version: 66.13
glider: 401
mission: 22
dive: 481
start: 8 4 117 8 51 55
data:
$ID,401
$MISSION,22
$DIVE,481
$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,600
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,66
$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
$GPS1,040817,084353,6000.9409,-17238.5156,7,0.7,42,7.6,0.4,129.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-29.5
$GPS2,040817,085047,6000.9004,-17238.6230,8,0.7,15,7.6,0.3,219.0,11,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.358529,0.142122
$KALMAN_X,56711.437500,-2547.693604,-537.422180,-179653.453125,-4.060974
$KALMAN_Y,40769.316406,857.190430,88.099007,42709.925781,-74.705338
$MHEAD_RNG_PITCHd_Wd,284.0,38497,-7.7,-8.333,-12.19,10420
$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,-1.58,-585.0,230,1969,1550,4092,0.0,0.0,0,21,11.25,0.00,0.00,0.000,2049,0.077,0.000,1211,1969,1549,1549,4095,0,0,0,0,0,0,26.15,28.83,28.83,10.18,50.19
$GC,23,-1.58,-585.0,1211,1969,1550,4095,0.5,0.0,1,51,6.68,1.05,-15.07,0.000,18692,0.050,1.281,1830,2341,3170,3170,4095,0,0,0,0,0,0,25.90,24.77,25.96,10.20,49.72
$GC,61,-1.58,-585.0,1830,2341,3170,4095,0.2,0.8,5,71,0.00,1.00,0.00,0.000,1030,0.000,0.025,1831,1936,3170,3170,4095,0,0,0,0,0,0,25.89,25.87,25.91,10.54,50.86
$GC,108,-1.58,-585.0,1830,1936,3171,4095,5.5,-13.1,11,117,0.00,1.08,0.00,0.000,260,0.000,0.044,1831,2333,3171,3171,4094,0,0,0,0,0,0,26.15,25.86,26.16,10.54,49.60
$GC,225,-1.58,-585.0,1830,2333,3173,4094,19.7,-9.8,28,234,0.00,0.85,0.00,0.000,1030,0.000,0.028,1831,1989,3174,3174,4094,0,0,0,0,0,0,26.08,26.03,26.08,10.48,47.75
$GC,272,-1.58,-585.0,1830,1989,3174,4094,24.3,-9.9,34,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1989,3175,3175,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.45,47.20
$GC,317,-1.58,-585.0,1830,1989,3175,4095,29.0,-10.1,40,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1989,3175,3175,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.44,46.14
$GC,361,-1.58,-585.0,1830,1989,3176,4094,33.4,-9.6,46,371,0.00,1.17,0.00,0.000,516,0.000,0.049,1831,1528,3176,3176,4094,0,0,0,0,0,0,26.36,26.06,26.37,10.43,46.41
$GC,407,-1.58,-585.0,1830,1528,3177,4094,38.2,-10.9,52,415,0.00,0.98,0.00,0.000,1030,0.000,0.027,1831,1948,3177,3177,4094,0,0,0,0,0,0,26.19,26.17,26.20,10.41,45.39
$GC,451,-1.58,-585.0,1830,1948,3177,4094,43.1,-10.7,58,461,0.00,1.10,0.00,0.000,260,0.000,0.044,1831,2368,3178,3178,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.40,44.88
$GC,516,-1.58,-585.0,1830,2368,3179,4095,50.1,-10.9,67,526,0.00,0.93,0.00,0.000,1030,0.000,0.027,1831,1992,3179,3179,4095,0,0,0,0,0,0,26.24,26.21,26.26,10.39,44.92
$GC,562,-1.58,-585.0,1830,1992,3180,4095,55.2,-11.1,73,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1992,3180,3180,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.39,44.32
$STATE,605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,605,begin apogee
$GC,610,-0.45,0.0,1830,1943,3180,4094,60.1,-10.9,79,654,3.80,0.00,33.35,1.294,10244,0.054,0.000,2186,1943,2484,2484,4094,0,0,0,0,0,0,26.20,24.96,24.27,10.38,44.84
$STATE,655,end apogee,CONTROL_FINISHED_OK
$STATE,655,begin climb
$GC,657,1.58,585.0,2185,1943,2484,4094,62.6,0.0,84,702,6.97,0.00,33.42,1.271,11270,0.037,0.000,2831,1943,1801,1801,4094,0,0,0,0,0,0,25.44,25.60,23.78,10.24,44.44
$GC,739,1.58,585.0,2830,1942,1801,4094,57.2,9.3,94,749,0.00,1.17,0.00,0.000,260,0.000,0.041,2831,2365,1801,1801,4094,0,0,0,0,0,0,25.44,25.18,25.45,10.08,43.30
$GC,817,1.58,585.0,2830,2365,1799,4094,49.5,9.9,105,827,0.00,1.05,0.00,0.000,1030,0.000,0.028,2831,1961,1798,1798,4094,0,0,0,0,0,0,25.53,25.51,25.60,10.08,44.64
$GC,863,1.58,585.0,2830,1960,1798,4094,45.0,9.8,111,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1798,1798,4094,0,0,0,0,0,0,25.86,25.87,25.86,10.08,44.05
$GC,908,1.58,585.0,2830,1960,1797,4094,40.5,9.9,117,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1796,1796,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.07,44.25
$GC,954,1.58,585.0,2830,1960,1795,4094,36.3,9.3,123,963,0.00,1.10,0.00,0.000,260,0.000,0.039,2831,2368,1795,1795,4094,0,0,0,0,0,0,26.01,25.75,26.03,10.07,44.48
$GC,1020,1.58,585.0,2830,2367,1794,4094,30.0,9.7,132,1029,0.00,1.05,0.00,0.000,1030,0.000,0.029,2831,1957,1794,1794,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.06,45.82
$GC,1065,1.58,585.0,2830,1956,1793,4094,25.5,9.4,138,1075,0.00,1.15,0.00,0.000,516,0.000,0.057,2831,1518,1793,1793,4094,0,0,0,0,0,0,26.15,25.82,26.16,10.06,45.58
$GC,1105,1.58,585.0,2830,1518,1792,4094,21.9,9.4,143,1114,0.00,1.02,0.00,0.000,1030,0.000,0.027,2830,1963,1792,1792,4094,0,0,0,0,0,0,25.98,25.97,26.02,10.06,45.58
$GC,1151,1.58,585.0,2831,1963,1791,4094,17.7,9.6,149,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1963,1791,1791,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.06,45.70
$GC,1196,1.58,585.0,2830,1965,1790,4094,13.2,9.1,155,1205,0.00,1.02,0.00,0.000,260,0.000,0.041,2831,2356,1790,1790,4094,0,0,0,0,0,0,26.26,25.98,26.27,10.09,46.41
$GC,1282,1.66,641.6,2830,2355,1788,4094,6.3,7.8,167,1293,0.17,1.02,4.07,0.404,11270,0.038,0.031,2858,1952,1734,1734,4094,0,0,0,0,0,0,26.10,26.05,25.33,10.12,48.85
$GC,1331,1.81,740.8,2858,1951,1733,4094,2.8,7.4,173,1341,0.40,0.00,6.60,0.514,10246,0.035,0.000,2904,1951,1619,1619,4094,0,0,0,0,0,0,26.10,25.89,25.32,10.13,49.17
$STATE,1349,end climb,FINISH_DEPTH_REACHED
$STATE,1349,begin subsurface finish
$FINISH1,1.1,1.023931,116
$GC,1355,0.17,116.3,2903,1951,1619,4094,1.1,7.3,175,1374,5.22,0.00,-6.45,0.000,20486,0.027,0.000,2397,1948,2353,2353,4094,0,0,0,0,0,0,26.03,25.52,26.08,10.12,50.19
$FINISH2,0.3
$STATE,1375,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1375,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,072142
$TT8_MAMPS,0.024717,0.217959
$HUMID,51.02
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.78,12.125
$10V_AH,10.22,15.342
$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,34.500,16.825,77.450,0.000,0.000,23.084,19.191,247.399,0.000,0.000,16.616,492.886,0.991,155.195,1044.390,117.584,33.484,459.698,0.000,267.543,0.000,0.542,0.000
$DEVICE_MAMPS,77.265,1280.610,1293.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.433,480.822,0.000,563.926,737.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,17739,177
$CAP_FILE_SIZE,40285,0
$CFSIZE,1024409600,995835904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,085047,6000.900,-17238.623,8,0.7,15,7.6,0.3,219.0,11,4.8