version: 66.13
glider: 401
mission: 22
dive: 502
start: 8 4 117 18 38 3
data:
$ID,401
$MISSION,22
$DIVE,502
$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,50
$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
$GPS1,040817,182953,6001.9878,-17249.0312,37,0.7,40,7.5,0.0,242.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-37.8
$GPS2,040817,183655,6001.9419,-17249.0879,8,0.7,15,7.5,0.0,163.4,11,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.361892,0.131087
$KALMAN_X,57875.542969,-2780.701660,-856.917053,-190174.031250,48.594543
$KALMAN_Y,39759.683594,718.953979,110.097069,45762.113281,-61.630219
$MHEAD_RNG_PITCHd_Wd,282.4,28665,-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,8,-1.58,-585.0,232,1954,1727,4092,0.0,0.0,0,20,10.20,0.00,0.00,0.000,2049,0.087,0.000,1106,1954,1727,1727,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.11,49.68
$GC,22,-1.58,-585.0,1105,1953,1727,4094,0.7,0.0,1,50,7.97,1.12,-13.48,0.000,18692,0.063,1.274,1825,2365,3171,3171,4094,0,0,0,0,0,0,25.88,24.79,25.96,10.12,49.60
$GC,153,-1.58,-585.0,1824,2370,3173,4094,9.5,-12.1,19,161,0.00,1.05,0.00,0.000,1030,0.000,0.029,1825,1950,3173,3173,4095,0,0,0,0,0,0,25.99,25.95,26.01,10.42,49.84
$GC,197,-1.58,-585.0,1825,1949,3174,4095,15.2,-12.4,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1950,3175,3175,4095,0,0,0,0,0,0,26.25,26.27,26.26,10.42,49.09
$GC,242,-1.58,-585.0,1825,1950,3175,4095,20.6,-12.2,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1950,3175,3175,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.41,48.66
$GC,286,-1.58,-585.0,1825,1950,3176,4094,26.0,-11.8,37,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1950,3177,3177,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.41,48.74
$GC,330,-1.58,-585.0,1824,1950,3176,4095,31.3,-12.3,43,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1950,3177,3177,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.40,48.14
$GC,374,-1.58,-585.0,1825,1950,3178,4095,36.3,-11.2,49,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1950,3178,3178,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.39,47.87
$GC,419,-1.58,-585.0,1825,1950,3179,4095,41.3,-11.3,55,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1950,3179,3179,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,47.44
$GC,463,-1.58,-585.0,1825,1950,3180,4095,46.3,-11.5,61,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1950,3179,3179,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.38,47.67
$GC,508,-1.58,-585.0,1825,1950,3180,4095,51.1,-10.4,67,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3181,3181,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.55
$GC,553,-1.58,-585.0,1825,1950,3182,4095,56.2,-11.4,73,562,0.00,1.08,0.00,0.000,260,0.000,0.044,1825,2355,3182,3182,4094,0,0,0,0,0,0,26.46,26.22,26.48,10.37,46.81
$STATE,590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,590,begin apogee
$GC,596,-0.45,0.0,1825,1945,3183,4094,60.4,-10.7,78,640,3.88,0.00,33.53,1.312,10244,0.054,0.000,2183,1945,2483,2483,4094,0,0,0,0,0,0,26.20,24.95,24.24,10.37,46.69
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,643,1.58,585.0,2183,1945,2483,4094,63.2,0.0,83,688,7.00,0.00,33.38,1.290,11270,0.037,0.000,2830,1945,1803,1803,4094,0,0,0,0,0,0,25.44,25.60,23.75,10.21,46.25
$GC,726,1.58,585.0,2830,1944,1802,4094,57.8,10.0,93,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1945,1802,1802,4094,0,0,0,0,0,0,25.44,25.44,25.44,10.06,44.64
$GC,772,1.58,585.0,2830,1944,1801,4094,53.1,10.3,99,781,0.00,1.12,0.00,0.000,260,0.000,0.040,2830,2354,1800,1800,4094,0,0,0,0,0,0,25.65,25.39,25.66,10.06,44.68
$GC,857,1.58,585.0,2830,2354,1799,4094,44.7,9.9,111,866,0.00,1.00,0.00,0.000,1030,0.000,0.030,2830,1966,1799,1799,4094,0,0,0,0,0,0,25.67,25.63,25.69,10.05,45.86
$GC,902,1.58,585.0,2830,1965,1798,4094,40.6,8.7,117,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1797,1797,4094,0,0,0,0,0,0,25.96,25.97,25.96,10.05,45.43
$GC,947,1.58,585.0,2830,1965,1797,4094,36.6,8.9,123,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.06,46.69
$GC,992,1.58,585.0,2830,1965,1796,4094,32.6,9.0,129,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1795,1795,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.06,46.25
$GC,1036,1.58,585.0,2830,1965,1795,4094,28.7,8.5,135,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1795,1795,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.06,46.65
$GC,1082,1.60,599.5,2830,1965,1794,4094,24.9,8.2,141,1091,0.00,0.00,2.38,0.174,8198,0.000,0.000,2830,1965,1784,1784,4094,0,0,0,0,0,0,26.17,25.58,25.03,10.07,47.20
$GC,1127,1.60,599.5,2830,1965,1783,4094,21.1,8.4,147,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1966,1782,1782,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.07,47.83
$GC,1171,1.60,599.5,2830,1965,1781,4094,17.3,8.6,153,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1781,1781,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.07,48.03
$GC,1216,1.60,599.5,2830,1965,1781,4094,13.4,8.8,159,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1966,1781,1781,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.08,48.14
$GC,1260,1.60,599.5,2830,1965,1780,4094,9.4,9.0,165,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1780,1780,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.08,48.66
$GC,1305,1.60,599.5,2830,1965,1779,4094,5.5,8.5,171,1315,0.00,1.05,0.00,0.000,260,0.000,0.040,2831,2359,1778,1778,4094,0,0,0,0,0,0,26.34,26.06,26.35,10.08,48.81
$STATE,1348,end climb,FINISH_DEPTH_REACHED
$STATE,1349,begin subsurface finish
$FINISH1,1.6,1.024607,69
$GC,1356,0.10,69.2,2830,1944,1777,4094,1.6,8.8,177,1375,4.90,0.00,-5.72,0.000,20742,0.055,0.000,2378,1941,2409,2409,4094,0,0,0,0,0,0,26.10,25.61,26.17,10.09,49.17
$FINISH2,0.1
$STATE,1376,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1376,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,040817,171008
$TT8_MAMPS,0.025466,0.244174
$HUMID,49.40
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.75,12.796
$10V_AH,10.17,16.095
$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,33.950,8.575,69.275,0.000,0.000,22.605,21.608,251.560,0.000,0.000,17.137,480.155,0.000,159.400,1054.871,125.731,33.481,467.609,0.000,434.975,0.000,0.544,0.000
$DEVICE_MAMPS,87.210,1274.490,1311.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.026,486.155,385.043,570.127,745.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,17734,179
$CAP_FILE_SIZE,37960,0
$CFSIZE,1024409600,994803712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,183655,6001.942,-17249.088,8,0.7,15,7.5,0.0,163.4,11,4.8