version: 66.13
glider: 401
mission: 22
dive: 485
start: 8 4 117 10 39 50
data:
$ID,401
$MISSION,22
$DIVE,485
$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,23
$R_STBD_OVSHOOT,60
$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
$GPS1,040817,101406,6001.1245,-17240.5820,5,0.8,23,7.5,0.3,265.5,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-2.7
$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,-0.368641,0.108062
$KALMAN_X,56769.597656,-2514.335449,-597.711243,-181569.625000,-79.481384
$KALMAN_Y,40582.757812,775.410217,65.245773,43419.238281,-2.308670
$MHEAD_RNG_PITCHd_Wd,278.8,36643,-7.8,-8.333,-12.24,10318
$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,-584.2,2400,1967,2355,4092,0.0,0.0,0,21,5.88,0.00,-4.53,0.000,20482,0.026,0.000,1832,1969,2848,2848,4095,0,0,0,0,0,0,26.09,28.83,26.10,10.30,51.06
$GC,24,-1.58,-584.2,1832,1969,2847,4095,0.0,0.0,1,33,0.00,0.00,-2.92,0.000,16390,0.000,0.000,1832,1969,3168,3168,4094,0,0,0,0,0,0,26.26,25.56,26.27,10.41,50.70
$GC,69,-1.58,-584.2,1832,1969,3168,4094,3.8,-11.0,7,78,0.00,1.00,0.00,0.000,260,0.000,0.042,1832,2342,3168,3168,4095,0,0,0,0,0,0,26.20,25.93,26.21,10.48,51.49
$GC,173,-1.58,-584.2,1831,2342,3170,4095,16.7,-10.6,22,182,0.00,1.00,0.00,0.000,1030,0.000,0.029,1832,1945,3171,3171,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.46,50.78
$GC,218,-1.58,-584.2,1832,1945,3171,4094,21.4,-10.3,28,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1945,3172,3172,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.42,49.64
$GC,264,-1.58,-584.2,1832,1945,3172,4095,25.9,-9.9,34,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1945,3173,3173,4095,0,0,0,0,0,0,26.36,26.36,26.36,10.41,48.54
$GC,308,-1.58,-584.2,1832,1945,3174,4095,30.7,-10.9,40,317,0.00,1.08,0.00,0.000,260,0.000,0.042,1832,2345,3173,3173,4095,0,0,0,0,0,0,26.38,26.11,26.39,10.39,48.58
$GC,359,-1.58,-584.2,1832,2345,3173,4095,36.1,-10.5,47,369,0.00,0.93,0.00,0.000,1030,0.000,0.029,1832,1976,3174,3174,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.39,47.67
$GC,404,-1.58,-584.2,1832,1976,3175,4094,40.9,-10.8,53,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1976,3175,3175,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.28
$GC,450,-1.58,-584.2,1832,1976,3176,4095,45.8,-11.1,59,460,0.00,1.17,0.00,0.000,516,0.000,0.050,1832,1516,3176,3176,4095,0,0,0,0,0,0,26.46,26.15,26.46,10.38,46.69
$GC,517,-1.58,-584.2,1832,1516,3177,4095,53.3,-11.5,68,526,0.00,0.98,0.00,0.000,1030,0.000,0.026,1832,1938,3177,3177,4095,0,0,0,0,0,0,26.28,26.26,26.30,10.37,46.77
$GC,563,-1.58,-584.2,1832,1938,3178,4095,58.6,-11.2,74,572,0.00,1.12,0.00,0.000,260,0.000,0.044,1833,2368,3178,3178,4095,0,0,0,0,0,0,26.51,26.22,26.51,10.37,45.70
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,588,-0.45,0.0,1832,1938,3179,4095,60.6,-10.6,76,631,3.78,0.00,33.20,1.301,10244,0.054,0.000,2186,1938,2484,2484,4094,0,0,0,0,0,0,26.22,24.98,24.28,10.36,46.53
$STATE,632,end apogee,CONTROL_FINISHED_OK
$STATE,632,begin climb
$GC,634,1.58,584.2,2185,1938,2484,4094,63.3,0.0,81,679,6.97,0.00,33.38,1.279,11270,0.037,0.000,2830,1938,1803,1803,4094,0,0,0,0,0,0,25.46,25.63,23.80,10.21,45.11
$GC,717,1.58,584.2,2830,1938,1802,4094,58.1,9.2,91,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1802,1802,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.07,44.95
$GC,761,1.58,584.2,2830,1938,1801,4094,53.7,9.7,97,771,0.00,1.17,0.00,0.000,260,0.000,0.040,2830,2364,1801,1801,4094,0,0,0,0,0,0,25.65,25.39,25.66,10.06,45.03
$GC,833,1.58,584.2,2830,2364,1799,4094,46.7,9.5,107,841,0.00,1.02,0.00,0.000,1030,0.000,0.030,2830,1969,1799,1799,4094,0,0,0,0,0,0,25.63,25.60,25.66,10.05,45.62
$GC,877,1.58,584.2,2830,1968,1798,4094,42.4,9.4,113,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1969,1798,1798,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.05,45.58
$GC,922,1.58,584.2,2830,1968,1797,4094,38.3,9.0,119,931,0.00,1.20,0.00,0.000,516,0.000,0.057,2830,1516,1797,1797,4094,0,0,0,0,0,0,26.00,25.70,26.01,10.05,45.70
$GC,954,1.58,584.2,2830,1516,1797,4094,35.2,9.7,123,963,0.00,1.02,0.00,0.000,1030,0.000,0.027,2830,1960,1796,1796,4094,0,0,0,0,0,0,25.86,25.84,25.88,10.05,45.78
$GC,1001,1.58,584.2,2830,1959,1796,4094,31.1,9.0,129,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1959,1795,1795,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.05,45.51
$GC,1044,1.58,584.2,2830,1959,1795,4094,27.0,9.2,135,1054,0.00,1.05,0.00,0.000,260,0.000,0.043,2830,2355,1795,1795,4094,0,0,0,0,0,0,26.15,25.88,26.16,10.05,46.02
$GC,1161,1.58,584.2,2830,2355,1792,4094,15.7,9.1,152,1171,0.00,1.00,0.00,0.000,1030,0.000,0.031,2831,1964,1792,1792,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.06,46.73
$GC,1207,1.58,584.2,2830,1963,1791,4094,11.7,8.8,158,1217,0.00,1.15,0.00,0.000,516,0.000,0.057,2831,1522,1791,1791,4094,0,0,0,0,0,0,26.29,25.98,26.30,10.08,48.42
$GC,1272,1.64,623.9,2829,1522,1789,4094,6.4,7.9,167,1283,0.12,0.90,3.25,0.315,11270,0.044,0.027,2852,1937,1755,1755,4095,0,0,0,0,0,0,26.09,26.15,25.35,10.11,49.52
$GC,1321,1.79,723.5,2852,1937,1754,4095,2.9,7.3,173,1331,0.35,0.00,6.75,0.519,10246,0.037,0.000,2893,1938,1639,1639,4094,0,0,0,0,0,0,26.13,25.90,25.34,10.12,49.84
$STATE,1339,end climb,FINISH_DEPTH_REACHED
$STATE,1339,begin subsurface finish
$FINISH1,1.1,1.023998,112
$GC,1345,0.17,111.7,2893,1938,1639,4094,1.1,8.0,175,1363,5.12,0.00,-6.12,0.000,20742,0.027,0.000,2396,1941,2356,2356,4094,0,0,0,0,0,0,26.05,25.54,26.10,10.11,50.19
$FINISH2,0.4
$STATE,1364,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1364,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,040817,084537
$TT8_MAMPS,0.026215,0.211218
$HUMID,50.43
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.80,12.246
$10V_AH,10.24,15.482
$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,22.225,16.900,76.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,483.967,0.000,145.884,741.708,48.628,33.426,434.544,0.000,265.976,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,57.375,1301.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.643,480.870,0.000,564.395,734.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330904
$DATA_FILE_SIZE,17732,177
$CAP_FILE_SIZE,34848,0
$CFSIZE,1024409600,995639296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,101406,6001.125,-17240.582,5,0.8,23,7.5,0.3,265.5,10,4.8