version: 66.13
glider: 401
mission: 22
dive: 491
start: 8 4 117 13 27 23
data:
$ID,401
$MISSION,22
$DIVE,491
$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
$GPS1,040817,130207,6001.7163,-17244.0879,5,1.0,18,7.5,0.2,262.5,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.3
$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,-0.378309,0.063368
$KALMAN_X,56884.988281,-2692.672363,-819.449646,-184603.453125,-20.825623
$KALMAN_Y,40753.292969,821.897522,178.042526,44185.082031,46.320801
$MHEAD_RNG_PITCHd_Wd,272.0,33236,-7.8,-8.333,-12.26,10280
$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,-582.0,2395,1948,2369,4092,0.0,0.0,0,21,5.80,0.00,-4.75,0.000,20482,0.025,0.000,1835,1948,2888,2888,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.30,49.96
$GC,24,-1.58,-582.0,1835,1948,2888,4095,0.1,0.0,1,34,0.00,1.15,-2.33,0.000,16644,0.000,1.283,1835,2360,3164,3164,4095,0,0,0,0,0,0,26.27,24.91,26.27,10.41,50.39
$GC,160,-1.58,-582.0,1834,2360,3167,4095,16.2,-12.0,21,170,0.00,1.05,0.00,0.000,1030,0.000,0.029,1835,1942,3167,3167,4095,0,0,0,0,0,0,26.06,26.06,26.08,10.44,50.03
$GC,206,-1.58,-582.0,1834,1942,3168,4095,21.7,-12.3,27,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3168,3168,4095,0,0,0,0,0,0,26.31,26.33,26.32,10.42,48.93
$GC,249,-1.58,-582.0,1834,1942,3168,4095,27.0,-11.8,33,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3168,3168,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.42,49.29
$GC,294,-1.58,-582.0,1834,1942,3169,4095,32.0,-11.2,39,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3170,3170,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.41,48.30
$GC,339,-1.58,-582.0,1834,1942,3170,4095,37.1,-11.4,45,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3171,3171,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.41,48.11
$GC,385,-1.58,-582.0,1834,1942,3171,4095,42.1,-11.3,51,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3171,3171,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.40,47.40
$GC,429,-1.58,-582.0,1834,1942,3171,4095,46.7,-10.0,57,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3171,3171,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.38,47.75
$GC,474,-1.58,-582.0,1834,1942,3173,4095,51.1,-9.8,63,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3173,3173,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,46.85
$GC,519,-1.58,-582.0,1834,1942,3174,4095,55.7,-10.3,69,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1942,3174,3174,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.37,46.45
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,568,-0.45,0.0,1834,1942,3175,4094,60.5,-10.9,75,612,3.78,0.00,33.00,1.298,10244,0.054,0.000,2184,1942,2485,2485,4094,0,0,0,0,0,0,26.23,24.98,24.28,10.37,46.41
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,615,1.58,582.0,2184,1942,2485,4094,63.1,0.0,80,660,6.97,0.00,33.20,1.276,11270,0.036,0.000,2830,1942,1805,1805,4094,0,0,0,0,0,0,25.48,25.64,23.80,10.22,45.51
$GC,697,1.58,582.0,2829,1942,1806,4094,57.9,9.1,90,707,0.00,1.15,0.00,0.000,260,0.000,0.040,2830,2360,1805,1805,4094,0,0,0,0,0,0,25.46,25.20,25.46,10.06,44.84
$GC,764,1.58,582.0,2829,2360,1803,4094,51.5,9.4,99,773,0.00,1.02,0.00,0.000,1030,0.000,0.031,2830,1966,1803,1803,4094,0,0,0,0,0,0,25.53,25.49,25.55,10.06,45.43
$GC,810,1.58,582.0,2829,1965,1803,4094,47.2,9.4,105,819,0.00,1.17,0.00,0.000,516,0.000,0.057,2830,1524,1802,1802,4094,0,0,0,0,0,0,25.84,25.53,25.86,10.06,45.11
$GC,868,1.58,582.0,2829,1523,1802,4094,41.1,10.5,113,877,0.00,0.95,0.00,0.000,1030,0.000,0.025,2830,1940,1802,1802,4094,0,0,0,0,0,0,25.78,25.76,25.79,10.06,45.03
$GC,915,1.58,582.0,2829,1941,1801,4094,36.6,9.9,119,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1942,1800,1800,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.07,45.78
$GC,959,1.58,582.0,2829,1942,1799,4094,32.4,9.2,125,969,0.00,1.10,0.00,0.000,260,0.000,0.041,2830,2356,1800,1800,4094,0,0,0,0,0,0,26.09,25.81,26.10,10.07,46.73
$GC,1024,1.58,582.7,2829,2356,1798,4094,26.7,8.3,134,1034,0.00,1.08,0.00,0.000,1030,0.000,0.031,2830,1938,1797,1797,4095,0,0,0,0,0,0,25.94,25.90,25.98,10.07,46.88
$GC,1070,1.59,588.1,2829,1937,1797,4095,22.9,8.3,140,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1797,1797,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.08,46.96
$GC,1115,1.59,588.1,2829,1937,1795,4094,18.7,9.5,146,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1796,1796,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.08,47.59
$GC,1161,1.59,588.1,2829,1937,1795,4094,14.2,10.3,152,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1795,1795,4094,0,0,0,0,0,0,26.28,26.29,26.28,10.08,47.67
$GC,1205,1.59,588.1,2829,1937,1794,4094,9.8,9.3,158,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1794,1794,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.08,48.74
$GC,1249,1.59,588.1,2829,1937,1793,4094,5.9,8.5,164,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1793,1793,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.10,48.30
$GC,1294,1.83,746.5,2829,1937,1792,4094,2.6,6.8,170,1306,0.70,0.00,7.88,0.545,10498,0.030,0.000,2904,1938,1647,1647,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.12,49.21
$STATE,1307,end climb,FINISH_DEPTH_REACHED
$STATE,1307,begin subsurface finish
$FINISH1,1.9,1.024051,108
$GC,1313,0.16,107.9,2904,1937,1647,4094,1.9,6.8,171,1332,5.50,1.15,-6.32,0.000,20740,0.051,1.294,2395,2350,2362,2362,4095,0,0,0,0,0,0,26.03,24.89,26.08,10.10,49.05
$FINISH2,0.2
$STATE,1333,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1334,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,113210
$TT8_MAMPS,0.025466,0.20972
$HUMID,50.15
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.80,12.437
$10V_AH,10.23,15.696
$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,22.750,9.825,74.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,465.630,0.000,145.778,729.594,48.651,33.422,435.553,0.000,260.313,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1294.380,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.601,470.087,0.000,551.378,722.379,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,17802,173
$CAP_FILE_SIZE,31955,0
$CFSIZE,1024409600,995360768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,130207,6001.716,-17244.088,5,1.0,18,7.5,0.2,262.5,9,5.0