version: 66.13
glider: 401
mission: 22
dive: 493
start: 8 4 117 14 24 29
data:
$ID,401
$MISSION,22
$DIVE,493
$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,18
$R_STBD_OVSHOOT,51
$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
$GPS1,040817,141635,6001.8716,-17245.5391,7,0.8,39,7.5,0.4,84.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-35.5
$GPS2,040817,142321,6001.8423,-17245.5625,8,0.8,16,7.5,0.0,207.5,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.372754,0.095920
$KALMAN_X,56893.628906,-2840.291992,-966.570557,-185686.250000,51.220154
$KALMAN_Y,40719.289062,862.756104,228.279846,44356.335938,-18.405655
$MHEAD_RNG_PITCHd_Wd,276.9,31859,-7.7,-8.333,-12.22,10368
$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,-585.0,240,1943,1691,4092,0.0,0.0,0,21,11.15,0.00,0.00,0.000,2049,0.076,0.000,1214,1943,1691,1691,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.19,49.84
$GC,23,-1.58,-585.0,1214,1942,1691,4094,0.6,0.0,1,50,6.55,0.00,-13.80,0.000,18694,0.044,0.000,1826,1943,3171,3171,4095,0,0,0,0,0,0,25.91,25.45,25.98,10.20,50.00
$GC,86,-1.58,-585.0,1826,1943,3172,4095,3.6,-12.2,9,95,0.00,1.10,0.00,0.000,260,0.000,0.041,1826,2354,3172,3172,4095,0,0,0,0,0,0,26.13,25.86,26.14,10.52,49.88
$GC,204,-1.58,-585.0,1826,2354,3174,4095,18.3,-12.3,26,213,0.00,1.05,0.00,0.000,1030,0.000,0.028,1827,1934,3175,3175,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.46,48.14
$GC,249,-1.58,-585.0,1826,1934,3175,4094,24.2,-12.6,32,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1934,3175,3175,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.45,47.99
$GC,294,-1.58,-585.0,1826,1933,3176,4094,29.5,-11.6,38,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1934,3176,3176,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.44,47.24
$GC,339,-1.58,-585.0,1826,1934,3177,4095,34.9,-12.1,44,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1934,3177,3177,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.43,47.48
$GC,385,-1.58,-585.0,1826,1934,3178,4095,40.2,-11.9,50,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1934,3178,3178,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.42,46.85
$GC,430,-1.58,-585.0,1826,1933,3179,4094,45.5,-11.5,56,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1934,3179,3179,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.41,46.18
$GC,474,-1.58,-585.0,1826,1933,3180,4095,50.5,-10.7,62,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1934,3180,3180,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.40,45.98
$GC,519,-1.58,-585.0,1826,1933,3181,4095,55.5,-10.8,68,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1934,3181,3181,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.39,45.15
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,568,-0.45,0.0,1826,1934,3182,4095,60.3,-10.9,74,612,3.88,0.00,33.45,1.293,10244,0.054,0.000,2185,1934,2484,2484,4095,0,0,0,0,0,0,26.20,24.96,24.26,10.38,45.98
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,615,1.58,585.0,2185,1933,2484,4095,62.8,0.0,79,660,6.97,0.00,33.38,1.268,11270,0.037,0.000,2830,1934,1802,1802,4094,0,0,0,0,0,0,25.45,25.60,23.79,10.24,44.68
$GC,698,1.58,585.0,2829,1933,1802,4094,57.1,10.1,89,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1934,1801,1801,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.09,43.69
$GC,741,1.58,585.0,2830,1933,1800,4094,52.5,10.0,95,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1934,1800,1800,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.08,44.01
$GC,786,1.58,585.0,2830,1933,1799,4094,48.0,10.0,101,796,0.00,1.15,0.00,0.000,260,0.000,0.040,2830,2355,1799,1799,4094,0,0,0,0,0,0,25.78,25.51,25.79,10.08,44.40
$GC,866,1.58,585.0,2829,2355,1797,4094,40.4,9.7,112,875,0.00,1.00,0.00,0.000,1030,0.000,0.029,2830,1965,1797,1797,4094,0,0,0,0,0,0,25.75,25.71,25.77,10.07,45.23
$GC,911,1.58,585.0,2830,1964,1796,4094,36.2,8.4,118,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1964,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.07,44.99
$GC,956,1.58,585.0,2830,1964,1795,4094,32.4,8.5,124,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1964,1795,1795,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.07,45.78
$GC,1000,1.58,585.0,2830,1965,1795,4094,28.5,8.9,130,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1794,1794,4095,0,0,0,0,0,0,26.13,26.15,26.14,10.08,45.74
$GC,1046,1.58,585.0,2830,1964,1794,4095,24.5,8.9,136,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1794,1794,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.09,46.65
$GC,1091,1.58,585.0,2830,1964,1793,4094,20.5,8.4,142,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1793,1793,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.09,46.81
$GC,1136,1.61,606.7,2829,1964,1792,4094,16.8,8.1,148,1145,0.00,1.02,2.50,0.200,8452,0.000,0.036,2830,2353,1777,1777,4094,0,0,0,0,0,0,26.26,25.69,25.18,10.10,47.67
$GC,1214,1.67,643.8,2830,2352,1776,4094,10.5,8.0,159,1225,0.20,1.02,3.67,0.383,11270,0.035,0.031,2861,1947,1732,1732,4094,0,0,0,0,0,0,26.09,26.06,25.29,10.09,47.99
$GC,1262,1.67,643.8,2860,1947,1731,4094,6.6,8.5,165,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1947,1731,1731,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.09,48.03
$GC,1307,1.67,643.8,2860,1947,1730,4094,2.7,8.6,171,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1947,1730,1730,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.11,48.14
$STATE,1325,end climb,FINISH_DEPTH_REACHED
$STATE,1325,begin subsurface finish
$FINISH1,1.1,1.024047,108
$GC,1331,0.16,108.2,2861,1946,1729,4094,1.1,8.4,173,1350,4.80,0.00,-5.50,0.000,20486,0.026,0.000,2395,1944,2354,2354,4094,0,0,0,0,0,0,26.10,25.60,26.16,10.12,48.93
$FINISH2,0.1
$STATE,1351,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1351,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,125650
$TT8_MAMPS,0.025466,0.208971
$HUMID,49.96
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.79,12.503
$10V_AH,10.23,15.768
$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,33.550,6.350,73.000,0.000,0.000,24.711,23.578,233.807,0.000,0.000,17.674,477.394,0.000,153.468,1028.473,119.529,33.482,456.343,0.000,264.676,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,40.545,1292.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.822,475.526,0.000,557.875,729.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,17713,175
$CAP_FILE_SIZE,37191,0
$CFSIZE,1024409600,995246080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,142321,6001.842,-17245.562,8,0.8,16,7.5,0.0,207.5,10,4.8