version: 66.13
glider: 401
mission: 22
dive: 490
start: 8 4 117 13 3 14
data:
$ID,401
$MISSION,22
$DIVE,490
$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,58
$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
$GPS1,040817,125507,6001.7251,-17244.0449,7,1.0,17,7.5,0.0,281.4,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-36.6
$GPS2,040817,130207,6001.7163,-17244.0879,5,1.0,18,7.5,0.2,262.5,9,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.379818,0.060433
$KALMAN_X,56652.867188,-2786.052246,-914.313782,-184152.718750,3.288757
$KALMAN_Y,40783.117188,839.898132,183.540527,44120.800781,45.276550
$MHEAD_RNG_PITCHd_Wd,271.5,33236,-7.7,-8.333,-12.23,10347
$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,-585.0,231,1962,1665,4092,0.0,0.0,0,19,9.43,0.00,0.00,0.000,2049,0.068,0.000,1067,1963,1664,1664,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,49.92
$GC,21,-1.58,-585.0,1066,1962,1665,4094,0.5,0.0,1,48,8.15,1.08,-14.02,0.000,18692,0.048,1.277,1822,2347,3173,3173,4094,0,0,0,0,0,0,25.91,24.79,25.94,10.20,49.88
$GC,130,-1.58,-585.0,1822,2347,3174,4094,8.1,-15.2,16,139,0.00,1.02,0.00,0.000,1030,0.000,0.028,1823,1941,3174,3174,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.51,49.25
$GC,177,-1.58,-585.0,1822,1941,3175,4094,13.9,-12.9,22,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1941,3176,3176,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.49,48.93
$GC,223,-1.58,-585.0,1822,1941,3176,4095,20.0,-13.4,28,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1941,3177,3177,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.47,48.30
$GC,267,-1.58,-585.0,1822,1941,3177,4095,26.0,-13.2,34,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1941,3177,3177,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.46,48.14
$GC,311,-1.58,-585.0,1822,1941,3178,4094,31.6,-12.5,40,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1941,3178,3178,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.44,46.92
$GC,355,-1.58,-585.0,1822,1941,3179,4095,37.2,-12.9,46,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1941,3179,3179,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.44,46.88
$GC,399,-1.58,-585.0,1822,1941,3180,4094,42.3,-11.2,52,409,0.00,1.08,0.00,0.000,260,0.000,0.041,1823,2345,3180,3180,4094,0,0,0,0,0,0,26.41,26.14,26.41,10.42,46.33
$GC,459,-1.58,-585.0,1822,2345,3181,4094,48.6,-10.9,60,468,0.00,1.00,0.00,0.000,1030,0.000,0.028,1823,1942,3181,3181,4094,0,0,0,0,0,0,26.22,26.22,26.24,10.41,46.37
$GC,504,-1.58,-585.0,1822,1942,3182,4094,53.5,-10.6,66,513,0.00,1.05,0.00,0.000,516,0.000,0.049,1822,1525,3181,3181,4095,0,0,0,0,0,0,26.46,26.16,26.47,10.40,45.58
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,568,-0.45,0.0,1822,1936,3183,4095,60.1,-11.5,74,612,3.92,0.00,33.45,1.295,10244,0.055,0.000,2185,1937,2484,2484,4094,0,0,0,0,0,0,26.20,25.20,24.24,10.38,45.27
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,615,1.58,585.0,2185,1937,2484,4094,63.0,0.0,79,659,6.97,0.00,33.35,1.271,11270,0.037,0.000,2832,1939,1802,1802,4094,0,0,0,0,0,0,25.45,25.60,23.80,10.24,44.44
$GC,696,1.58,585.0,2831,1938,1802,4094,57.7,8.9,89,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1939,1801,1801,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.09,43.30
$GC,743,1.58,585.0,2831,1939,1801,4094,53.3,9.0,95,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1939,1801,1801,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.09,43.73
$GC,789,1.58,585.0,2831,1938,1799,4094,49.0,9.2,101,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1939,1799,1799,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.08,44.76
$GC,835,1.58,585.0,2831,1939,1798,4094,44.7,9.5,107,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1939,1798,1798,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.08,43.97
$GC,879,1.58,585.0,2831,1938,1797,4094,40.2,10.0,113,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1939,1797,1797,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.07,44.60
$GC,923,1.58,585.0,2831,1939,1796,4094,36.0,9.4,119,932,0.00,1.12,0.00,0.000,260,0.000,0.040,2832,2362,1796,1796,4094,0,0,0,0,0,0,26.03,25.77,26.05,10.07,44.76
$GC,1001,1.58,585.0,2831,2362,1795,4094,28.8,9.5,130,1009,0.00,1.05,0.00,0.000,1030,0.000,0.031,2832,1953,1794,1794,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.08,45.66
$GC,1045,1.58,585.0,2831,1952,1794,4094,24.9,8.6,136,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1952,1794,1794,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.09,46.81
$GC,1090,1.58,585.0,2831,1952,1793,4094,20.9,9.0,142,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1952,1793,1793,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.09,46.41
$GC,1135,1.58,585.0,2831,1952,1792,4094,16.7,9.7,148,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1952,1791,1791,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.10,47.00
$GC,1179,1.58,585.0,2831,1952,1790,4094,12.2,10.0,154,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1953,1790,1790,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.10,47.20
$GC,1223,1.58,585.0,2832,1952,1790,4094,8.0,9.5,160,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1952,1789,1789,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.11,47.48
$GC,1267,1.89,789.1,2831,1952,1788,4094,4.7,6.3,166,1285,0.90,0.00,11.23,0.617,10246,0.028,0.000,2927,1952,1562,1562,4094,0,0,0,0,0,0,26.13,25.84,25.27,10.13,48.77
$STATE,1300,end climb,FINISH_DEPTH_REACHED
$STATE,1300,begin subsurface finish
$FINISH1,1.9,1.024127,103
$GC,1306,0.15,102.7,2926,1952,1561,4094,1.9,8.4,170,1324,5.78,0.00,-6.72,0.000,20742,0.053,0.000,2396,1952,2369,2369,4094,0,0,0,0,0,0,25.96,25.07,26.03,10.10,49.37
$FINISH2,0.3
$STATE,1325,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1325,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,113210
$TT8_MAMPS,0.025466,0.250915
$HUMID,49.37
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.80,12.411
$10V_AH,10.16,15.669
$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,35.150,8.375,78.025,0.000,0.000,20.871,22.510,249.246,0.000,0.000,19.859,469.910,0.000,159.143,1016.337,120.873,33.461,453.479,0.000,415.652,0.000,0.543,0.000
$DEVICE_MAMPS,68.085,1276.785,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.006,467.192,369.999,548.043,708.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,17848,172
$CAP_FILE_SIZE,37523,0
$CFSIZE,1024409600,995393536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040817,130207,6001.716,-17244.088,5,1.0,18,7.5,0.2,262.5,9,5.0