version: 66.13
glider: 401
mission: 22
dive: 497
start: 8 4 117 16 11 3
data:
$ID,401
$MISSION,22
$DIVE,497
$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,22
$R_STBD_OVSHOOT,52
$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
$GPS1,040817,154453,6001.9443,-17246.5547,6,0.8,20,7.5,0.6,210.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.3
$GPS2,040817,154453,6001.9443,-17246.5547,6,0.8,20,7.5,0.6,210.7,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.370464,0.100548
$KALMAN_X,57649.019531,-2738.359863,-832.541321,-187640.578125,86.889343
$KALMAN_Y,40477.394531,811.630310,189.823685,44881.000000,-34.049011
$MHEAD_RNG_PITCHd_Wd,277.7,30924,-7.8,-8.333,-12.25,10299
$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,-583.1,2385,1934,2381,4092,0.0,0.0,0,21,5.70,0.00,-4.78,0.000,20482,0.026,0.000,1834,1934,2896,2896,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.27,50.15
$GC,24,-1.58,-583.1,1833,1934,2896,4094,0.1,0.0,1,34,0.00,1.15,-2.60,0.000,16644,0.000,1.277,1834,2347,3167,3167,4095,0,0,0,0,0,0,26.31,24.95,26.31,10.38,49.68
$GC,121,-1.58,-583.1,1833,2347,3168,4095,4.9,-10.1,15,131,0.00,1.02,0.00,0.000,1030,0.000,0.031,1834,1941,3168,3168,4094,0,0,0,0,0,0,26.05,26.01,26.08,10.44,49.76
$GC,168,-1.58,-583.1,1833,1941,3169,4094,10.2,-12.4,21,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3170,3170,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.42,49.92
$GC,213,-1.58,-583.1,1833,1941,3170,4095,16.0,-12.6,27,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1941,3171,3171,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.41,49.37
$GC,257,-1.58,-583.1,1833,1941,3171,4095,21.7,-12.7,33,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3172,3172,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.41,49.01
$GC,302,-1.58,-583.1,1833,1941,3172,4094,27.2,-12.2,39,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1941,3173,3173,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.41,48.97
$GC,348,-1.58,-583.1,1833,1941,3174,4094,32.7,-12.1,45,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3174,3174,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,48.30
$GC,392,-1.58,-583.1,1833,1941,3175,4095,37.7,-10.7,51,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1942,3174,3174,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.39,48.22
$GC,437,-1.58,-583.1,1833,1941,3175,4095,42.4,-10.7,57,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3175,3175,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.38,47.55
$GC,481,-1.58,-583.1,1833,1941,3176,4094,47.1,-10.1,63,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3176,3176,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.38,47.20
$GC,526,-1.58,-583.1,1833,1941,3177,4094,51.7,-10.5,69,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1941,3177,3177,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.37,47.04
$GC,570,-1.58,-583.1,1833,1941,3178,4094,56.6,-11.2,75,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3178,3178,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.37,46.69
$STATE,600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,600,begin apogee
$GC,605,-0.45,0.0,1833,1941,3178,4095,60.1,-11.0,79,649,3.78,0.00,33.12,1.310,10244,0.053,0.000,2183,1941,2486,2486,4094,0,0,0,0,0,0,26.26,24.99,24.30,10.36,46.96
$STATE,650,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,652,1.58,583.1,2183,1940,2486,4094,62.4,0.0,84,698,6.97,1.08,33.45,1.282,10756,0.037,0.054,2831,1526,1803,1803,4094,0,0,0,0,0,0,25.44,25.40,23.80,10.21,45.90
$GC,950,1.58,583.1,2830,1525,1798,4094,37.1,8.6,127,959,0.00,0.98,0.00,0.000,1030,0.000,0.025,2830,1953,1798,1798,4094,0,0,0,0,0,0,25.84,25.83,25.86,10.06,46.22
$GC,997,1.58,583.1,2830,1953,1797,4094,33.3,8.6,133,1006,0.00,1.15,0.00,0.000,516,0.000,0.054,2830,1524,1797,1797,4094,0,0,0,0,0,0,26.09,25.78,26.10,10.06,46.61
$GC,1133,1.58,583.1,2830,1524,1794,4094,21.0,8.7,153,1142,0.00,0.98,0.00,0.000,1030,0.000,0.026,2830,1954,1794,1794,4094,0,0,0,0,0,0,26.07,26.05,26.06,10.08,48.11
$GC,1180,1.58,583.1,2830,1954,1794,4094,17.1,8.6,159,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1794,1794,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.08,48.66
$GC,1223,1.58,583.1,2830,1954,1793,4094,13.2,8.6,165,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1793,1793,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.08,48.58
$GC,1268,1.58,583.1,2830,1954,1791,4095,9.4,8.4,171,1277,0.00,1.05,0.00,0.000,260,0.000,0.042,2830,2355,1791,1791,4094,0,0,0,0,0,0,26.32,26.05,26.34,10.08,48.62
$GC,1339,1.58,583.1,2830,2354,1790,4094,3.1,8.8,181,1349,0.00,0.98,0.00,0.000,1030,0.000,0.033,2831,1972,1789,1789,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.09,48.85
$STATE,1357,end climb,FINISH_DEPTH_REACHED
$STATE,1357,begin subsurface finish
$FINISH1,1.3,1.024173,99
$GC,1363,0.15,99.4,2830,1972,1789,4094,1.3,9.3,183,1382,4.57,0.00,-5.22,0.000,20486,0.029,0.000,2389,1968,2372,2372,4094,0,0,0,0,0,0,26.15,25.63,26.20,10.10,48.97
$FINISH2,0.2
$STATE,1382,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1383,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,141822
$TT8_MAMPS,0.026215,0.208971
$HUMID,50.15
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.80,12.621
$10V_AH,10.23,15.906
$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,21.025,8.375,66.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,485.675,0.401,129.679,777.583,45.348,33.423,406.433,0.000,277.213,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1276.785,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,126.463,502.658,0.000,589.955,771.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330840
$DATA_FILE_SIZE,17733,185
$CAP_FILE_SIZE,29136,0
$CFSIZE,1024409600,995065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,154453,6001.944,-17246.555,6,0.8,20,7.5,0.6,210.7,10,5.0