version: 66.13
glider: 401
mission: 22
dive: 410
start: 8 2 117 23 26 12
data:
$ID,401
$MISSION,22
$DIVE,410
$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,31
$R_STBD_OVSHOOT,25
$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,0.11
$_SM_ANGLEo,-3.0
$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,-0.347466,-0.085010
$KALMAN_X,49653.035156,-2677.514404,-1176.666138,-145357.218750,-14.957520
$KALMAN_Y,29523.693359,1480.554810,442.657715,47932.285156,137.299286
$MHEAD_RNG_PITCHd_Wd,248.5,31633,-8.9,-8.333,-13.11,8649
$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,-486.6,2398,1890,2366,4092,0.0,0.0,0,21,5.70,0.00,-5.10,0.000,20482,0.028,0.000,1847,1890,2922,2922,4095,0,0,0,0,0,0,26.10,28.83,26.13,10.34,50.51
$GC,23,-1.53,-486.6,1847,1890,2922,4095,0.0,0.0,1,33,0.00,1.52,-1.20,0.000,16644,0.000,1.276,1847,2435,3054,3054,4094,0,0,0,0,0,0,26.29,24.96,26.27,10.45,51.06
$GC,160,-1.53,-486.6,1846,2434,3057,4094,15.7,-12.4,21,169,0.00,1.35,0.00,0.000,1030,0.000,0.029,1847,1904,3057,3057,4095,0,0,0,0,0,0,26.06,26.03,26.10,10.48,49.72
$GC,206,-1.53,-486.6,1847,1904,3058,4095,20.6,-10.8,27,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3058,3058,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.47,49.52
$GC,252,-1.53,-486.6,1847,1904,3059,4095,25.2,-10.0,33,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3059,3059,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.44,49.25
$GC,298,-1.53,-486.6,1847,1904,3060,4094,29.8,-9.9,39,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3060,3060,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.41,48.03
$GC,341,-1.53,-486.6,1847,1904,3060,4095,34.2,-10.2,45,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3061,3061,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.39,47.16
$GC,386,-1.53,-486.6,1847,1904,3061,4095,38.9,-10.6,51,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3061,3061,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.38,46.88
$GC,430,-1.53,-486.6,1847,1904,3062,4095,43.7,-10.9,57,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3062,3062,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.38,46.69
$GC,474,-1.53,-486.6,1847,1904,3063,4094,48.5,-11.0,63,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3063,3063,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.37,45.47
$GC,519,-1.53,-486.6,1847,1904,3064,4094,53.3,-10.6,69,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.37,44.95
$GC,563,-1.53,-486.6,1847,1904,3064,4095,58.0,-10.4,75,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1904,3065,3065,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,44.95
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,593,-0.45,0.0,1847,2044,3065,4094,60.7,-10.8,78,629,3.67,0.00,28.02,1.291,10244,0.054,0.000,2187,2044,2484,2484,4095,0,0,0,0,0,0,26.25,25.38,24.45,10.36,45.27
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,632,1.53,486.6,2186,2044,2484,4095,63.1,0.0,82,677,6.78,0.00,27.88,1.268,11270,0.037,0.000,2814,2044,1917,1917,4094,0,0,0,0,0,0,25.58,25.76,23.96,10.23,44.44
$GC,714,1.53,486.6,2814,2044,1916,4094,57.7,9.8,92,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2044,1916,1916,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.11,43.54
$GC,760,1.53,486.6,2814,2044,1916,4094,53.0,10.2,98,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2044,1915,1915,4094,0,0,0,0,0,0,25.75,25.75,25.75,10.10,44.25
$GC,806,1.53,486.6,2813,2044,1915,4094,48.4,9.9,104,815,0.00,1.52,0.00,0.000,516,0.000,0.054,2815,1484,1914,1914,4094,0,0,0,0,0,0,25.86,25.57,25.88,10.09,43.85
$GC,870,1.53,486.6,2814,1484,1913,4094,41.9,9.7,113,880,0.00,1.25,0.00,0.000,1030,0.000,0.026,2814,2001,1913,1913,4094,0,0,0,0,0,0,25.84,25.78,25.81,10.09,44.60
$GC,916,1.53,486.6,2814,2001,1912,4094,37.5,9.7,119,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2001,1912,1912,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.08,45.39
$GC,960,1.53,486.6,2814,2000,1911,4094,33.1,10.1,125,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2001,1911,1911,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.08,44.68
$GC,1004,1.53,486.6,2814,2001,1910,4094,28.5,10.4,131,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2001,1910,1910,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.07,45.19
$GC,1049,1.53,486.6,2814,2001,1909,4094,24.2,9.6,137,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2001,1909,1909,4094,0,0,0,0,0,0,26.22,26.22,26.23,10.09,45.47
$GC,1093,1.53,486.6,2813,2001,1908,4094,19.8,9.9,143,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2002,1908,1908,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.12,46.14
$GC,1137,1.53,486.6,2814,2002,1907,4094,15.6,9.4,149,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2002,1907,1907,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.14,47.28
$GC,1182,1.53,486.6,2814,2002,1907,4094,11.8,8.4,155,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2002,1906,1906,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.16,48.42
$GC,1226,1.55,498.0,2814,2002,1905,4094,8.2,8.2,161,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2002,1905,1905,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.17,49.09
$GC,1271,1.64,558.9,2814,2002,1904,4094,4.8,7.6,167,1281,0.28,0.00,4.95,0.461,10246,0.047,0.000,2848,2003,1831,1831,4094,0,0,0,0,0,0,26.15,25.96,25.40,10.19,49.68
$STATE,1309,end climb,FINISH_DEPTH_REACHED
$STATE,1309,begin subsurface finish
$FINISH1,1.5,1.024079,106
$GC,1315,0.16,106.0,2848,2002,1830,4094,1.5,8.3,172,1333,4.95,0.00,-4.68,0.000,20486,0.060,0.000,2397,2006,2361,2361,4095,0,0,0,0,0,0,26.08,25.62,26.15,10.18,49.68
$FINISH2,0.1
$STATE,1334,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1334,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,020817,213034
$TT8_MAMPS,0.025466,0.252413
$HUMID,50.23
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.96,9.942
$10V_AH,10.19,12.802
$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,21.375,6.300,60.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,472.503,0.000,144.772,727.903,48.199,33.431,433.846,0.000,419.700,0.000,0.542,0.000
$DEVICE_MAMPS,60.435,1276.020,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.956,472.764,374.068,554.512,725.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,17863,174
$CAP_FILE_SIZE,32123,0
$CFSIZE,1024409600,999342080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020817,230008,5958.176,-17210.637,6,0.8,14,7.8,0.0,318.6,10,5.0