,2040,4094,39.1,12.4,111,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2039,2039,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.10,44.88
$GC,898,1.61,390.0,2861,2012,2038,4094,33.4,12.3,117,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2038,2038,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.10,45.43
$GC,944,1.61,390.0,2861,2012,2037,4094,27.9,11.9,123,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2012,2037,2037,4094,0,0,0,0,0,0,26.17,26.17,26.18,10.09,45.11
$GC,987,1.61,390.0,2861,2011,2036,4094,22.8,11.0,129,996,0.00,1.40,0.00,0.000,516,0.000,0.059,2861,1485,2036,2036,4094,0,0,0,0,0,0,26.21,25.89,26.22,10.11,45.15
$GC,1039,1.61,390.0,2861,1485,2034,4094,17.3,10.8,136,1048,0.00,1.20,0.00,0.000,1030,0.000,0.027,2861,1988,2034,2034,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.14,46.37
$GC,1085,1.61,390.0,2861,1988,2034,4094,12.7,9.9,142,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2033,2033,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,48.14
$GC,1131,1.64,409.9,2861,1988,2033,4094,8.6,8.8,148,1140,0.00,0.00,2.38,0.148,8198,0.000,0.000,2861,1989,2021,2021,4094,0,0,0,0,0,0,26.33,25.79,25.35,10.19,48.62
$GC,1177,1.64,410.9,2861,1989,2020,4094,4.3,9.1,154,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1989,2020,2020,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.20,49.40
$STATE,1201,end climb,FINISH_DEPTH_REACHED
$STATE,1201,begin subsurface finish
$FINISH1,1.9,1.024149,101
$GC,1207,0.15,101.1,2861,1989,2019,4095,1.9,9.4,157,1224,4.97,0.00,-3.12,0.000,20486,0.071,0.000,2415,1993,2386,2386,4095,0,0,0,0,0,0,26.06,25.62,26.15,10.20,50.15
$FINISH2,0.2
$STATE,1225,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1225,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,160756
$TT8_MAMPS,0.025466,0.258405
$HUMID,49.92
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.12,9.610
$10V_AH,10.20,12.374
$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,21.750,13.975,47.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.574,0.000,128.786,660.970,44.389,33.428,385.348,0.000,384.870,0.000,0.542,0.000
$DEVICE_MAMPS,71.145,1289.025,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.803,431.969,341.869,506.882,658.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330908
$DATA_FILE_SIZE,14379,159
$CAP_FILE_SIZE,30652,0
$CFSIZE,1024409600,999948288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,173040,5956.886,-17201.811,6,0.7,14,7.9,0.0,0.0,11,4.6