version: 66.13
glider: 401
mission: 22
dive: 503
start: 8 4 117 19 3 4
data:
$ID,401
$MISSION,22
$DIVE,503
$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,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
$GPS1,040817,183655,6001.9419,-17249.0879,8,0.7,15,7.5,0.0,163.4,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.1
$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,-0.364063,0.125000
$KALMAN_X,58074.652344,-2676.407227,-748.253540,-190612.531250,-0.109253
$KALMAN_Y,39675.089844,675.410339,77.099854,45928.257812,-38.865997
$MHEAD_RNG_PITCHd_Wd,281.4,28665,-7.7,-8.333,-12.22,10369
$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,-585.0,2377,1941,2409,4092,0.0,0.0,0,21,5.62,0.00,-5.18,0.000,20482,0.025,0.000,1834,1942,2977,2977,4095,0,0,0,0,0,0,26.13,28.83,26.15,10.24,49.52
$GC,24,-1.58,-585.0,1833,1941,2977,4095,0.2,0.0,1,34,0.00,1.15,-1.70,0.000,16644,0.000,1.281,1834,2354,3174,3174,4095,0,0,0,0,0,0,26.31,24.95,26.29,10.37,49.96
$GC,121,-1.58,-585.0,1833,2354,3175,4095,10.9,-12.6,15,131,0.00,1.02,0.00,0.000,1030,0.000,0.029,1833,1950,3176,3176,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.40,49.29
$GC,168,-1.58,-585.0,1833,1950,3177,4095,16.6,-12.7,21,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3177,3177,4095,0,0,0,0,0,0,26.30,26.31,26.31,10.39,49.56
$GC,213,-1.58,-585.0,1833,1949,3178,4095,22.3,-12.2,27,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3178,3178,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.39,48.93
$GC,257,-1.58,-585.0,1833,1950,3178,4095,27.6,-12.0,33,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3178,3178,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.39,48.85
$GC,302,-1.58,-585.0,1833,1950,3179,4094,33.0,-11.9,39,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3179,3179,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,48.50
$GC,348,-1.58,-585.0,1833,1950,3180,4095,38.1,-11.5,45,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3181,3181,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.38,48.42
$GC,393,-1.58,-585.0,1833,1950,3181,4095,43.6,-11.6,51,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3182,3182,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.37,48.66
$GC,437,-1.58,-585.0,1833,1950,3183,4094,48.7,-11.4,57,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1950,3183,3183,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.37,48.30
$GC,482,-1.58,-585.0,1833,1950,3183,4095,53.6,-11.1,63,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3183,3183,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.37,47.99
$GC,528,-1.58,-585.0,1833,1950,3184,4095,58.5,-11.4,69,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1950,3185,3185,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.35,47.36
$STATE,545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,545,begin apogee
$GC,550,-0.45,0.0,1833,1949,3185,4095,60.8,-11.2,71,594,3.80,0.00,33.62,1.321,10244,0.052,0.000,2185,1950,2484,2484,4095,0,0,0,0,0,0,26.22,24.95,24.24,10.35,47.20
$STATE,595,end apogee,CONTROL_FINISHED_OK
$STATE,595,begin climb
$GC,597,1.58,585.0,2184,1950,2484,4095,63.2,0.0,76,641,6.97,0.00,33.50,1.293,11270,0.035,0.000,2830,1950,1802,1802,4094,0,0,0,0,0,0,25.44,25.60,23.75,10.20,47.32
$GC,679,1.58,585.0,2829,1949,1802,4094,57.9,9.3,86,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1950,1801,1801,4095,0,0,0,0,0,0,25.43,25.44,25.44,10.05,45.07
$GC,723,1.58,585.0,2829,1950,1801,4095,53.4,9.7,92,732,0.00,1.10,0.00,0.000,260,0.000,0.041,2830,2354,1800,1800,4094,0,0,0,0,0,0,25.63,25.37,25.65,10.04,45.35
$GC,801,1.58,585.0,2829,2353,1799,4094,45.6,9.9,103,810,0.00,1.02,0.00,0.000,1030,0.000,0.030,2830,1958,1799,1799,4094,0,0,0,0,0,0,25.63,25.60,25.65,10.05,45.82
$GC,848,1.58,585.0,2829,1958,1798,4094,41.2,9.6,109,857,0.00,1.15,0.00,0.000,516,0.000,0.057,2830,1523,1798,1798,4094,0,0,0,0,0,0,25.94,25.65,25.95,10.05,46.33
$GC,893,1.58,585.0,2829,1523,1797,4094,37.0,8.9,115,902,0.00,0.98,0.00,0.000,1030,0.000,0.027,2830,1950,1796,1796,4094,0,0,0,0,0,0,25.81,25.82,25.86,10.05,46.65
$GC,938,1.58,585.0,2829,1950,1796,4094,33.1,8.6,121,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1951,1796,1796,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.05,47.36
$GC,983,1.59,592.6,2829,1950,1795,4094,29.3,8.3,127,991,0.00,1.05,0.00,0.000,260,0.000,0.041,2830,2351,1795,1795,4094,0,0,0,0,0,0,26.12,25.84,26.13,10.05,47.32
$GC,1061,1.59,592.6,2829,2351,1793,4094,22.9,8.4,138,1071,0.00,1.05,0.00,0.000,1030,0.000,0.032,2830,1944,1794,1794,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.06,48.03
$GC,1107,1.61,605.6,2829,1943,1793,4094,19.1,8.2,144,1115,0.00,0.00,2.62,0.239,8198,0.000,0.000,2830,1944,1776,1776,4094,0,0,0,0,0,0,26.24,25.64,25.13,10.07,48.62
$GC,1153,1.61,605.6,2830,1943,1775,4094,15.0,9.1,150,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1944,1775,1775,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.06,48.34
$GC,1197,1.61,605.6,2829,1943,1774,4094,10.7,9.1,156,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1943,1773,1773,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.07,48.70
$GC,1242,1.61,605.6,2829,1943,1772,4094,6.5,9.5,162,1251,0.00,1.10,0.00,0.000,260,0.000,0.041,2830,2354,1773,1773,4094,0,0,0,0,0,0,26.32,26.04,26.33,10.08,49.48
$STATE,1300,end climb,FINISH_DEPTH_REACHED
$STATE,1300,begin subsurface finish
$FINISH1,1.6,1.024595,70
$GC,1308,0.10,70.0,2830,1944,1771,4094,1.6,8.4,170,1326,4.70,0.00,-5.68,0.000,20742,0.028,0.000,2376,1943,2407,2407,4094,0,0,0,0,0,0,26.13,25.60,26.17,10.08,49.25
$FINISH2,0.4
$STATE,1327,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1328,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,040817,171008
$TT8_MAMPS,0.025466,0.213465
$HUMID,49.72
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.75,12.821
$10V_AH,10.21,16.122
$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,21.100,10.700,69.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,465.540,0.000,145.273,723.172,49.765,33.426,433.417,0.000,258.741,0.000,0.541,0.000
$DEVICE_MAMPS,52.020,1280.610,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.808,467.380,0.000,548.274,715.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,17860,172
$CAP_FILE_SIZE,32143,0
$CFSIZE,1024409600,994770944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,183655,6001.942,-17249.088,8,0.7,15,7.5,0.0,163.4,11,4.8