version: 66.13
glider: 401
mission: 22
dive: 499
start: 8 4 117 17 14 56
data:
$ID,401
$MISSION,22
$DIVE,499
$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,26
$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
$GPS1,040817,170114,6001.9224,-17247.5742,7,1.1,52,7.5,0.5,246.3,8,6.4
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-39.3
$GPS2,040817,171349,6001.8154,-17247.6055,5,0.8,21,7.5,0.6,195.2,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.353961,0.153570
$KALMAN_X,57848.933594,-2803.480957,-890.391235,-188694.125000,146.110535
$KALMAN_Y,40033.207031,789.649780,169.539444,45131.582031,-125.139618
$MHEAD_RNG_PITCHd_Wd,286.0,30047,-7.7,-8.333,-12.19,10431
$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,-585.0,230,1973,1786,4092,0.0,0.0,0,20,10.45,0.00,0.00,0.000,2049,0.084,0.000,1128,1973,1786,1786,4094,0,0,0,0,0,0,26.12,28.83,28.83,10.19,49.25
$GC,22,-1.58,-585.0,1128,1973,1786,4094,0.7,0.0,1,50,7.75,1.02,-12.45,0.000,18692,0.061,1.274,1826,2356,3170,3170,4095,0,0,0,0,0,0,25.82,24.74,25.91,10.19,49.52
$GC,138,-1.58,-585.0,1826,2356,3170,4095,9.8,-11.4,17,147,0.00,1.02,0.00,0.000,1030,0.000,0.028,1826,1950,3171,3171,4095,0,0,0,0,0,0,25.92,25.89,25.96,10.46,48.22
$GC,185,-1.58,-585.0,1826,1950,3173,4095,15.0,-11.8,23,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3173,3173,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.45,47.79
$GC,229,-1.58,-585.0,1826,1950,3173,4095,20.7,-12.3,29,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1950,3173,3173,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.45,47.48
$GC,276,-1.58,-585.0,1826,1950,3175,4095,26.6,-12.4,35,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3175,3175,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.44,47.40
$GC,321,-1.58,-585.0,1825,1950,3175,4095,32.2,-12.5,41,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3175,3175,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.43,46.73
$GC,367,-1.58,-585.0,1826,1950,3177,4095,37.4,-11.5,47,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3176,3176,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.42,47.04
$GC,410,-1.58,-585.0,1826,1950,3177,4095,42.6,-11.7,53,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3177,3177,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.41,46.65
$GC,455,-1.58,-585.0,1826,1950,3178,4095,47.7,-11.3,59,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3178,3178,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.40,46.29
$GC,501,-1.58,-585.0,1826,1950,3179,4094,52.7,-11.0,65,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3179,3179,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.39,46.18
$GC,546,-1.58,-585.0,1826,1950,3180,4095,57.8,-11.2,71,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1950,3179,3179,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.38,45.66
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1826,1950,3180,4094,60.5,-11.2,74,617,3.88,0.00,33.47,1.308,10244,0.054,0.000,2184,1950,2484,2484,4094,0,0,0,0,0,0,26.17,24.91,24.22,10.38,45.47
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,621,1.58,585.0,2184,1950,2484,4094,63.1,0.0,79,665,7.00,0.00,33.50,1.284,11270,0.037,0.000,2831,1949,1802,1802,4094,0,0,0,0,0,0,25.41,25.57,23.75,10.23,44.88
$GC,702,1.58,585.0,2830,1950,1801,4094,57.7,9.6,89,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1950,1801,1801,4094,0,0,0,0,0,0,25.42,25.44,25.44,10.08,43.54
$GC,747,1.58,585.0,2831,1949,1800,4094,53.1,9.7,95,756,0.00,1.10,0.00,0.000,260,0.000,0.041,2831,2353,1800,1800,4094,0,0,0,0,0,0,25.63,25.38,25.65,10.08,43.62
$GC,833,1.58,585.0,2830,2352,1797,4094,44.3,10.1,107,842,0.00,1.00,0.00,0.000,1030,0.000,0.029,2831,1963,1797,1797,4094,0,0,0,0,0,0,25.66,25.63,25.68,10.07,44.64
$GC,878,1.58,585.0,2830,1963,1797,4094,39.7,9.9,113,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1963,1796,1796,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.08,44.95
$GC,923,1.58,585.0,2831,1963,1796,4094,35.6,8.9,119,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1963,1795,1795,4095,0,0,0,0,0,0,26.02,26.03,26.03,10.08,45.47
$GC,967,1.58,585.0,2831,1963,1795,4095,31.6,9.1,125,977,0.00,1.17,0.00,0.000,516,0.000,0.056,2831,1516,1795,1795,4094,0,0,0,0,0,0,26.08,25.75,26.09,10.08,46.06
$GC,1014,1.58,585.0,2831,1516,1794,4094,27.5,8.9,131,1023,0.00,1.02,0.00,0.000,1030,0.000,0.024,2831,1963,1794,1794,4094,0,0,0,0,0,0,25.94,25.93,25.96,10.09,46.06
$GC,1060,1.58,585.0,2831,1963,1793,4094,23.3,9.2,137,1069,0.00,1.02,0.00,0.000,260,0.000,0.041,2831,2353,1793,1793,4094,0,0,0,0,0,0,26.17,25.90,26.19,10.09,46.29
$GC,1145,1.58,585.0,2831,2352,1790,4094,15.6,8.8,149,1155,0.00,0.98,0.00,0.000,1030,0.000,0.031,2831,1969,1790,1790,4094,0,0,0,0,0,0,26.04,26.00,26.06,10.09,47.04
$GC,1191,1.58,585.0,2830,1968,1790,4094,11.3,9.1,155,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1969,1789,1789,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.10,48.26
$GC,1235,1.58,585.0,2831,1968,1788,4094,7.3,8.6,161,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1969,1788,1788,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.10,48.18
$GC,1280,1.58,585.0,2831,1968,1787,4094,3.3,9.3,167,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1969,1787,1787,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.10,47.95
$STATE,1296,end climb,FINISH_DEPTH_REACHED
$STATE,1296,begin subsurface finish
$FINISH1,1.6,1.024383,85
$GC,1303,0.13,84.8,2831,1968,1787,4094,1.6,9.1,169,1322,4.82,1.08,-5.28,0.000,20740,0.054,1.285,2380,2365,2389,2389,4094,0,0,0,0,0,0,26.14,24.96,26.18,10.11,48.30
$FINISH2,0.2
$STATE,1323,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1323,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,170306
$TT8_MAMPS,0.025466,0.20972
$HUMID,48.93
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.75,12.702
$10V_AH,10.23,15.981
$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,33.900,9.425,66.975,0.000,0.000,48.894,44.371,450.712,0.000,0.000,22.670,466.472,44.884,152.904,1308.861,125.742,33.458,452.386,0.000,258.946,0.000,0.543,0.000
$DEVICE_MAMPS,84.150,1285.200,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.923,464.618,0.000,544.618,712.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,14369,171
$CAP_FILE_SIZE,38933,0
$CFSIZE,1024409600,994967552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,237.93,0x2138dc,0,24
$GPS,040817,171349,6001.815,-17247.605,5,0.8,21,7.5,0.6,195.2,10,4.9