version: 66.13
glider: 401
mission: 22
dive: 409
start: 8 2 117 23 1 18
data:
$ID,401
$MISSION,22
$DIVE,409
$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,27
$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
$GPS1,020817,225257,5958.1123,-17210.5762,5,0.9,38,7.8,0.6,301.8,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-40.8
$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,-0.349371,-0.079064
$KALMAN_X,49441.062500,-2736.643311,-1293.995239,-144940.453125,17.463135
$KALMAN_Y,29406.367188,1476.403564,436.508911,48046.246094,128.090759
$MHEAD_RNG_PITCHd_Wd,249.4,31633,-8.8,-8.333,-13.10,8678
$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,-487.5,239,1901,1702,4092,0.0,0.0,0,21,11.27,0.00,0.00,0.000,2049,0.089,0.000,1200,1901,1703,1703,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.23,49.68
$GC,23,-1.53,-487.5,1200,1901,1703,4094,0.6,0.0,1,51,6.88,1.48,-12.50,0.000,18692,0.046,1.276,1841,2432,3053,3053,4095,0,0,0,0,0,0,25.91,24.82,25.97,10.24,49.21
$GC,198,-1.53,-487.5,1840,2432,3056,4095,16.2,-12.6,26,207,0.00,1.35,0.00,0.000,1030,0.000,0.029,1841,1900,3057,3057,4095,0,0,0,0,0,0,26.03,25.98,26.04,10.53,48.30
$GC,243,-1.53,-487.5,1841,1899,3057,4095,21.5,-11.5,32,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1900,3057,3057,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.51,47.95
$GC,288,-1.53,-487.5,1841,1900,3059,4095,25.8,-9.0,38,297,0.00,1.40,0.00,0.000,516,0.000,0.057,1841,1362,3058,3058,4095,0,0,0,0,0,0,26.32,26.01,26.32,10.48,47.63
$GC,353,-1.53,-487.5,1841,1362,3059,4095,32.5,-10.4,47,362,0.00,1.27,0.00,0.000,1030,0.000,0.025,1841,1902,3059,3059,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.43,46.37
$GC,399,-1.53,-487.5,1841,1901,3060,4094,37.1,-10.2,53,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1902,3060,3060,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.42,45.51
$GC,444,-1.53,-487.5,1841,1902,3061,4094,42.0,-10.7,59,453,0.00,1.35,0.00,0.000,260,0.000,0.043,1841,2419,3061,3061,4094,0,0,0,0,0,0,26.41,26.13,26.42,10.41,44.68
$GC,502,-1.53,-487.5,1841,2419,3062,4094,48.2,-10.6,67,511,0.00,1.33,0.00,0.000,1030,0.000,0.029,1841,1893,3062,3062,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.39,44.29
$GC,549,-1.53,-487.5,1841,1892,3063,4094,53.1,-11.1,73,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1893,3063,3063,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.38,43.97
$GC,593,-1.53,-487.5,1841,1893,3064,4094,58.3,-11.0,79,603,0.00,1.38,0.00,0.000,516,0.000,0.055,1841,1363,3064,3064,4094,0,0,0,0,0,0,26.48,26.17,26.50,10.38,43.66
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,612,begin apogee
$GC,619,-0.45,0.0,1841,2010,3064,4094,60.4,-11.2,81,654,3.72,0.00,28.00,1.292,10244,0.057,0.000,2184,2010,2484,2484,4094,0,0,0,0,0,0,26.20,25.34,24.40,10.38,44.29
$STATE,655,end apogee,CONTROL_FINISHED_OK
$STATE,655,begin climb
$GC,657,1.53,487.5,2184,2010,2484,4094,63.1,0.0,85,702,6.78,0.00,27.85,1.273,11270,0.037,0.000,2812,2011,1918,1918,4094,0,0,0,0,0,0,25.55,25.72,23.91,10.25,43.62
$GC,739,1.53,487.5,2812,2010,1917,4094,57.8,9.6,95,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1917,1917,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.13,42.91
$GC,784,1.53,487.5,2812,2011,1916,4094,53.2,10.1,101,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1916,1916,4094,0,0,0,0,0,0,25.73,25.75,25.74,10.12,42.95
$GC,827,1.53,487.5,2812,2011,1915,4094,48.9,9.8,107,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1915,1915,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.11,43.22
$GC,871,1.53,487.5,2812,2010,1914,4094,44.6,9.7,113,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1914,1914,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.10,43.66
$GC,916,1.53,487.5,2812,2010,1912,4094,40.2,9.7,119,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1912,1912,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.10,43.93
$GC,960,1.53,487.5,2811,2010,1912,4094,35.8,10.0,125,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2011,1912,1912,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.10,44.44
$GC,1004,1.53,487.5,2812,2010,1911,4094,31.3,10.0,131,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1911,1911,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.09,44.32
$GC,1048,1.53,487.5,2811,2010,1910,4095,27.1,9.6,137,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1910,1910,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.09,44.56
$GC,1091,1.53,487.5,2812,2011,1909,4094,23.0,9.3,143,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.11,44.64
$GC,1136,1.53,487.5,2812,2011,1908,4094,18.8,9.4,149,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2012,1908,1908,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.13,45.70
$GC,1180,1.53,487.5,2811,2011,1907,4094,14.8,9.2,155,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2011,1907,1907,4094,0,0,0,0,0,0,26.30,26.31,26.31,10.16,47.71
$GC,1224,1.53,487.5,2812,2012,1906,4094,11.0,8.5,161,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2012,1906,1906,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.17,48.22
$GC,1269,1.58,520.6,2812,2012,1905,4095,7.4,7.9,167,1279,0.10,0.00,3.22,0.315,10246,0.076,0.000,2831,2012,1873,1873,4094,0,0,0,0,0,0,26.17,25.80,25.39,10.19,49.25
$GC,1317,1.64,557.4,2830,2012,1873,4094,3.8,7.9,173,1327,0.10,1.42,3.58,0.342,10756,0.076,0.056,2849,1479,1832,1832,4095,0,0,0,0,0,0,26.16,26.01,25.42,10.19,49.29
$STATE,1341,end climb,FINISH_DEPTH_REACHED
$STATE,1342,begin subsurface finish
$FINISH1,1.5,1.024098,105
$GC,1349,0.16,104.7,2848,2030,1831,4094,1.5,8.1,176,1367,4.93,0.00,-4.75,0.000,20998,0.060,0.000,2399,2033,2367,2367,4094,0,0,0,0,0,0,26.08,25.61,26.15,10.18,49.52
$FINISH2,0.2
$STATE,1368,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1368,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,213034
$TT8_MAMPS,0.025466,0.213465
$HUMID,49.96
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.91,9.921
$10V_AH,10.25,12.763
$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,33.775,13.925,62.650,0.000,0.000,25.635,17.296,268.770,0.000,0.000,15.920,488.108,0.000,155.204,1073.003,108.264,33.459,458.977,0.000,268.975,0.000,0.543,0.000
$DEVICE_MAMPS,88.740,1276.020,1292.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.828,483.593,0.000,566.918,740.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,17737,178
$CAP_FILE_SIZE,39324,0
$CFSIZE,1024409600,999374848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020817,230008,5958.176,-17210.637,6,0.8,14,7.8,0.0,318.6,10,5.0