version: 66.13
glider: 401
mission: 22
dive: 484
start: 8 4 117 10 15 13
data:
$ID,401
$MISSION,22
$DIVE,484
$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,19
$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
$GPS1,040817,100709,6001.1309,-17240.4531,7,0.8,20,7.5,0.7,255.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-31.4
$GPS2,040817,101406,6001.1245,-17240.5820,5,0.8,23,7.5,0.3,265.5,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.367893,0.115017
$KALMAN_X,56539.949219,-2607.554199,-664.028809,-181145.359375,-74.822144
$KALMAN_Y,40657.089844,814.295227,82.957764,43280.250000,-13.785812
$MHEAD_RNG_PITCHd_Wd,279.9,36643,-7.7,-8.333,-12.20,10405
$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,-585.0,239,1970,1626,4092,0.0,0.0,0,20,10.40,0.00,0.00,0.000,2049,0.087,0.000,1132,1970,1626,1626,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.20,50.98
$GC,22,-1.58,-585.0,1131,1970,1626,4094,0.7,0.0,1,50,7.57,1.08,-14.38,0.000,18692,0.053,1.274,1829,2362,3171,3171,4095,0,0,0,0,0,0,25.91,24.79,25.97,10.21,50.07
$GC,178,-1.58,-585.0,1828,2363,3173,4095,14.0,-12.1,23,188,0.00,1.05,0.00,0.000,1030,0.000,0.029,1829,1943,3173,3173,4094,0,0,0,0,0,0,26.01,25.97,26.06,10.51,49.37
$GC,224,-1.58,-585.0,1829,1942,3175,4094,19.3,-11.0,29,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1943,3175,3175,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.47,48.34
$GC,271,-1.58,-585.0,1829,1943,3175,4094,24.2,-10.7,35,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1943,3175,3175,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.45,47.95
$GC,317,-1.58,-585.0,1828,1942,3176,4095,29.3,-11.4,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1943,3176,3176,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.44,46.65
$GC,363,-1.58,-585.0,1828,1942,3177,4094,34.5,-11.1,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1943,3177,3177,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.42,45.90
$GC,409,-1.58,-585.0,1829,1943,3178,4095,39.5,-11.0,53,418,0.00,1.10,0.00,0.000,260,0.000,0.044,1829,2354,3178,3178,4095,0,0,0,0,0,0,26.39,26.10,26.41,10.41,45.39
$GC,461,-1.58,-585.0,1829,2354,3179,4095,45.8,-12.2,60,470,0.00,1.00,0.00,0.000,1030,0.000,0.028,1830,1952,3179,3179,4095,0,0,0,0,0,0,26.21,26.16,26.23,10.40,45.51
$GC,506,-1.58,-585.0,1829,1952,3180,4095,51.2,-11.6,66,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1952,3180,3180,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.39,44.95
$GC,551,-1.58,-585.0,1828,1952,3181,4094,56.5,-12.0,72,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1952,3181,3181,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.39,44.95
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1829,1952,3182,4094,60.2,-11.5,76,630,3.85,0.00,33.42,1.297,10244,0.054,0.000,2185,1952,2485,2485,4094,0,0,0,0,0,0,26.20,24.96,24.25,10.39,44.64
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.58,585.0,2185,1951,2485,4094,62.7,0.0,81,678,6.95,0.00,33.40,1.273,11270,0.037,0.000,2828,1952,1802,1802,4094,0,0,0,0,0,0,25.44,25.60,23.78,10.24,44.32
$GC,716,1.58,585.0,2828,1951,1801,4094,57.3,9.6,91,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1952,1801,1801,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.09,43.73
$GC,762,1.58,585.0,2828,1951,1800,4094,52.8,9.3,97,771,0.00,1.12,0.00,0.000,260,0.000,0.040,2829,2360,1800,1800,4095,0,0,0,0,0,0,25.65,25.39,25.66,10.09,43.69
$GC,827,1.58,585.0,2828,2360,1799,4095,46.5,9.8,106,837,0.00,1.02,0.00,0.000,1030,0.000,0.030,2828,1963,1798,1798,4095,0,0,0,0,0,0,25.63,25.59,25.64,10.09,44.44
$GC,872,1.58,585.0,2828,1963,1797,4095,42.0,9.5,112,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1964,1797,1797,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.07,44.25
$GC,916,1.58,585.0,2828,1963,1796,4094,38.1,8.8,118,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1796,1796,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.07,44.95
$GC,961,1.58,585.0,2828,1963,1795,4094,33.8,9.9,124,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1963,1795,1795,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.07,45.03
$GC,1006,1.58,585.0,2828,1963,1795,4094,29.5,9.6,130,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1963,1794,1794,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.06,45.19
$GC,1052,1.58,585.0,2828,1963,1793,4094,25.1,9.9,136,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1793,1793,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.06,45.31
$GC,1098,1.58,585.0,2827,1963,1792,4094,20.6,9.4,142,1107,0.00,1.08,0.00,0.000,260,0.000,0.041,2828,2362,1793,1793,4094,0,0,0,0,0,0,26.20,25.94,26.22,10.07,45.90
$GC,1183,1.58,587.1,2828,2362,1790,4094,13.3,8.3,154,1192,0.00,1.02,0.00,0.000,1030,0.000,0.031,2828,1960,1790,1790,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.10,46.85
$GC,1229,1.61,607.4,2828,1959,1789,4094,9.6,8.1,160,1239,0.00,1.12,2.45,0.169,8708,0.000,0.056,2828,1525,1776,1776,4094,0,0,0,0,0,0,26.31,25.76,25.33,10.12,48.07
$GC,1288,1.74,692.9,2828,1525,1775,4094,5.0,7.5,168,1299,0.43,0.98,6.00,0.510,11270,0.027,0.027,2879,1965,1675,1675,4094,0,0,0,0,0,0,26.13,26.13,25.33,10.13,49.09
$STATE,1327,end climb,FINISH_DEPTH_REACHED
$STATE,1327,begin subsurface finish
$FINISH1,2.0,1.023944,115
$GC,1333,0.17,115.5,2879,1964,1674,4094,2.0,7.5,173,1352,5.18,0.00,-5.25,0.000,20486,0.051,0.000,2400,1967,2355,2355,4094,0,0,0,0,0,0,26.03,25.55,26.10,10.13,49.64
$FINISH2,0.7
$STATE,1353,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1353,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,040817,084537
$TT8_MAMPS,0.026215,0.257656
$HUMID,50.03
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.78,12.220
$10V_AH,10.14,15.454
$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,34.375,10.575,75.275,0.000,0.000,23.569,19.250,243.985,0.000,0.000,24.739,481.816,0.383,150.715,1038.601,119.983,33.457,450.137,0.000,425.268,0.000,0.542,0.000
$DEVICE_MAMPS,87.210,1274.490,1296.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.271,475.311,376.429,557.461,730.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,17848,175
$CAP_FILE_SIZE,37221,0
$CFSIZE,1024409600,995688448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040817,101406,6001.125,-17240.582,5,0.8,23,7.5,0.3,265.5,10,4.8