version: 66.13
glider: 401
mission: 22
dive: 482
start: 8 4 117 9 16 54
data:
$ID,401
$MISSION,22
$DIVE,482
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,040817,085047,6000.9004,-17238.6230,8,0.7,15,7.6,0.3,219.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.2
$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,-0.360639,0.133697
$KALMAN_X,56928.367188,-2441.574463,-464.220215,-180078.734375,-30.978027
$KALMAN_Y,40675.183594,805.475159,55.595829,42891.023438,-55.023678
$MHEAD_RNG_PITCHd_Wd,282.7,38497,-7.7,-8.333,-12.22,10349
$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,-1.58,-585.0,2397,1948,2353,4092,0.0,0.0,0,21,5.80,0.00,-4.85,0.000,20482,0.024,0.000,1840,1949,2880,2880,4095,0,0,0,0,0,0,26.06,28.83,26.08,10.31,50.90
$GC,24,-1.58,-585.0,1839,1948,2880,4095,0.1,0.0,1,34,0.00,1.12,-2.67,0.000,16644,0.000,1.272,1839,2359,3162,3162,4095,0,0,0,0,0,0,26.26,24.91,26.26,10.41,51.57
$GC,141,-1.58,-585.0,1838,2360,3165,4095,12.5,-12.5,18,150,0.00,1.02,0.00,0.000,1030,0.000,0.030,1839,1952,3165,3165,4095,0,0,0,0,0,0,26.08,26.01,26.06,10.46,50.55
$GC,187,-1.58,-585.0,1839,1952,3166,4095,17.6,-10.6,24,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3166,3166,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.43,50.35
$GC,231,-1.58,-585.0,1839,1952,3166,4095,22.1,-10.1,30,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3167,3167,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.42,50.11
$GC,276,-1.58,-585.0,1839,1952,3167,4095,26.8,-10.6,36,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3167,3167,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.40,48.30
$GC,321,-1.58,-585.0,1839,1952,3168,4095,31.4,-10.6,42,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3168,3168,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.39,47.95
$GC,367,-1.58,-585.0,1839,1952,3169,4095,36.3,-10.6,48,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3169,3169,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.38,47.59
$GC,413,-1.58,-585.0,1839,1952,3170,4095,41.4,-11.3,54,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3170,3170,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.38,47.32
$GC,459,-1.58,-585.0,1838,1952,3171,4095,46.5,-11.1,60,469,0.00,1.08,0.00,0.000,260,0.000,0.044,1839,2354,3171,3171,4095,0,0,0,0,0,0,26.46,26.18,26.46,10.37,46.77
$GC,531,-1.58,-585.0,1839,2354,3172,4095,54.4,-10.8,70,540,0.00,1.00,0.00,0.000,1030,0.000,0.031,1839,1952,3172,3172,4095,0,0,0,0,0,0,26.26,26.23,26.29,10.37,46.10
$GC,577,-1.58,-585.0,1838,1952,3173,4095,59.2,-10.5,76,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3173,3173,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.37,46.81
$STATE,593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,594,begin apogee
$GC,598,-0.45,0.0,1839,1952,3173,4095,61.4,-10.9,78,642,3.72,0.00,33.08,1.304,10244,0.054,0.000,2184,1951,2484,2484,4095,0,0,0,0,0,0,26.23,24.98,24.28,10.36,46.06
$STATE,643,end apogee,CONTROL_FINISHED_OK
$STATE,644,begin climb
$GC,646,1.58,585.0,2184,1951,2484,4095,63.8,0.0,83,691,6.97,0.00,33.38,1.284,11270,0.037,0.000,2830,1951,1802,1802,4094,0,0,0,0,0,0,25.47,25.64,23.79,10.21,46.37
$GC,728,1.58,585.0,2829,1951,1801,4094,58.5,9.3,93,738,0.00,1.12,0.00,0.000,260,0.000,0.040,2829,2357,1801,1801,4094,0,0,0,0,0,0,25.44,25.21,25.46,10.06,44.56
$GC,800,1.58,585.0,2828,2356,1800,4094,51.3,9.9,103,810,0.00,1.02,0.00,0.000,1030,0.000,0.030,2829,1963,1799,1799,4094,0,0,0,0,0,0,25.51,25.46,25.56,10.05,45.43
$GC,847,1.58,585.0,2829,1963,1798,4094,46.8,9.7,109,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1798,1798,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.05,45.55
$GC,891,1.58,585.0,2829,1963,1797,4094,42.3,9.8,115,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1963,1797,1797,4094,0,0,0,0,0,0,25.94,25.94,25.94,10.04,45.27
$GC,935,1.58,585.0,2829,1963,1796,4094,38.2,8.9,121,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1796,1796,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.04,45.70
$GC,980,1.58,585.0,2829,1963,1796,4094,34.1,9.0,127,989,0.00,1.08,0.00,0.000,260,0.000,0.041,2830,2359,1796,1796,4094,0,0,0,0,0,0,26.07,25.79,26.08,10.05,45.55
$GC,1051,1.58,585.0,2829,2359,1794,4094,27.2,9.9,137,1061,0.00,1.02,0.00,0.000,1030,0.000,0.031,2830,1959,1794,1794,4094,0,0,0,0,0,0,25.93,25.90,25.94,10.04,46.88
$GC,1098,1.58,585.0,2829,1959,1794,4094,23.0,8.8,143,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1960,1793,1793,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.04,46.37
$GC,1142,1.58,585.0,2829,1959,1792,4094,19.0,9.1,149,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1792,1792,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.04,46.57
$GC,1186,1.58,585.0,2829,1959,1791,4094,15.0,9.0,155,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1959,1790,1790,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.05,46.96
$GC,1231,1.61,602.8,2829,1959,1790,4094,11.3,8.2,161,1240,0.00,0.00,0.55,0.004,8198,0.000,0.000,2830,1960,1790,1790,4094,0,0,0,0,0,0,26.29,26.33,26.30,10.08,47.55
$GC,1276,1.74,690.4,2829,1959,1789,4094,7.8,7.5,167,1287,0.45,0.00,6.57,0.555,10246,0.033,0.000,2884,1959,1677,1677,4094,0,0,0,0,0,0,26.12,25.89,25.28,10.10,49.48
$GC,1325,1.87,777.7,2883,1959,1676,4094,4.3,7.5,173,1336,0.32,1.08,6.07,0.507,10500,0.044,0.038,2921,2362,1575,1575,4094,0,0,0,0,0,0,26.06,25.89,25.28,10.09,49.92
$STATE,1357,end climb,FINISH_DEPTH_REACHED
$STATE,1357,begin subsurface finish
$FINISH1,1.5,1.023931,116
$GC,1365,0.17,116.3,2921,1946,1575,4094,1.5,7.7,177,1383,5.55,0.00,-6.85,0.000,20486,0.041,0.000,2398,1945,2352,2352,4094,0,0,0,0,0,0,26.02,25.51,26.07,10.09,50.31
$FINISH2,0.3
$STATE,1384,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1384,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,072142
$TT8_MAMPS,0.026215,0.243425
$HUMID,50.82
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.79,12.151
$10V_AH,10.16,15.382
$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,22.825,10.650,79.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,488.823,0.000,150.828,747.299,53.283,33.426,444.847,0.000,432.065,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1272.195,1303.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.318,486.189,385.048,570.312,744.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,17933,179
$CAP_FILE_SIZE,34043,0
$CFSIZE,1024409600,995786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,085047,6000.900,-17238.623,8,0.7,15,7.6,0.3,219.0,11,4.8