version: 66.13
glider: 401
mission: 22
dive: 498
start: 8 4 117 16 36 9
data:
$ID,401
$MISSION,22
$DIVE,498
$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
$GPS1,040817,154453,6001.9443,-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,-2.8
$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,-0.371517,0.100114
$KALMAN_X,58079.066406,-2719.619629,-808.054077,-188113.312500,189.614990
$KALMAN_Y,40364.402344,802.284729,182.278534,45010.726562,-58.517303
$MHEAD_RNG_PITCHd_Wd,277.6,30924,-7.7,-8.333,-12.22,10359
$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,-585.0,2388,1968,2372,4092,0.0,0.0,0,21,5.75,0.00,-4.68,0.000,20482,0.026,0.000,1832,1969,2875,2875,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.26,50.27
$GC,24,-1.58,-585.0,1832,1964,2875,4094,0.1,0.0,1,32,0.00,0.00,-2.78,0.000,16390,0.000,0.000,1832,1969,3169,3169,4094,0,0,0,0,0,0,26.31,25.61,26.31,10.38,50.47
$GC,68,-1.58,-585.0,1832,1969,3169,4094,3.3,-10.4,7,77,0.00,1.02,0.00,0.000,260,0.000,0.044,1832,2351,3169,3169,4094,0,0,0,0,0,0,26.26,25.98,26.27,10.43,50.43
$GC,146,-1.58,-585.0,1832,2351,3171,4094,12.0,-11.8,18,155,0.00,0.95,0.00,0.000,1030,0.000,0.028,1832,1974,3171,3171,4095,0,0,0,0,0,0,26.13,26.09,26.12,10.41,49.96
$GC,191,-1.58,-585.0,1831,1974,3172,4095,17.3,-12.0,24,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1975,3173,3173,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.41,49.37
$GC,235,-1.58,-585.0,1831,1974,3173,4094,22.6,-11.8,30,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1974,3173,3173,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.40,49.21
$GC,280,-1.58,-585.0,1831,1974,3174,4095,27.7,-11.9,36,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1974,3174,3174,4095,0,0,0,0,0,0,26.41,26.41,26.42,10.40,48.74
$GC,324,-1.58,-585.0,1832,1974,3175,4095,33.0,-12.0,42,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1975,3175,3175,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.39,48.97
$GC,368,-1.58,-585.0,1831,1974,3176,4094,37.8,-11.0,48,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1974,3176,3176,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.39,48.46
$GC,412,-1.58,-585.0,1831,1974,3177,4094,42.7,-11.1,54,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1974,3177,3177,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,48.22
$GC,456,-1.58,-585.0,1832,1974,3178,4095,47.5,-11.0,60,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1974,3178,3178,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.37,47.67
$GC,500,-1.58,-585.0,1831,1974,3178,4094,52.2,-10.5,66,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1974,3179,3179,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.37,47.28
$GC,545,-1.58,-585.0,1831,1974,3179,4095,57.0,-10.9,72,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1974,3180,3180,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.36,47.95
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1832,1974,3180,4094,60.4,-10.8,76,624,3.83,0.00,33.38,1.322,10244,0.054,0.000,2186,1974,2483,2483,4094,0,0,0,0,0,0,26.26,24.98,24.27,10.36,47.55
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,627,1.58,585.0,2185,1974,2483,4094,62.9,0.0,81,671,6.97,0.00,33.38,1.290,11270,0.036,0.000,2831,1974,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.78,10.21,46.57
$GC,709,1.58,585.0,2831,1973,1801,4094,57.6,9.6,91,718,0.00,1.05,0.00,0.000,260,0.000,0.039,2831,2353,1801,1801,4094,0,0,0,0,0,0,25.44,25.20,25.46,10.06,45.07
$GC,788,1.58,585.0,2831,2353,1799,4094,49.8,9.5,102,798,0.00,1.02,0.00,0.000,1030,0.000,0.031,2832,1958,1800,1800,4094,0,0,0,0,0,0,25.55,25.52,25.58,10.06,45.66
$GC,835,1.58,585.0,2831,1958,1798,4094,45.2,9.8,108,845,0.00,1.15,0.00,0.000,516,0.000,0.055,2832,1524,1798,1798,4094,0,0,0,0,0,0,25.87,25.57,25.88,10.05,45.66
$GC,882,1.58,585.0,2831,1523,1797,4094,40.6,9.7,114,891,0.00,1.00,0.00,0.000,1030,0.000,0.026,2831,1957,1797,1797,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.05,46.57
$GC,928,1.58,585.0,2831,1957,1796,4094,36.3,9.9,120,938,0.00,1.05,0.00,0.000,260,0.000,0.044,2831,2351,1795,1795,4094,0,0,0,0,0,0,26.03,25.75,26.03,10.06,46.96
$GC,979,1.58,585.0,2831,2351,1795,4094,31.1,9.9,127,989,0.00,0.98,0.00,0.000,1030,0.000,0.031,2832,1970,1795,1795,4095,0,0,0,0,0,0,25.88,25.84,25.90,10.06,47.04
$GC,1025,1.58,585.0,2830,1969,1794,4095,27.0,8.9,133,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1970,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.06,46.88
$GC,1070,1.58,585.0,2831,1969,1794,4094,22.9,9.0,139,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1970,1793,1793,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.07,47.16
$GC,1115,1.58,585.0,2831,1970,1792,4094,18.9,8.9,145,1124,0.00,1.02,0.00,0.000,260,0.000,0.041,2831,2350,1792,1792,4094,0,0,0,0,0,0,26.22,25.96,26.24,10.08,47.91
$GC,1180,1.58,585.0,2831,2350,1790,4094,12.9,9.4,154,1189,0.00,0.95,0.00,0.000,1030,0.000,0.031,2831,1975,1790,1790,4094,0,0,0,0,0,0,26.06,26.03,26.10,10.08,48.77
$GC,1227,1.58,585.0,2831,1974,1789,4094,8.7,9.1,160,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1975,1789,1789,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.08,48.26
$GC,1270,1.58,585.0,2831,1975,1788,4094,4.7,8.9,166,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1975,1788,1788,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.09,49.29
$STATE,1300,end climb,SURFACE_DEPTH_REACHED
$STATE,1300,begin surface coast
$FINISH,0.1,1.001808
$STATE,1321,end surface coast,CONTROL_FINISHED_OK
$STATE,1321,begin surface
$SM_CCo,1418,0.00,0.000,0,0,1787,599.30
$SM_GC,0.97,27.25,0.00,0.00,0.022,0.000,0.000,230,1972,1787,-6.59,1.00,599.30,0,0,0,0,0,0,26.01,26.39,26.13
$IRIDIUM_FIX,5925.93,-17425.36,040817,141822
$TT8_MAMPS,0.025466,0.261401
$HUMID,49.80
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.78,12.645
$10V_AH,10.16,15.945
$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,43.800,10.200,66.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,472.576,61.062,168.524,719.637,56.311,33.411,450.993,0.000,418.591,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,55.080,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.165,469.910,372.144,551.212,716.714,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330840
$DATA_FILE_SIZE,17854,173
$CAP_FILE_SIZE,33958,0
$CFSIZE,1024409600,995000320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,170114,6001.922,-17247.574,7,1.1,52,7.5,0.5,246.3,8,6.4