version: 66.13
glider: 401
mission: 22
dive: 400
start: 8 2 117 18 51 46
data:
$ID,401
$MISSION,22
$DIVE,400
$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,49
$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
$GPS1,020817,184018,5956.9790,-17203.7871,5,0.7,20,7.9,0.4,317.5,11,4.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-47.2
$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,-0.347125,0.085460
$KALMAN_X,50228.035156,-2086.427002,-746.070374,-140624.453125,-163.416260
$KALMAN_Y,27537.958984,1429.783691,322.337830,47806.539062,-67.844604
$MHEAD_RNG_PITCHd_Wd,275.9,37915,-8.9,-8.333,-13.12,8635
$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,-485.9,238,1876,2029,4092,0.0,0.0,0,21,11.38,0.00,0.00,0.000,2049,0.108,0.000,1173,1876,2030,2030,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.29,48.54
$GC,23,-1.53,-485.9,1172,1875,2029,4094,0.9,0.0,1,51,7.50,1.52,-9.73,0.000,18692,0.054,1.274,1862,2422,3068,3068,4095,0,0,0,0,0,0,25.89,24.79,25.95,10.29,47.95
$GC,219,-1.53,-485.9,1861,2423,3072,4095,19.8,-10.4,29,229,0.00,1.27,0.00,0.000,1030,0.000,0.028,1861,1920,3072,3072,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.52,47.55
$GC,266,-1.53,-485.9,1861,1919,3073,4095,24.4,-10.1,35,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1920,3073,3073,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.49,46.69
$GC,310,-1.53,-485.9,1861,1920,3074,4094,28.5,-8.8,41,319,0.00,1.45,0.00,0.000,516,0.000,0.056,1862,1366,3074,3074,4095,0,0,0,0,0,0,26.29,25.98,26.30,10.46,46.49
$GC,369,-1.53,-485.9,1860,1366,3074,4095,34.1,-9.8,49,379,0.00,1.25,0.00,0.000,1030,0.000,0.025,1862,1896,3074,3074,4095,0,0,0,0,0,0,26.15,26.12,26.15,10.42,45.35
$GC,416,-1.53,-485.9,1861,1896,3075,4095,38.6,-9.8,55,426,0.00,1.38,0.00,0.000,260,0.000,0.044,1861,2425,3075,3075,4094,0,0,0,0,0,0,26.36,26.07,26.38,10.42,44.36
$GC,488,-1.53,-485.9,1861,2425,3077,4094,45.8,-10.1,65,497,0.00,1.30,0.00,0.000,1030,0.000,0.028,1862,1908,3077,3077,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.39,43.69
$GC,534,-1.53,-485.9,1861,1908,3077,4094,50.4,-10.2,71,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1908,3078,3078,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.38,43.42
$GC,580,-1.53,-485.9,1861,1908,3078,4095,54.9,-9.6,77,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1908,3078,3078,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.38,42.99
$GC,626,-1.53,-485.9,1861,1908,3079,4094,59.7,-10.6,83,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1908,3079,3079,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.38,42.91
$STATE,642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,642,begin apogee
$GC,648,-0.45,0.0,1862,2037,3080,4094,61.8,-10.6,85,684,3.70,0.00,28.00,1.310,10244,0.053,0.000,2204,2037,2500,2500,4094,0,0,0,0,0,0,26.22,25.33,24.38,10.38,43.46
$STATE,685,end apogee,CONTROL_FINISHED_OK
$STATE,685,begin climb
$GC,686,1.53,485.9,2204,2036,2500,4094,63.9,0.0,89,730,6.78,0.00,27.67,1.282,11270,0.037,0.000,2835,2037,1939,1939,4095,0,0,0,0,0,0,25.54,25.70,23.93,10.25,43.06
$GC,768,1.53,485.9,2834,2036,1938,4095,58.6,8.6,99,776,0.00,0.00,0.15,0.004,8198,0.000,0.000,2835,2037,1938,1938,4095,0,0,0,0,0,0,25.54,25.56,25.56,10.12,42.75
$GC,812,1.53,485.9,2834,2036,1937,4095,53.9,10.4,105,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2037,1936,1936,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.12,42.47
$GC,856,1.53,485.9,2834,2036,1936,4094,49.2,10.7,111,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2037,1936,1936,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.12,42.79
$GC,900,1.53,485.9,2834,2036,1935,4094,44.3,11.1,117,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2036,1934,1934,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.11,43.22
$GC,945,1.53,485.9,2834,2036,1934,4094,39.5,10.8,123,954,0.00,1.33,0.00,0.000,260,0.000,0.049,2834,2529,1934,1934,4095,0,0,0,0,0,0,26.01,25.72,26.03,10.11,43.26
$GC,1009,1.53,485.9,2834,2529,1932,4095,32.4,11.1,132,1018,0.00,1.33,0.00,0.000,1030,0.000,0.028,2834,2013,1932,1932,4094,0,0,0,0,0,0,25.89,25.89,25.91,10.09,43.89
$GC,1054,1.53,485.9,2834,2012,1931,4094,27.6,10.6,138,1063,0.00,1.40,0.00,0.000,516,0.000,0.057,2835,1485,1931,1931,4094,0,0,0,0,0,0,26.16,25.85,26.17,10.09,44.21
$GC,1144,1.53,485.9,2834,1484,1929,4094,18.6,9.0,151,1154,0.00,1.17,0.00,0.000,1030,0.000,0.026,2834,1979,1929,1929,4094,0,0,0,0,0,0,26.05,26.03,26.07,10.14,45.58
$GC,1191,1.53,485.9,2834,1978,1928,4094,14.7,8.5,157,1200,0.00,1.50,0.00,0.000,260,0.000,0.050,2835,2538,1928,1928,4094,0,0,0,0,0,0,26.28,25.99,26.29,10.16,47.40
$GC,1242,1.53,485.9,2834,2537,1927,4094,10.3,8.5,164,1251,0.00,1.35,0.00,0.000,1030,0.000,0.030,2835,2008,1927,1927,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.19,48.81
$GC,1288,1.55,492.9,2834,2009,1926,4094,6.6,8.2,170,1297,0.00,1.38,0.00,0.000,516,0.000,0.057,2834,1483,1926,1926,4095,0,0,0,0,0,0,26.35,26.05,26.36,10.19,48.85
$GC,1339,1.55,492.9,2834,1482,1925,4095,2.2,8.6,177,1348,0.00,1.23,0.00,0.000,1030,0.000,0.026,2834,1999,1925,1925,4094,0,0,0,0,0,0,26.19,26.17,26.20,10.21,50.23
$STATE,1356,end climb,FINISH_DEPTH_REACHED
$STATE,1356,begin subsurface finish
$FINISH1,0.6,1.024141,102
$GC,1362,0.15,101.7,2834,2004,1923,4094,0.6,8.4,179,1381,4.35,0.00,-4.20,0.000,20486,0.026,0.000,2412,2003,2389,2389,4094,0,0,0,0,0,0,26.16,25.65,26.22,10.21,49.56
$FINISH2,0.1
$STATE,1382,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1382,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,184154
$TT8_MAMPS,0.025466,0.244923
$HUMID,50.39
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.93,9.674
$10V_AH,10.21,12.446
$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,33.700,19.100,55.825,0.000,0.000,47.021,46.521,348.220,0.000,0.000,20.072,502.877,44.516,146.257,1222.559,109.360,33.453,439.870,0.000,438.855,0.000,0.541,0.000
$DEVICE_MAMPS,107.865,1273.725,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.918,491.744,389.144,576.508,752.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,17697,181
$CAP_FILE_SIZE,39899,0
$CFSIZE,1024409600,999817216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,185037,5956.944,-17203.990,6,0.7,18,7.9,0.4,240.0,11,4.8