version: 66.13
glider: 401
mission: 22
dive: 501
start: 8 4 117 18 4 29
data:
$ID,401
$MISSION,22
$DIVE,501
$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,17
$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
$GPS1,040817,171349,6001.8154,-17247.6055,5,0.8,21,7.5,0.6,195.2,10,4.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.6
$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,-0.352713,0.152154
$KALMAN_X,58450.195312,-2672.850830,-746.117981,-189587.937500,169.029846
$KALMAN_Y,39767.023438,716.626770,104.979912,45532.480469,-129.525696
$MHEAD_RNG_PITCHd_Wd,285.8,30047,-7.8,-8.333,-12.24,10316
$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,-584.2,2379,1955,2391,4092,0.0,0.0,0,21,5.50,0.00,-5.10,0.000,20482,0.025,0.000,1847,1954,2938,2938,4095,0,0,0,0,0,0,26.11,28.83,26.14,10.25,50.03
$GC,24,-1.58,-584.2,1846,1953,2938,4095,0.1,0.0,1,34,0.00,1.10,-2.20,0.000,16644,0.000,1.277,1847,2349,3167,3167,4095,0,0,0,0,0,0,26.31,24.94,26.29,10.37,49.88
$GC,115,-1.58,-584.2,1846,2348,3168,4095,7.4,-10.7,14,123,0.00,1.02,0.00,0.000,1030,0.000,0.031,1847,1941,3169,3169,4095,0,0,0,0,0,0,26.04,26.01,26.07,10.41,50.15
$GC,159,-1.58,-584.2,1846,1941,3169,4095,12.5,-11.8,20,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3169,3169,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.40,49.88
$GC,204,-1.58,-584.2,1846,1941,3170,4094,17.7,-11.7,26,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3170,3170,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.39,49.40
$GC,250,-1.58,-584.2,1846,1941,3171,4095,22.7,-11.2,32,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3171,3171,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.40,49.40
$GC,294,-1.58,-584.2,1846,1941,3172,4095,27.9,-11.0,38,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3172,3172,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.39,49.48
$GC,339,-1.58,-584.2,1846,1941,3173,4095,32.8,-10.8,44,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3174,3174,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.38,49.40
$GC,384,-1.58,-584.2,1846,1941,3174,4095,37.5,-10.4,50,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3174,3174,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.38,48.38
$GC,430,-1.58,-584.2,1846,1941,3175,4095,42.1,-10.3,56,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3175,3175,4094,0,0,0,0,0,0,26.46,26.47,26.48,10.38,48.22
$GC,473,-1.58,-584.2,1846,1940,3175,4094,46.9,-10.8,62,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3175,3175,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.37,47.75
$GC,518,-1.58,-584.2,1846,1940,3176,4094,51.5,-10.2,68,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3177,3177,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.37,47.91
$GC,564,-1.58,-584.2,1846,1941,3178,4095,56.1,-10.0,74,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1941,3177,3177,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.35,47.28
$STATE,600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,600,begin apogee
$GC,605,-0.45,0.0,1846,1941,3178,4094,60.1,-10.0,79,649,3.65,0.00,33.17,1.304,10244,0.051,0.000,2185,1941,2485,2485,4094,0,0,0,0,0,0,26.26,25.00,24.30,10.35,46.96
$STATE,650,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,652,1.58,584.2,2184,1941,2484,4094,62.4,0.0,84,698,6.97,1.08,33.42,1.281,10756,0.037,0.054,2829,1527,1802,1802,4094,0,0,0,0,0,0,25.44,25.39,23.80,10.20,46.45
$GC,708,1.61,603.1,2829,1526,1803,4094,59.6,8.1,90,718,0.00,1.00,2.97,0.454,9222,0.000,0.026,2829,1952,1781,1781,4094,0,0,0,0,0,0,25.09,25.05,23.96,10.06,46.18
$GC,756,1.61,603.1,2828,1952,1780,4094,55.2,9.8,96,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1952,1779,1779,4094,0,0,0,0,0,0,25.53,25.56,25.55,10.05,45.23
$GC,799,1.61,603.1,2829,1951,1779,4094,50.9,9.6,102,809,0.00,1.08,0.00,0.000,260,0.000,0.041,2829,2351,1778,1778,4094,0,0,0,0,0,0,25.70,25.44,25.72,10.04,45.27
$GC,892,1.61,603.1,2829,2351,1777,4094,42.0,9.3,115,901,0.00,1.00,0.00,0.000,1030,0.000,0.031,2829,1964,1777,1777,4095,0,0,0,0,0,0,25.71,25.68,25.74,10.04,45.90
$GC,937,1.61,603.1,2829,1963,1776,4095,37.6,9.0,121,946,0.00,1.15,0.00,0.000,516,0.000,0.057,2829,1527,1776,1776,4094,0,0,0,0,0,0,26.00,25.74,26.01,10.04,46.81
$GC,995,1.61,603.1,2829,1527,1775,4094,32.3,9.0,129,1004,0.00,0.95,0.00,0.000,1030,0.000,0.026,2829,1943,1774,1774,4095,0,0,0,0,0,0,25.89,25.87,25.90,10.04,46.65
$GC,1042,1.61,604.0,2829,1942,1773,4095,28.5,8.3,135,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1943,1773,1773,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.05,47.20
$GC,1086,1.67,644.4,2829,1943,1773,4094,24.8,7.9,141,1097,0.20,1.05,3.58,0.449,10500,0.051,0.038,2859,2357,1734,1734,4094,0,0,0,0,0,0,25.96,25.57,25.03,10.05,47.32
$GC,1158,1.67,644.4,2858,2356,1732,4094,18.2,9.2,151,1168,0.00,1.02,0.00,0.000,1030,0.000,0.031,2859,1957,1732,1732,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.05,47.91
$GC,1204,1.67,644.4,2859,1957,1731,4094,13.9,9.5,157,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1957,1731,1731,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.06,48.54
$GC,1250,1.67,644.4,2858,1956,1730,4095,9.7,9.2,163,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1957,1730,1730,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.06,48.58
$GC,1294,1.67,644.4,2859,1957,1728,4094,5.4,8.8,169,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1957,1728,1728,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.06,49.25
$STATE,1331,end climb,SURFACE_DEPTH_REACHED
$STATE,1331,begin surface coast
$FINISH,0.1,1.001869
$STATE,1352,end surface coast,CONTROL_FINISHED_OK
$STATE,1352,begin surface
$SM_CCo,1449,0.00,0.000,0,0,1727,650.82
$SM_GC,0.64,27.48,0.00,0.00,0.022,0.000,0.000,232,1953,1727,-6.59,0.14,650.82,0,0,0,0,0,0,25.99,26.36,26.11
$IRIDIUM_FIX,5925.93,-17425.36,040817,170306
$TT8_MAMPS,0.025466,0.21721
$HUMID,49.25
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.80,12.753
$10V_AH,10.21,16.049
$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,43.800,11.525,73.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,485.097,60.579,169.200,742.347,53.483,33.414,455.868,0.000,265.913,0.000,0.541,0.000
$DEVICE_MAMPS,51.255,1276.785,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.438,480.940,0.000,564.126,735.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330936
$DATA_FILE_SIZE,17906,177
$CAP_FILE_SIZE,34902,0
$CFSIZE,1024409600,994852864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,182953,6001.988,-17249.031,37,0.7,40,7.5,0.0,242.9,11,4.8