version: 66.13
glider: 401
mission: 22
dive: 512
start: 8 4 117 23 18 38
data:
$ID,401
$MISSION,22
$DIVE,512
$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,40
$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
$GPS1,040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.2
$GPS2,040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.381706,-0.020150
$KALMAN_X,56095.601562,-3159.729248,-1199.418091,-195249.062500,-182.375122
$KALMAN_Y,40856.210938,885.942566,355.050201,47117.027344,196.924103
$MHEAD_RNG_PITCHd_Wd,259.6,20829,-7.8,-8.333,-12.30,10190
$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,-576.7,2372,1942,2408,4092,0.0,0.0,0,21,5.57,0.00,-5.30,0.000,20482,0.028,0.000,1835,1943,2971,2971,4095,0,0,0,0,0,0,26.10,28.83,26.12,10.24,50.27
$GC,24,-1.58,-576.7,1834,1943,2971,4095,0.0,0.0,1,32,0.00,0.00,-1.80,0.000,16390,0.000,0.000,1834,1943,3157,3157,4095,0,0,0,0,0,0,26.29,25.59,26.29,10.36,50.27
$GC,68,-1.58,-576.7,1834,1943,3157,4095,2.9,-10.1,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1943,3157,3157,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.40,50.47
$GC,112,-1.58,-576.7,1834,1943,3158,4094,8.2,-12.6,13,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1943,3158,3158,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.40,49.88
$GC,156,-1.58,-576.7,1834,1943,3159,4095,14.3,-14.0,19,166,0.00,1.12,0.00,0.000,260,0.000,0.044,1834,2365,3160,3160,4095,0,0,0,0,0,0,26.29,26.01,26.29,10.40,49.44
$GC,229,-1.58,-576.7,1834,2365,3160,4095,22.7,-11.2,29,239,0.00,1.05,0.00,0.000,1030,0.000,0.029,1834,1949,3161,3161,4094,0,0,0,0,0,0,26.12,26.11,26.14,10.39,49.88
$GC,276,-1.58,-576.7,1834,1949,3161,4094,27.5,-10.5,35,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1949,3162,3162,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.39,49.72
$GC,320,-1.58,-576.7,1834,1949,3162,4095,32.1,-9.9,41,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1949,3162,3162,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,48.93
$GC,364,-1.58,-576.7,1834,1949,3163,4095,36.5,-10.2,47,374,0.00,1.10,0.00,0.000,516,0.000,0.051,1834,1519,3163,3163,4095,0,0,0,0,0,0,26.41,26.11,26.43,10.37,48.30
$GC,429,-1.58,-576.7,1834,1519,3164,4095,43.3,-10.4,56,438,0.00,0.98,0.00,0.000,1030,0.000,0.026,1834,1939,3165,3165,4094,0,0,0,0,0,0,26.25,26.21,26.26,10.36,48.50
$GC,474,-1.58,-576.7,1834,1939,3165,4094,47.9,-10.4,62,483,0.00,1.12,0.00,0.000,260,0.000,0.047,1834,2370,3165,3165,4095,0,0,0,0,0,0,26.46,26.17,26.48,10.35,47.40
$GC,532,-1.58,-576.7,1834,2370,3166,4095,54.1,-10.5,70,541,0.00,1.02,0.00,0.000,1030,0.000,0.032,1834,1965,3166,3166,4095,0,0,0,0,0,0,26.27,26.25,26.32,10.34,47.71
$GC,578,-1.58,-576.7,1833,1965,3167,4095,58.9,-11.1,76,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1965,3167,3167,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,47.32
$STATE,593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,594,begin apogee
$GC,599,-0.45,0.0,1834,1964,3168,4094,61.0,-11.2,78,643,3.83,0.00,32.90,1.320,10244,0.054,0.000,2187,1964,2482,2482,4094,0,0,0,0,0,0,26.23,24.97,24.25,10.34,47.04
$STATE,644,end apogee,CONTROL_FINISHED_OK
$STATE,644,begin climb
$GC,646,1.58,576.7,2186,1964,2483,4094,63.7,0.0,83,690,6.97,0.00,32.95,1.293,11270,0.037,0.000,2831,1964,1812,1812,4094,0,0,0,0,0,0,25.46,25.63,23.77,10.19,46.25
$GC,728,1.58,576.7,2831,1964,1811,4094,58.1,9.1,93,736,0.00,1.10,0.00,0.000,260,0.000,0.040,2831,2363,1812,1812,4094,0,0,0,0,0,0,25.44,25.18,25.44,10.05,45.11
$GC,774,1.58,576.7,2830,2363,1810,4094,53.3,10.4,99,783,0.00,1.05,0.00,0.000,1030,0.000,0.028,2831,1959,1810,1810,4094,0,0,0,0,0,0,25.44,25.41,25.45,10.04,45.31
$GC,821,1.58,576.7,2831,1959,1809,4094,48.5,9.9,105,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1959,1809,1809,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.03,45.35
$GC,865,1.58,576.7,2830,1959,1808,4094,43.9,10.0,111,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1960,1808,1808,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.04,45.51
$GC,909,1.58,576.7,2831,1959,1807,4094,39.5,9.7,117,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1960,1807,1807,4094,0,0,0,0,0,0,25.96,25.97,25.96,10.03,45.94
$GC,954,1.58,576.7,2830,1959,1805,4094,34.9,10.2,123,963,0.00,1.12,0.00,0.000,260,0.000,0.041,2831,2372,1806,1806,4094,0,0,0,0,0,0,26.02,25.75,26.03,10.03,46.22
$GC,1013,1.58,576.7,2831,2371,1805,4094,28.9,10.5,131,1023,0.00,1.08,0.00,0.000,1030,0.000,0.031,2831,1954,1804,1804,4094,0,0,0,0,0,0,25.90,25.84,25.90,10.03,46.77
$GC,1061,1.58,576.7,2831,1954,1803,4094,24.0,10.2,137,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1803,1803,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.05,47.44
$GC,1107,1.58,576.7,2831,1954,1803,4094,19.6,9.5,143,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1803,1803,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.06,47.48
$GC,1153,1.58,576.7,2830,1954,1801,4094,15.4,8.8,149,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1801,1801,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.07,48.14
$GC,1197,1.60,594.0,2830,1954,1801,4094,11.6,8.2,155,1206,0.00,0.00,2.35,0.148,8198,0.000,0.000,2831,1954,1788,1788,4094,0,0,0,0,0,0,26.26,25.69,25.21,10.08,49.25
$GC,1244,1.68,643.0,2830,1954,1789,4094,8.0,7.8,161,1254,0.22,0.00,4.15,0.431,10246,0.045,0.000,2865,1953,1733,1733,4094,0,0,0,0,0,0,26.08,25.87,25.25,10.08,49.17
$GC,1292,1.68,643.0,2865,1953,1733,4094,3.9,8.8,167,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1954,1733,1733,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.08,49.76
$STATE,1308,end climb,FINISH_DEPTH_REACHED
$STATE,1308,begin subsurface finish
$FINISH1,1.9,1.024403,83
$GC,1314,0.13,83.4,2865,1953,1732,4094,1.9,9.2,169,1333,5.22,0.00,-5.62,0.000,20486,0.055,0.000,2387,1954,2387,2387,4094,0,0,0,0,0,0,26.01,25.54,26.08,10.09,50.27
$FINISH2,0.3
$STATE,1334,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1334,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,212433
$TT8_MAMPS,0.026215,0.238931
$HUMID,50.31
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.77,13.122
$10V_AH,10.15,16.446
$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,21.825,10.750,72.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.141,0.784,152.811,707.745,56.242,33.425,442.453,0.000,413.985,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,51.255,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.548,464.464,367.847,544.680,704.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,18019,171
$CAP_FILE_SIZE,34241,0
$CFSIZE,1024409600,994312192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,225315,6003.485,-17257.057,8,0.8,14,7.4,0.6,299.2,10,4.6