version: 66.13
glider: 401
mission: 22
dive: 472
start: 8 4 117 4 42 15
data:
$ID,401
$MISSION,22
$DIVE,472
$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,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
$GPS1,040817,042954,6000.8213,-17236.0000,3,0.8,16,7.6,0.8,92.8,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-39.4
$GPS2,040817,044109,6000.8008,-17235.8398,9,0.8,23,7.6,0.0,141.2,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.380447,0.065370
$KALMAN_X,55402.960938,-2940.418701,-870.137329,-175004.812500,329.805908
$KALMAN_Y,41275.464844,1076.421875,247.438507,41642.050781,-42.194717
$MHEAD_RNG_PITCHd_Wd,272.1,41034,-7.7,-8.333,-12.18,10443
$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,6,begin dive
$GC,8,-1.58,-585.0,238,1953,1682,4092,0.0,0.0,0,21,10.52,0.00,0.00,0.000,2049,0.094,0.000,1127,1950,1683,1683,4094,0,0,0,0,0,0,26.13,28.83,28.83,10.21,49.88
$GC,23,-1.58,-585.0,1127,1949,1683,4094,0.7,0.0,1,51,7.50,1.17,-13.90,0.000,18692,0.043,1.274,1828,2375,3171,3171,4094,0,0,0,0,0,0,25.86,24.75,25.93,10.22,49.56
$GC,113,-1.58,-585.0,1827,2374,3172,4094,6.7,-12.5,13,123,0.00,1.08,0.00,0.000,1030,0.000,0.028,1828,1947,3173,3173,4095,0,0,0,0,0,0,25.89,25.87,25.93,10.52,48.74
$GC,159,-1.58,-585.0,1827,1947,3173,4095,12.2,-11.9,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3173,3173,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.50,47.83
$GC,203,-1.58,-585.0,1827,1947,3174,4095,17.1,-10.1,25,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3174,3174,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.47,48.03
$GC,247,-1.58,-585.0,1827,1947,3175,4095,21.8,-11.2,31,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3175,3175,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,46.57
$GC,291,-1.58,-585.0,1827,1947,3175,4095,26.7,-11.0,37,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3175,3175,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.42,45.66
$GC,335,-1.58,-585.0,1827,1947,3176,4094,31.4,-10.5,43,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1947,3176,3176,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.42,45.35
$GC,379,-1.58,-585.0,1827,1947,3177,4095,36.1,-10.7,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3177,3177,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.41,45.23
$GC,424,-1.58,-585.0,1827,1946,3178,4094,40.9,-10.8,55,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3178,3178,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.40,44.68
$GC,469,-1.58,-585.0,1827,1946,3179,4094,45.8,-11.2,61,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3179,3179,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.39,44.13
$GC,513,-1.58,-585.0,1827,1947,3180,4095,50.8,-11.1,67,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3180,3180,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.39,44.05
$GC,558,-1.58,-585.0,1827,1947,3180,4095,55.5,-10.0,73,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3180,3180,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,44.09
$STATE,601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,601,begin apogee
$GC,606,-0.45,0.0,1827,1947,3181,4094,60.2,-10.8,79,649,3.85,0.00,33.40,1.300,10244,0.055,0.000,2186,1947,2484,2484,4094,0,0,0,0,0,0,26.19,25.19,24.25,10.38,43.89
$STATE,650,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,652,1.58,585.0,2186,1946,2484,4094,62.6,0.0,84,697,6.95,1.10,33.45,1.279,10756,0.039,0.052,2828,1521,1802,1802,4094,0,0,0,0,0,0,25.39,25.32,23.77,10.23,44.52
$GC,713,1.61,608.4,2827,1521,1802,4094,59.6,8.1,91,724,0.00,1.05,3.12,0.497,9222,0.000,0.024,2828,1958,1776,1776,4094,0,0,0,0,0,0,25.10,25.07,23.99,10.09,43.81
$GC,761,1.61,608.4,2828,1958,1775,4094,55.1,9.6,97,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1958,1775,1775,4094,0,0,0,0,0,0,25.54,25.56,25.55,10.08,43.10
$GC,807,1.61,608.4,2828,1958,1773,4094,50.7,9.6,103,817,0.00,1.08,0.00,0.000,260,0.000,0.041,2828,2358,1773,1773,4094,0,0,0,0,0,0,25.71,25.43,25.72,10.07,43.50
$GC,905,1.61,608.4,2828,2358,1771,4094,40.7,10.1,117,915,0.00,1.02,0.00,0.000,1030,0.000,0.030,2828,1961,1771,1771,4094,0,0,0,0,0,0,25.72,25.69,25.75,10.05,44.36
$GC,951,1.61,608.4,2827,1961,1771,4094,36.2,9.8,123,960,0.00,1.15,0.00,0.000,516,0.000,0.057,2829,1524,1770,1770,4094,0,0,0,0,0,0,26.01,25.70,26.01,10.06,44.48
$GC,996,1.61,608.4,2828,1523,1769,4094,32.0,9.3,129,1005,0.00,1.00,0.00,0.000,1030,0.000,0.026,2828,1958,1769,1769,4094,0,0,0,0,0,0,25.88,25.86,25.90,10.05,45.62
$GC,1042,1.61,608.4,2828,1958,1768,4094,27.7,9.6,135,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1958,1768,1768,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.05,44.92
$GC,1085,1.61,608.4,2828,1958,1767,4094,23.6,9.3,141,1095,0.00,1.05,0.00,0.000,260,0.000,0.041,2828,2356,1767,1767,4094,0,0,0,0,0,0,26.16,25.89,26.17,10.05,45.15
$GC,1170,1.61,608.4,2828,2356,1765,4094,15.7,9.2,153,1179,0.00,1.02,0.00,0.000,1030,0.000,0.031,2828,1955,1764,1764,4094,0,0,0,0,0,0,26.03,25.98,26.04,10.05,46.41
$GC,1216,1.61,608.4,2827,1955,1764,4094,11.6,8.8,159,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1955,1764,1764,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.06,46.73
$GC,1262,1.61,608.4,2828,1955,1763,4094,7.7,8.7,165,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1955,1762,1762,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.09,46.96
$GC,1307,1.78,719.0,2828,1955,1762,4094,4.6,7.2,171,1317,0.55,0.00,6.82,0.542,10246,0.031,0.000,2891,1955,1644,1644,4094,0,0,0,0,0,0,26.13,25.89,25.31,10.11,48.97
$STATE,1344,end climb,FINISH_DEPTH_REACHED
$STATE,1344,begin subsurface finish
$FINISH1,1.7,1.023884,120
$GC,1350,0.18,119.6,2890,1954,1644,4094,1.7,7.4,176,1369,5.28,0.00,-5.88,0.000,20486,0.053,0.000,2403,1954,2344,2344,4094,0,0,0,0,0,0,26.01,25.53,26.08,10.11,49.05
$FINISH2,0.3
$STATE,1370,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1370,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,043138
$TT8_MAMPS,0.025466,0.245672
$HUMID,50.51
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.77,11.831
$10V_AH,10.17,15.029
$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,34.650,10.725,76.800,0.000,0.000,48.866,38.002,387.517,0.000,0.000,24.783,485.982,44.939,158.760,1229.460,146.321,33.456,462.803,0.000,430.075,0.000,0.542,0.000
$DEVICE_MAMPS,94.095,1274.490,1300.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.563,483.521,382.894,567.116,736.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,17807,178
$CAP_FILE_SIZE,42362,0
$CFSIZE,1024409600,996278272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,044109,6000.801,-17235.840,9,0.8,23,7.6,0.0,141.2,11,5.0