version: 66.13
glider: 401
mission: 22
dive: 467
start: 8 4 117 2 17 25
data:
$ID,401
$MISSION,22
$DIVE,467
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,040817,015210,6000.9512,-17235.6504,3,0.8,20,7.6,0.0,19.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.5
$GPS2,040817,015210,6000.9512,-17235.6504,3,0.8,20,7.6,0.0,19.1,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.326237,-0.206462
$KALMAN_X,53813.804688,-3164.986328,-1211.340820,-172673.968750,120.592163
$KALMAN_Y,40327.574219,1139.918335,307.904144,42739.718750,127.017639
$MHEAD_RNG_PITCHd_Wd,230.1,9431,-7.7,-8.333,-12.18,10447
$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,-585.0,2400,1951,2354,4092,0.0,0.0,0,20,5.82,0.00,-4.38,0.000,20482,0.025,0.000,1836,1951,2829,2829,4095,0,0,0,0,0,0,26.08,28.83,26.10,10.29,51.37
$GC,23,-1.58,-585.0,1835,1951,2830,4095,0.1,0.0,1,33,0.00,1.12,-3.17,0.000,16644,0.000,1.278,1835,2367,3170,3170,4094,0,0,0,0,0,0,26.27,24.91,26.28,10.39,51.06
$GC,187,-1.58,-585.0,1835,2367,3174,4094,19.5,-11.7,25,196,0.00,1.08,0.00,0.000,1030,0.000,0.029,1835,1939,3174,3174,4095,0,0,0,0,0,0,26.10,26.06,26.12,10.42,51.06
$GC,234,-1.58,-585.0,1835,1938,3175,4095,24.6,-11.1,31,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1938,3175,3175,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.40,49.37
$GC,277,-1.58,-585.0,1835,1938,3176,4094,29.3,-10.2,37,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1938,3176,3176,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,48.50
$GC,321,-1.58,-585.0,1835,1938,3177,4095,33.8,-10.5,43,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1938,3177,3177,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.38,47.95
$GC,367,-1.58,-585.0,1835,1938,3177,4094,38.5,-10.4,49,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1938,3179,3179,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.37,47.75
$GC,412,-1.58,-585.0,1835,1938,3178,4095,43.5,-10.8,55,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1938,3179,3179,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.37,46.61
$GC,456,-1.58,-585.0,1835,1938,3179,4095,48.2,-10.8,61,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1939,3180,3180,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.36,46.53
$GC,501,-1.58,-585.0,1835,1938,3180,4095,53.1,-10.9,67,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1938,3180,3180,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.36,46.45
$GC,547,-1.58,-585.0,1835,1938,3181,4095,57.9,-11.3,73,555,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1938,3181,3181,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.35,47.00
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,569,-0.45,0.0,1835,1938,3181,4095,60.1,-11.7,75,613,3.75,0.00,33.45,1.300,10244,0.054,0.000,2182,1938,2483,2483,4095,0,0,0,0,0,0,26.23,24.98,24.29,10.35,46.45
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.58,585.0,2181,1938,2483,4095,63.0,0.0,80,661,7.00,0.00,33.38,1.273,11270,0.037,0.000,2830,1938,1802,1802,4094,0,0,0,0,0,0,25.46,25.63,23.78,10.20,46.10
$GC,698,1.58,585.0,2829,1938,1801,4094,57.4,9.2,90,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1801,1801,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.05,44.95
$GC,743,1.58,585.0,2829,1938,1800,4094,52.9,9.3,96,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1800,1800,4095,0,0,0,0,0,0,25.65,25.66,25.65,10.05,44.76
$GC,787,1.58,585.0,2829,1938,1799,4095,48.4,10.0,102,797,0.00,1.17,0.00,0.000,260,0.000,0.041,2830,2366,1799,1799,4094,0,0,0,0,0,0,25.78,25.51,25.79,10.04,45.07
$GC,859,1.58,585.0,2829,2365,1797,4094,41.3,10.0,112,869,0.00,1.05,0.00,0.000,1030,0.000,0.030,2829,1960,1797,1797,4094,0,0,0,0,0,0,25.72,25.68,25.75,10.03,46.06
$GC,904,1.58,585.0,2829,1959,1796,4094,36.9,9.8,118,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1959,1796,1796,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.03,45.78
$GC,949,1.58,585.0,2829,1959,1795,4094,32.5,9.9,124,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1796,1796,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.03,45.94
$GC,995,1.58,585.0,2829,1959,1794,4095,28.2,9.8,130,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1959,1794,1794,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.02,46.06
$GC,1040,1.58,585.0,2829,1959,1794,4095,23.6,10.1,136,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1794,1794,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.03,46.02
$GC,1084,1.58,585.0,2829,1959,1793,4094,19.3,9.6,142,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1960,1792,1792,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.03,46.61
$GC,1129,1.58,585.0,2829,1959,1791,4094,15.1,9.3,148,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1960,1791,1791,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.04,46.73
$GC,1174,1.70,665.8,2829,1959,1790,4094,11.6,7.5,154,1184,0.25,0.00,5.38,0.532,10246,0.044,0.000,2867,1960,1706,1706,4094,0,0,0,0,0,0,26.08,25.84,25.22,10.06,47.63
$GC,1221,1.79,726.4,2866,1959,1706,4094,8.1,7.7,160,1232,0.20,0.00,4.88,0.475,10246,0.048,0.000,2893,1960,1635,1635,4094,0,0,0,0,0,0,26.04,25.84,25.24,10.08,48.89
$GC,1269,1.81,742.4,2893,1959,1634,4094,4.1,8.2,166,1278,0.00,0.00,2.40,0.146,8198,0.000,0.000,2893,1959,1622,1622,4094,0,0,0,0,0,0,26.24,25.70,25.29,10.08,49.56
$STATE,1293,end climb,FINISH_DEPTH_REACHED
$STATE,1293,begin subsurface finish
$FINISH1,2.0,1.023969,114
$GC,1299,0.17,113.7,2893,1959,1621,4094,2.0,7.9,169,1317,5.30,1.12,-5.62,0.000,20740,0.048,1.286,2400,2368,2356,2356,4094,0,0,0,0,0,0,26.01,24.88,26.06,10.09,49.92
$FINISH2,0.8
$STATE,1318,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1318,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,040817,002419
$TT8_MAMPS,0.026215,0.220206
$HUMID,51.10
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.78,11.655
$10V_AH,10.21,14.842
$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,22.325,5.550,79.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,463.606,1.010,144.770,717.418,48.069,33.425,430.294,0.000,257.503,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1285.965,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.388,464.598,0.000,544.781,710.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,14376,171
$CAP_FILE_SIZE,31684,0
$CFSIZE,1024409600,996556800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,015210,6000.951,-17235.650,3,0.8,20,7.6,0.0,19.1,10,5.0