version: 66.13
glider: 401
mission: 22
dive: 507
start: 8 4 117 20 50 38
data:
$ID,401
$MISSION,22
$DIVE,507
$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,25
$R_STBD_OVSHOOT,43
$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
$GPS1,040817,200114,6002.1318,-17251.3145,6,1.1,22,7.5,0.5,264.7,9,5.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-4.2
$GPS2,040817,200114,6002.1318,-17251.3145,6,1.1,22,7.5,0.5,264.7,9,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.360612,0.130892
$KALMAN_X,58115.105469,-2772.378174,-847.369873,-192567.109375,51.684265
$KALMAN_Y,39361.062500,654.164307,88.579659,46604.242188,-58.798508
$MHEAD_RNG_PITCHd_Wd,282.4,26591,-7.8,-8.333,-12.26,10283
$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,-582.2,2380,1948,2410,4092,0.0,0.0,0,19,5.62,0.00,-3.60,0.000,20482,0.028,0.000,1835,1948,2789,2789,4094,0,0,0,0,0,0,26.12,28.83,26.16,10.23,49.48
$GC,22,-1.58,-582.2,1834,1947,2789,4094,0.1,0.0,1,32,0.00,1.12,-3.65,0.000,16644,0.000,1.281,1834,2367,3167,3167,4095,0,0,0,0,0,0,26.31,24.94,26.32,10.32,49.72
$GC,139,-1.58,-582.2,1834,2367,3169,4095,11.4,-12.8,18,149,0.00,1.08,0.00,0.000,1030,0.000,0.029,1834,1941,3170,3170,4094,0,0,0,0,0,0,26.09,26.04,26.11,10.39,49.52
$GC,186,-1.58,-582.2,1834,1940,3170,4094,16.9,-12.1,24,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3170,3170,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.39,49.13
$GC,230,-1.58,-582.2,1834,1941,3171,4094,22.4,-12.0,30,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3171,3171,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.39,49.29
$GC,275,-1.58,-582.2,1834,1941,3172,4095,28.0,-12.9,36,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3173,3173,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.39,49.33
$GC,321,-1.58,-582.2,1834,1941,3173,4095,33.5,-12.2,42,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3173,3173,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,48.85
$GC,365,-1.58,-582.2,1834,1941,3174,4094,39.0,-12.2,48,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3175,3175,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.38,48.42
$GC,410,-1.58,-582.2,1834,1941,3175,4095,44.3,-11.6,54,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3175,3175,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.38,48.85
$GC,454,-1.58,-582.2,1834,1940,3176,4095,49.0,-10.6,60,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3176,3176,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.37,47.59
$GC,500,-1.58,-582.2,1834,1941,3178,4094,53.7,-10.6,66,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3177,3177,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.36,48.38
$GC,545,-1.58,-582.2,1834,1941,3178,4095,58.9,-10.9,72,555,0.00,1.12,0.00,0.000,260,0.000,0.044,1834,2360,3178,3178,4095,0,0,0,0,0,0,26.51,26.23,26.53,10.35,47.67
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,570,-0.45,0.0,1834,1947,3178,4095,61.0,-11.5,74,614,3.78,0.00,33.35,1.323,10244,0.053,0.000,2186,1946,2483,2483,4095,0,0,0,0,0,0,26.24,25.22,24.25,10.35,47.75
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,617,1.58,582.2,2186,1946,2483,4095,63.6,0.0,79,663,6.97,1.10,33.30,1.295,10756,0.038,0.053,2829,1523,1805,1805,4094,0,0,0,0,0,0,25.41,25.36,23.76,10.19,46.37
$GC,673,1.63,614.2,2829,1522,1804,4094,60.8,8.0,85,683,0.00,1.02,3.58,0.610,9222,0.000,0.024,2829,1956,1768,1768,4094,0,0,0,0,0,0,25.09,25.05,23.91,10.05,45.62
$GC,720,1.63,614.2,2829,1958,1767,4094,56.8,8.9,91,729,0.12,0.00,0.00,0.000,2054,0.066,0.000,2849,1958,1767,1767,4094,0,0,0,0,0,0,25.32,25.35,25.34,10.04,45.11
$GC,765,1.63,614.2,2848,1958,1766,4094,52.3,10.1,97,773,0.00,1.08,0.00,0.000,260,0.000,0.042,2849,2354,1766,1766,4094,0,0,0,0,0,0,25.68,25.41,25.70,10.04,45.70
$GC,848,1.63,614.2,2848,2353,1764,4094,43.7,10.3,109,858,0.00,1.02,0.00,0.000,1030,0.000,0.031,2849,1958,1764,1764,4094,0,0,0,0,0,0,25.68,25.65,25.70,10.03,46.14
$GC,894,1.63,614.2,2848,1957,1763,4094,39.2,9.4,115,904,0.00,1.15,0.00,0.000,516,0.000,0.058,2849,1525,1763,1763,4094,0,0,0,0,0,0,25.96,25.67,25.98,10.04,46.37
$GC,941,1.63,614.2,2848,1524,1762,4094,35.2,8.9,121,950,0.00,0.98,0.00,0.000,1030,0.000,0.026,2849,1951,1762,1762,4094,0,0,0,0,0,0,25.87,25.83,25.86,10.05,46.37
$GC,986,1.63,614.2,2847,1950,1761,4094,31.1,8.7,127,995,0.00,1.05,0.00,0.000,260,0.000,0.043,2849,2351,1761,1761,4094,0,0,0,0,0,0,26.09,25.78,26.10,10.05,46.92
$GC,1063,1.63,614.2,2848,2351,1760,4094,24.2,8.9,138,1073,0.00,1.02,0.00,0.000,1030,0.000,0.031,2849,1954,1759,1759,4094,0,0,0,0,0,0,25.96,25.91,25.97,10.06,47.67
$GC,1108,1.63,614.2,2848,1953,1759,4094,20.1,9.0,144,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1954,1758,1758,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.06,48.38
$GC,1155,1.63,614.2,2848,1953,1757,4094,16.1,8.9,150,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1954,1757,1757,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.06,48.18
$GC,1199,1.63,614.2,2848,1953,1757,4094,12.1,8.7,156,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1954,1757,1757,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.07,49.01
$GC,1244,1.65,626.2,2848,1953,1756,4094,8.3,8.2,162,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1954,1755,1755,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.06,49.05
$GC,1288,1.69,656.8,2848,1953,1754,4094,4.8,8.0,168,1298,0.10,1.08,3.42,0.335,10500,0.074,0.040,2872,2355,1717,1717,4094,0,0,0,0,0,0,26.15,25.98,25.34,10.08,49.25
$STATE,1319,end climb,SURFACE_DEPTH_REACHED
$STATE,1319,begin surface coast
$FINISH,0.3,1.024609
$STATE,1341,end surface coast,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$SM_CCo,1439,0.00,0.000,0,0,1715,661.12
$SM_GC,0.77,27.65,1.08,0.00,0.022,0.031,0.000,231,1944,1715,-6.59,1.14,661.12,0,0,0,0,0,0,25.96,26.10,26.10
$IRIDIUM_FIX,5925.93,-17425.36,040817,183138
$TT8_MAMPS,0.025466,0.221704
$HUMID,49.17
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.76,12.950
$10V_AH,10.19,16.260
$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,44.250,16.050,73.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,484.517,60.498,170.255,732.218,53.599,33.414,453.264,0.000,263.105,0.000,0.540,0.000
$DEVICE_MAMPS,74.205,1281.375,1322.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.193,475.492,0.000,557.521,724.267,0.000,0.000,0.000,0.000,0.000
$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,17808,175
$CAP_FILE_SIZE,36135,0
$CFSIZE,1024409600,994557952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,211550,6002.658,-17253.713,14,0.8,38,7.4,0.4,231.2,9,4.3