version: 66.13
glider: 401
mission: 22
dive: 464
start: 8 4 117 0 55 53
data:
$ID,401
$MISSION,22
$DIVE,464
$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,25
$R_STBD_OVSHOOT,39
$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
$GPS1,040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.1
$GPS2,040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.319043,-0.213976
$KALMAN_X,53391.324219,-3182.910400,-1341.667114,-171357.156250,9.626221
$KALMAN_Y,39222.332031,1111.815063,268.300873,43541.027344,124.121399
$MHEAD_RNG_PITCHd_Wd,228.6,9943,-7.8,-8.333,-12.24,10318
$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,-584.2,2399,1950,2360,4092,0.0,0.0,0,20,5.88,0.00,-4.38,0.000,20482,0.026,0.000,1832,1951,2836,2836,4095,0,0,0,0,0,0,26.08,28.83,26.11,10.29,51.14
$GC,23,-1.58,-584.2,1832,1950,2836,4095,0.1,0.0,1,32,0.00,1.12,-3.00,0.000,16644,0.000,1.280,1831,2367,3167,3167,4094,0,0,0,0,0,0,26.27,24.92,26.29,10.40,51.45
$GC,134,-1.58,-584.2,1831,2366,3169,4094,11.8,-11.3,17,144,0.00,1.05,0.00,0.000,1030,0.000,0.029,1832,1949,3170,3170,4095,0,0,0,0,0,0,26.06,26.03,26.09,10.45,50.82
$GC,181,-1.58,-584.2,1831,1948,3170,4095,17.2,-11.3,23,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1949,3171,3171,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.43,50.31
$GC,225,-1.58,-584.2,1831,1948,3171,4095,22.3,-11.3,29,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1949,3171,3171,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.41,49.64
$GC,268,-1.58,-584.2,1831,1948,3172,4094,27.1,-10.9,35,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1949,3173,3173,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.39,49.44
$GC,313,-1.58,-584.2,1831,1949,3173,4095,32.0,-10.6,41,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1949,3173,3173,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.38,47.75
$GC,357,-1.58,-584.2,1831,1949,3174,4095,36.6,-10.3,47,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1949,3174,3174,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.67
$GC,402,-1.58,-584.2,1831,1948,3175,4095,41.1,-9.8,53,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1949,3175,3175,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.37,47.67
$GC,446,-1.58,-584.2,1831,1949,3175,4094,45.9,-11.1,59,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1949,3175,3175,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,46.73
$GC,490,-1.58,-584.2,1831,1948,3176,4095,50.1,-9.6,65,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1949,3177,3177,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.36,46.33
$GC,535,-1.58,-584.2,1831,1949,3177,4094,55.0,-11.1,71,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1949,3178,3178,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.36,46.29
$GC,579,-1.58,-584.2,1831,1948,3178,4095,59.9,-11.4,77,588,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1949,3178,3178,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.35,46.14
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,600,-0.45,0.0,1831,1948,3178,4095,61.8,-10.6,79,645,3.83,0.00,33.20,1.316,10244,0.056,0.000,2184,1949,2485,2485,4094,0,0,0,0,0,0,26.25,24.98,24.30,10.35,45.90
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,648,1.58,584.2,2184,1948,2485,4094,64.1,0.0,84,694,6.97,1.10,33.47,1.291,10756,0.037,0.052,2830,1523,1803,1803,4094,0,0,0,0,0,0,25.44,25.38,23.78,10.20,45.55
$GC,710,1.58,584.2,2829,1522,1803,4094,60.8,8.4,91,719,0.00,1.02,0.00,0.000,1030,0.000,0.026,2830,1944,1803,1803,4094,0,0,0,0,0,0,25.12,25.10,25.13,10.06,45.03
$GC,757,1.58,584.2,2829,1948,1802,4094,56.5,9.7,97,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1948,1802,1802,4094,0,0,0,0,0,0,25.58,25.58,25.58,10.05,45.27
$GC,803,1.58,584.2,2829,1947,1801,4094,51.8,10.0,103,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1948,1800,1800,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.05,44.84
$GC,847,1.58,584.2,2829,1948,1800,4094,47.5,9.1,109,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1948,1800,1800,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.04,45.07
$GC,891,1.58,584.2,2829,1947,1798,4094,42.9,10.3,115,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1948,1799,1799,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.04,45.43
$GC,935,1.58,584.2,2829,1948,1798,4094,38.7,9.9,121,945,0.00,1.12,0.00,0.000,260,0.000,0.043,2830,2371,1797,1797,4094,0,0,0,0,0,0,26.01,25.72,26.02,10.03,45.27
$GC,1000,1.58,584.2,2829,2370,1796,4094,32.0,10.5,130,1009,0.00,1.08,0.00,0.000,1030,0.000,0.032,2830,1955,1796,1796,4094,0,0,0,0,0,0,25.87,25.84,25.89,10.03,45.82
$GC,1045,1.58,584.2,2829,1954,1795,4094,27.6,9.8,136,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1795,1795,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.02,46.29
$GC,1091,1.58,584.2,2829,1954,1794,4095,23.2,9.9,142,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1794,1794,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.02,46.57
$GC,1137,1.58,584.2,2829,1954,1793,4094,19.1,8.8,148,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1793,1793,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.04,46.73
$GC,1181,1.58,584.2,2829,1954,1792,4094,15.0,9.1,154,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1792,1792,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.04,46.77
$GC,1225,1.58,584.2,2829,1954,1791,4094,11.1,8.6,160,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1791,1791,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.06,47.20
$GC,1270,1.64,626.1,2829,1954,1789,4094,7.4,7.9,166,1279,0.12,0.00,3.40,0.340,10246,0.066,0.000,2852,1954,1752,1752,4094,0,0,0,0,0,0,26.13,25.94,25.32,10.09,49.13
$GC,1317,1.64,626.1,2851,1954,1751,4094,3.6,8.6,172,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1954,1751,1751,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.10,49.72
$STATE,1340,end climb,FINISH_DEPTH_REACHED
$STATE,1340,begin subsurface finish
$FINISH1,1.5,1.024039,109
$GC,1346,0.16,108.8,2852,1953,1750,4094,1.5,8.1,175,1364,4.93,0.00,-5.43,0.000,20486,0.053,0.000,2398,1953,2361,2361,4094,0,0,0,0,0,0,26.08,25.60,26.15,10.11,49.72
$FINISH2,0.1
$STATE,1365,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1365,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030817,230212
$TT8_MAMPS,0.024717,0.244923
$HUMID,51.65
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.78,11.561
$10V_AH,10.17,14.744
$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,21.725,6.500,70.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,477.542,0.000,156.279,733.582,54.415,33.425,454.074,0.000,426.787,0.000,0.542,0.000
$DEVICE_MAMPS,65.790,1279.845,1315.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.106,480.801,380.718,563.843,730.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330904
$DATA_FILE_SIZE,17917,177
$CAP_FILE_SIZE,33818,0
$CFSIZE,1024409600,996671488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,002923,6000.751,-17234.859,3,0.8,15,7.6,0.0,50.3,11,4.9