version: 66.13
glider: 401
mission: 22
dive: 509
start: 8 4 117 21 56 8
data:
$ID,401
$MISSION,22
$DIVE,509
$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,21
$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
$GPS1,040817,212946,6002.6753,-17254.1348,9,0.8,16,7.4,0.6,286.0,10,4.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-5.1
$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,-0.380317,0.070302
$KALMAN_X,56859.484375,-2933.873779,-1005.875793,-193665.640625,-162.015320
$KALMAN_Y,39908.316406,717.476074,171.747330,46917.960938,87.585907
$MHEAD_RNG_PITCHd_Wd,273.1,23812,-7.7,-8.333,-12.16,10493
$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,-1.57,-585.0,2377,1947,2405,4092,0.0,0.0,0,21,5.57,0.00,-5.40,0.000,20482,0.026,0.000,1836,1947,2979,2979,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.24,50.07
$GC,24,-1.57,-585.0,1836,1947,2979,4094,0.1,0.0,1,33,0.00,0.00,-1.83,0.000,16390,0.000,0.000,1835,1947,3168,3168,4095,0,0,0,0,0,0,26.31,25.65,26.29,10.37,49.76
$GC,69,-1.57,-585.0,1835,1947,3168,4095,3.5,-10.5,7,77,0.00,1.08,0.00,0.000,260,0.000,0.044,1836,2347,3168,3168,4095,0,0,0,0,0,0,26.22,25.94,26.22,10.40,49.37
$GC,172,-1.57,-585.0,1835,2347,3170,4095,16.0,-11.9,22,181,0.00,1.02,0.00,0.000,1030,0.000,0.029,1836,1941,3171,3171,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.40,49.72
$GC,217,-1.57,-585.0,1835,1941,3171,4094,21.4,-11.8,28,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1941,3172,3172,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.39,48.97
$GC,263,-1.57,-585.0,1835,1941,3172,4095,26.5,-11.5,34,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1941,3173,3173,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.39,49.29
$GC,308,-1.57,-585.0,1835,1941,3173,4095,31.9,-11.9,40,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1941,3173,3173,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,48.70
$GC,352,-1.57,-585.0,1836,1941,3174,4095,37.1,-11.6,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1941,3175,3175,4095,0,0,0,0,0,0,26.42,26.43,26.42,10.38,48.97
$GC,396,-1.57,-585.0,1835,1941,3175,4095,41.9,-11.0,52,405,0.00,1.08,0.00,0.000,516,0.000,0.053,1836,1519,3175,3175,4095,0,0,0,0,0,0,26.44,26.14,26.45,10.38,47.87
$GC,442,-1.57,-585.0,1835,1519,3176,4095,46.6,-10.6,58,451,0.00,0.98,0.00,0.000,1030,0.000,0.027,1836,1942,3176,3176,4095,0,0,0,0,0,0,26.26,26.24,26.27,10.36,48.22
$GC,488,-1.57,-585.0,1835,1942,3177,4095,51.7,-11.0,64,496,0.00,1.10,0.00,0.000,260,0.000,0.045,1836,2361,3177,3177,4094,0,0,0,0,0,0,26.48,26.19,26.48,10.36,47.40
$GC,552,-1.57,-585.0,1835,2361,3178,4094,58.7,-11.4,73,560,0.00,1.00,0.00,0.000,1030,0.000,0.029,1836,1961,3179,3179,4094,0,0,0,0,0,0,26.28,26.24,26.30,10.35,47.04
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,573,-0.45,0.0,1836,1961,3179,4095,61.0,-11.7,75,617,3.78,0.00,33.42,1.323,10244,0.054,0.000,2185,1961,2484,2484,4094,0,0,0,0,0,0,26.21,24.96,24.27,10.35,47.24
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,620,1.57,585.0,2184,1960,2484,4094,63.4,0.0,80,666,6.97,1.10,33.47,1.297,10500,0.036,0.041,2829,2363,1802,1802,4094,0,0,0,0,0,0,25.41,25.37,23.76,10.19,46.92
$GC,715,1.57,585.0,2829,2363,1801,4094,57.1,9.6,92,725,0.00,1.08,0.00,0.000,1030,0.000,0.031,2829,1957,1801,1801,4095,0,0,0,0,0,0,25.29,25.25,25.32,10.04,45.31
$GC,760,1.57,585.0,2829,1957,1800,4095,52.9,9.3,98,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1800,1800,4094,0,0,0,0,0,0,25.67,25.70,25.69,10.04,45.39
$GC,804,1.57,585.0,2829,1957,1799,4094,48.6,9.8,104,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1799,1799,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.03,45.70
$GC,850,1.57,585.0,2829,1957,1798,4094,44.3,9.8,110,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1799,1799,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.03,46.25
$GC,894,1.57,585.0,2829,1956,1797,4094,40.0,9.3,116,904,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2360,1797,1797,4094,0,0,0,0,0,0,25.96,25.70,25.98,10.03,45.70
$GC,954,1.57,585.0,2829,2360,1796,4094,34.5,9.2,124,963,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1954,1796,1796,4094,0,0,0,0,0,0,25.84,25.79,25.86,10.04,46.37
$GC,1000,1.57,585.0,2829,1954,1795,4094,30.5,8.7,130,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1795,1795,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.05,46.45
$GC,1044,1.57,585.0,2828,1954,1793,4094,26.6,8.7,136,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1794,1794,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.05,47.51
$GC,1089,1.57,585.0,2829,1954,1793,4094,22.6,8.7,142,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1793,1793,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.06,47.95
$GC,1135,1.57,585.0,2829,1954,1792,4094,18.7,8.6,148,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1954,1792,1792,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.06,47.99
$GC,1179,1.61,607.4,2829,1954,1791,4094,15.0,8.1,154,1187,0.00,0.00,2.60,0.225,8198,0.000,0.000,2829,1954,1775,1775,4094,0,0,0,0,0,0,26.27,25.68,25.19,10.07,48.46
$GC,1224,1.70,668.6,2829,1954,1774,4094,11.5,7.7,160,1233,0.30,0.00,4.85,0.503,10246,0.039,0.000,2870,1954,1704,1704,4094,0,0,0,0,0,0,26.08,25.86,25.22,10.07,48.46
$GC,1271,1.74,694.6,2870,1954,1703,4094,7.9,8.1,166,1281,0.00,1.08,3.17,0.312,8452,0.000,0.034,2870,2378,1673,1673,4094,0,0,0,0,0,0,26.27,25.71,25.26,10.06,48.70
$STATE,1341,end climb,FINISH_DEPTH_REACHED
$STATE,1341,begin subsurface finish
$FINISH1,1.6,1.024622,68
$GC,1349,0.10,68.2,2870,1941,1671,4094,1.6,7.6,176,1368,5.28,0.00,-6.65,0.000,20486,0.047,0.000,2369,1937,2408,2408,4095,0,0,0,0,0,0,26.09,25.56,26.13,10.07,49.64
$FINISH2,0.1
$STATE,1369,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1369,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,211738
$TT8_MAMPS,0.025466,0.20972
$HUMID,50.59
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.76,13.027
$10V_AH,10.21,16.336
$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,21.900,12.800,77.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,481.383,0.000,149.609,742.792,51.613,33.423,439.491,0.000,267.283,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,52.785,1323.450,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.147,483.677,0.000,567.117,734.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17881,178
$CAP_FILE_SIZE,34624,0
$CFSIZE,1024409600,994459648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,212946,6002.675,-17254.135,9,0.8,16,7.4,0.6,286.0,10,4.6