version: 66.13
glider: 401
mission: 22
dive: 488
start: 8 4 117 12 4 24
data:
$ID,401
$MISSION,22
$DIVE,488
$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,24
$R_STBD_OVSHOOT,42
$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
$GPS1,040817,113801,6001.3696,-17242.3574,8,0.8,16,7.5,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-3.8
$GPS2,040817,113801,6001.3696,-17242.3574,8,0.8,16,7.5,0.0,0.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.373069,0.091341
$KALMAN_X,56823.195312,-2612.666260,-731.046204,-183072.328125,-39.924744
$KALMAN_Y,40560.527344,784.491333,111.838562,43839.539062,12.911179
$MHEAD_RNG_PITCHd_Wd,276.3,34942,-7.8,-8.333,-12.24,10313
$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,-584.0,2398,1952,2361,4092,0.0,0.0,0,21,5.70,0.00,-5.03,0.000,20482,0.027,0.000,1846,1952,2908,2908,4095,0,0,0,0,0,0,26.10,28.83,26.12,10.31,50.23
$GC,24,-1.58,-584.0,1845,1952,2908,4095,0.0,0.0,1,34,0.00,1.12,-2.45,0.000,16644,0.000,1.278,1846,2358,3167,3167,4095,0,0,0,0,0,0,26.29,24.94,26.30,10.42,50.59
$GC,89,-1.58,-584.0,1845,2358,3168,4095,5.1,-10.8,10,98,0.00,1.02,0.00,0.000,1030,0.000,0.028,1845,1953,3168,3168,4094,0,0,0,0,0,0,26.03,26.00,26.05,10.49,50.19
$GC,134,-1.58,-584.0,1845,1953,3169,4094,10.5,-11.7,16,144,0.00,1.12,0.00,0.000,516,0.000,0.052,1845,1516,3169,3169,4095,0,0,0,0,0,0,26.28,25.99,26.29,10.47,50.31
$GC,199,-1.58,-584.0,1845,1516,3171,4095,17.7,-11.3,25,208,0.00,1.00,0.00,0.000,1030,0.000,0.026,1845,1947,3170,3170,4094,0,0,0,0,0,0,26.13,26.10,26.14,10.44,49.56
$GC,244,-1.58,-584.0,1844,1947,3171,4094,22.8,-10.9,31,254,0.00,1.10,0.00,0.000,260,0.000,0.044,1845,2365,3172,3172,4095,0,0,0,0,0,0,26.36,26.06,26.36,10.44,49.09
$GC,342,-1.58,-584.0,1845,2365,3173,4095,33.3,-10.4,45,352,0.00,1.00,0.00,0.000,1030,0.000,0.028,1845,1967,3174,3174,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.40,47.44
$GC,389,-1.58,-584.0,1845,1967,3174,4094,38.0,-10.5,51,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1967,3175,3175,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.40,47.08
$GC,435,-1.58,-584.0,1845,1967,3175,4095,42.7,-10.4,57,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1967,3175,3175,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.38,46.96
$GC,481,-1.58,-584.0,1845,1967,3176,4095,47.5,-10.3,63,491,0.00,1.15,0.00,0.000,516,0.000,0.050,1845,1515,3176,3176,4095,0,0,0,0,0,0,26.48,26.18,26.49,10.38,46.33
$GC,540,-1.58,-584.0,1845,1515,3177,4095,53.9,-10.9,71,549,0.00,1.02,0.00,0.000,1030,0.000,0.026,1845,1956,3178,3178,4095,0,0,0,0,0,0,26.31,26.28,26.32,10.38,46.25
$GC,587,-1.58,-584.0,1845,1955,3178,4095,58.7,-10.5,77,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1956,3178,3178,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.37,46.10
$STATE,603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,603,begin apogee
$GC,608,-0.45,0.0,1846,1956,3178,4095,60.8,-10.2,79,652,3.65,0.00,33.20,1.297,10244,0.053,0.000,2186,1956,2484,2484,4094,0,0,0,0,0,0,26.25,25.01,24.32,10.37,45.74
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,653,begin climb
$GC,655,1.58,584.0,2185,1955,2484,4094,63.1,0.0,84,699,6.95,0.00,33.25,1.274,11270,0.037,0.000,2832,1958,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.81,10.22,45.66
$GC,737,1.58,584.0,2831,1958,1802,4094,57.8,9.2,94,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.46,10.06,44.40
$GC,783,1.58,584.0,2831,1958,1801,4094,53.4,9.7,100,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1801,1801,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.07,44.76
$GC,826,1.58,584.0,2831,1958,1800,4094,49.0,9.8,106,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1800,1800,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.06,45.27
$GC,871,1.58,584.0,2832,1958,1799,4094,44.8,9.4,112,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1958,1799,1799,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.06,44.84
$GC,915,1.58,584.0,2831,1958,1798,4094,40.5,9.9,118,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1798,1798,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.06,44.99
$GC,960,1.58,584.0,2831,1957,1797,4094,36.3,9.5,124,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1797,1797,4094,0,0,0,0,0,0,26.04,26.05,26.05,10.05,45.70
$GC,1004,1.58,584.0,2832,1959,1795,4094,32.1,9.3,130,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,1796,1796,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.05,45.78
$GC,1049,1.58,584.0,2831,1959,1795,4094,28.0,9.3,136,1059,0.00,1.08,0.00,0.000,260,0.000,0.041,2832,2365,1795,1795,4094,0,0,0,0,0,0,26.15,25.87,26.15,10.05,45.90
$GC,1153,1.58,584.0,2831,2364,1793,4094,18.6,9.2,151,1161,0.00,1.08,0.00,0.000,1030,0.000,0.032,2832,1946,1793,1793,4094,0,0,0,0,0,0,26.04,25.99,26.05,10.07,47.12
$GC,1199,1.58,584.0,2831,1945,1792,4094,14.7,8.4,157,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1946,1791,1791,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.07,47.99
$GC,1242,1.58,584.0,2832,1945,1791,4094,10.9,8.4,163,1252,0.00,1.12,0.00,0.000,516,0.000,0.060,2832,1515,1790,1790,4094,0,0,0,0,0,0,26.31,25.97,26.32,10.08,48.66
$GC,1314,1.70,663.8,2832,1514,1789,4094,5.3,7.5,173,1325,0.30,1.00,5.22,0.476,11270,0.031,0.027,2873,1958,1709,1709,4094,0,0,0,0,0,0,26.15,26.15,25.36,10.11,49.09
$STATE,1360,end climb,FINISH_DEPTH_REACHED
$STATE,1361,begin subsurface finish
$FINISH1,1.8,1.024044,108
$GC,1367,0.16,108.4,2872,1963,1707,4094,1.8,7.3,179,1385,5.20,0.00,-5.78,0.000,20486,0.062,0.000,2399,1959,2364,2364,4094,0,0,0,0,0,0,26.05,25.59,26.13,10.11,49.48
$FINISH2,0.3
$STATE,1386,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1386,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,100853
$TT8_MAMPS,0.025466,0.24717
$HUMID,50.19
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.81,12.342
$10V_AH,10.17,15.597
$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,21.800,12.825,71.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,490.479,0.000,146.164,752.705,52.586,33.427,433.766,0.000,436.397,0.000,0.543,0.000
$DEVICE_MAMPS,61.965,1278.315,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.637,491.651,389.350,576.638,750.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17860,181
$CAP_FILE_SIZE,33345,0
$CFSIZE,1024409600,995491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,113801,6001.370,-17242.357,8,0.8,16,7.5,0.0,0.0,10,4.9