version: 66.13
glider: 401
mission: 22
dive: 508
start: 8 4 117 21 30 54
data:
$ID,401
$MISSION,22
$DIVE,508
$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,28
$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
$GPS1,040817,211550,6002.6582,-17253.7129,14,0.8,38,7.4,0.4,231.2,9,4.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-39.9
$GPS2,040817,212946,6002.6753,-17254.1348,9,0.8,16,7.4,0.6,286.0,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.378451,0.065516
$KALMAN_X,56655.070312,-3012.471436,-1095.661255,-193244.421875,-150.096191
$KALMAN_Y,39940.582031,729.634094,172.339783,46855.742188,90.717392
$MHEAD_RNG_PITCHd_Wd,272.4,23812,-7.8,-8.333,-12.24,10313
$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,-584.0,231,1942,1715,4092,0.0,0.0,0,21,11.07,0.00,0.00,0.000,2049,0.087,0.000,1176,1942,1715,1715,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.13,49.44
$GC,23,-1.58,-584.0,1176,1942,1715,4094,0.7,0.0,1,51,6.97,1.12,-13.68,0.000,18692,0.044,1.281,1829,2357,3167,3167,4095,0,0,0,0,0,0,25.91,24.77,25.97,10.13,49.56
$GC,174,-1.58,-584.0,1828,2357,3170,4095,13.4,-12.1,22,183,0.00,1.02,0.00,0.000,1030,0.000,0.028,1829,1953,3170,3170,4095,0,0,0,0,0,0,26.00,25.97,26.02,10.43,48.62
$GC,219,-1.58,-584.0,1828,1953,3171,4095,18.9,-11.8,28,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3170,3170,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.42,48.54
$GC,263,-1.58,-584.0,1828,1953,3172,4095,24.2,-12.3,34,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3172,3172,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.41,48.03
$GC,306,-1.58,-584.0,1828,1953,3173,4094,29.5,-12.1,40,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3173,3173,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.41,47.79
$GC,351,-1.58,-584.0,1828,1953,3174,4095,34.9,-11.8,46,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3174,3174,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.41,47.51
$GC,395,-1.58,-584.0,1828,1953,3175,4095,40.1,-11.7,52,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3175,3175,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.40,47.36
$GC,440,-1.58,-584.0,1828,1953,3176,4095,44.9,-10.6,58,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3175,3175,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,47.00
$GC,485,-1.58,-584.0,1828,1953,3176,4095,49.8,-11.2,64,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3176,3176,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.38,46.81
$GC,529,-1.58,-584.0,1829,1953,3177,4094,54.8,-10.9,70,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1953,3177,3177,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,46.69
$GC,574,-1.58,-584.0,1828,1953,3178,4095,60.0,-12.1,76,583,0.00,1.08,0.00,0.000,260,0.000,0.041,1829,2357,3178,3178,4094,0,0,0,0,0,0,26.46,26.19,26.48,10.37,46.41
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,597,-0.45,0.0,1829,1939,3179,4094,62.2,-11.9,78,641,3.85,0.00,33.50,1.330,10244,0.053,0.000,2185,1940,2483,2483,4095,0,0,0,0,0,0,26.20,24.91,24.20,10.36,46.73
$STATE,642,end apogee,CONTROL_FINISHED_OK
$STATE,642,begin climb
$GC,645,1.58,584.0,2185,1939,2483,4095,64.9,0.0,83,689,6.95,0.00,33.53,1.306,11270,0.034,0.000,2826,1940,1803,1803,4094,0,0,0,0,0,0,25.41,25.58,23.73,10.21,45.39
$GC,726,1.58,584.0,2826,1939,1802,4094,59.8,9.4,93,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1940,1802,1802,4094,0,0,0,0,0,0,25.41,25.43,25.43,10.06,44.40
$GC,773,1.58,584.0,2826,1939,1801,4094,55.5,9.3,99,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1940,1801,1801,4094,0,0,0,0,0,0,25.63,25.65,25.64,10.05,44.52
$GC,819,1.58,584.0,2826,1939,1800,4094,51.1,9.5,105,828,0.00,1.12,0.00,0.000,260,0.000,0.040,2827,2351,1800,1800,4094,0,0,0,0,0,0,25.77,25.49,25.78,10.05,45.27
$GC,903,1.58,584.0,2826,2350,1797,4094,42.7,9.9,117,913,0.00,1.02,0.00,0.000,1030,0.000,0.029,2826,1953,1798,1798,4094,0,0,0,0,0,0,25.73,25.70,25.75,10.05,45.11
$GC,949,1.58,584.0,2826,1953,1797,4094,38.3,9.5,123,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1953,1797,1797,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.05,45.27
$GC,994,1.58,584.0,2826,1952,1796,4094,34.4,8.7,129,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1953,1796,1796,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.05,45.82
$GC,1037,1.58,584.0,2826,1953,1795,4094,30.6,8.6,135,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1953,1795,1795,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.07,46.65
$GC,1084,1.58,584.0,2826,1953,1794,4094,26.8,8.6,141,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1953,1794,1794,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.06,47.36
$GC,1130,1.58,584.0,2826,1953,1794,4094,22.8,8.4,147,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1953,1794,1794,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.07,47.16
$GC,1176,1.58,584.0,2826,1953,1791,4094,18.6,9.1,153,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1953,1792,1792,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.07,47.44
$GC,1222,1.58,584.0,2826,1953,1791,4095,14.2,9.2,159,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1953,1791,1791,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.08,47.91
$GC,1265,1.58,584.0,2826,1953,1790,4094,10.1,9.0,165,1275,0.00,1.08,0.00,0.000,260,0.000,0.041,2826,2354,1790,1790,4094,0,0,0,0,0,0,26.31,26.04,26.32,10.08,48.03
$STATE,1361,end climb,FINISH_DEPTH_REACHED
$STATE,1361,begin subsurface finish
$FINISH1,1.8,1.024590,70
$GC,1369,0.11,70.4,2826,1949,1787,4094,1.8,8.6,179,1387,4.93,0.00,-5.62,0.000,20486,0.062,0.000,2377,1944,2406,2406,4094,0,0,0,0,0,0,26.12,25.62,26.18,10.10,49.40
$FINISH2,0.2
$STATE,1388,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1388,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,211738
$TT8_MAMPS,0.025466,0.244174
$HUMID,49.52
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.73,13.001
$10V_AH,10.15,16.308
$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,33.775,8.600,67.025,0.000,0.000,123.670,143.580,248.938,0.000,0.000,18.580,490.758,179.129,155.514,1291.409,129.556,33.455,456.725,0.000,438.420,0.000,0.543,0.000
$DEVICE_MAMPS,87.210,1280.610,1329.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.551,491.669,389.360,576.663,751.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,17745,181
$CAP_FILE_SIZE,39932,0
$CFSIZE,1024409600,994508800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,212946,6002.675,-17254.135,9,0.8,16,7.4,0.6,286.0,10,4.6