version: 66.13
glider: 401
mission: 22
dive: 473
start: 8 4 117 5 7 10
data:
$ID,401
$MISSION,22
$DIVE,473
$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,17
$R_STBD_OVSHOOT,48
$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
$GPS1,040817,044109,6000.8008,-17235.8398,9,0.8,23,7.6,0.0,141.2,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.2
$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,-0.378250,0.067920
$KALMAN_X,55605.273438,-2798.304688,-709.897461,-175511.750000,213.809448
$KALMAN_Y,41276.750000,1031.277344,206.815186,41726.292969,-18.964905
$MHEAD_RNG_PITCHd_Wd,272.6,41034,-7.8,-8.333,-12.23,10328
$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,-584.8,2403,1954,2344,4092,0.0,0.0,0,21,5.90,0.00,-5.03,0.000,20482,0.027,0.000,1834,1954,2889,2889,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.30,51.49
$GC,24,-1.58,-584.8,1834,1954,2889,4094,0.1,0.0,1,34,0.00,1.12,-2.67,0.000,16644,0.000,1.275,1834,2356,3170,3170,4095,0,0,0,0,0,0,26.26,24.90,26.27,10.41,51.26
$GC,108,-1.58,-584.8,1833,2356,3171,4095,8.9,-13.3,13,118,0.00,1.05,0.00,0.000,1030,0.000,0.030,1834,1941,3172,3172,4095,0,0,0,0,0,0,26.01,25.96,26.03,10.46,50.94
$GC,155,-1.58,-584.8,1833,1940,3172,4095,14.0,-11.0,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1941,3173,3173,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.43,50.35
$GC,198,-1.58,-584.8,1833,1941,3173,4094,18.7,-10.1,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3173,3173,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.41,49.68
$GC,242,-1.58,-584.8,1833,1941,3174,4095,23.3,-10.8,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3175,3175,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.39,48.85
$GC,288,-1.58,-584.8,1833,1941,3175,4095,27.9,-10.4,37,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3175,3175,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,47.99
$GC,333,-1.58,-584.8,1833,1941,3175,4095,32.6,-10.4,43,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3176,3176,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,48.38
$GC,377,-1.58,-584.8,1833,1941,3177,4095,37.2,-10.9,49,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3176,3176,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.36,47.12
$GC,422,-1.58,-584.8,1833,1941,3177,4094,41.9,-10.4,55,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3178,3178,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.37,46.61
$GC,468,-1.58,-584.8,1834,1941,3178,4095,46.6,-10.5,61,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1941,3178,3178,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.37,46.81
$GC,512,-1.58,-584.8,1833,1941,3179,4095,51.3,-10.8,67,522,0.00,1.12,0.00,0.000,260,0.000,0.043,1834,2361,3179,3179,4095,0,0,0,0,0,0,26.48,26.20,26.49,10.36,47.24
$GC,577,-1.58,-584.8,1833,2361,3180,4095,58.4,-10.8,76,586,0.00,1.05,0.00,0.000,1030,0.000,0.029,1834,1942,3180,3180,4095,0,0,0,0,0,0,26.28,26.25,26.31,10.35,46.14
$STATE,594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,594,begin apogee
$GC,599,-0.45,0.0,1833,1942,3181,4095,60.3,-10.6,78,642,3.78,0.00,33.33,1.300,10244,0.054,0.000,2186,1942,2484,2484,4094,0,0,0,0,0,0,26.23,25.23,24.29,10.35,46.41
$STATE,643,end apogee,CONTROL_FINISHED_OK
$STATE,643,begin climb
$GC,645,1.58,584.8,2186,1942,2484,4094,62.5,0.0,83,689,6.95,0.00,33.28,1.274,11270,0.035,0.000,2832,1942,1803,1803,4094,0,0,0,0,0,0,25.46,25.63,23.80,10.20,45.74
$GC,727,1.58,584.8,2831,1942,1801,4094,56.9,10.2,93,735,0.00,1.15,0.00,0.000,260,0.000,0.039,2832,2357,1801,1801,4094,0,0,0,0,0,0,25.44,25.20,25.46,10.05,44.95
$GC,817,1.58,584.8,2831,2356,1799,4094,47.6,10.0,106,827,0.00,1.05,0.00,0.000,1030,0.000,0.031,2832,1954,1798,1798,4095,0,0,0,0,0,0,25.56,25.53,25.60,10.04,45.94
$GC,863,1.58,584.8,2831,1954,1798,4095,43.2,9.8,112,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1798,1798,4094,0,0,0,0,0,0,25.89,25.89,25.89,10.04,45.94
$GC,909,1.58,584.8,2831,1954,1797,4094,38.9,9.3,118,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1797,1797,4095,0,0,0,0,0,0,25.96,25.98,25.98,10.03,45.66
$GC,953,1.58,584.8,2831,1954,1796,4095,34.5,9.7,124,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1796,1796,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.04,45.98
$GC,998,1.58,584.8,2831,1954,1795,4094,30.2,9.7,130,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1955,1795,1795,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.04,46.02
$GC,1042,1.58,584.8,2831,1954,1794,4094,26.1,9.1,136,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1955,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.03,46.25
$GC,1089,1.58,584.8,2831,1953,1794,4094,22.1,8.8,142,1098,0.00,1.08,0.00,0.000,260,0.000,0.041,2832,2353,1793,1793,4094,0,0,0,0,0,0,26.18,25.91,26.20,10.04,47.00
$GC,1179,1.58,584.8,2831,2352,1791,4094,13.5,9.2,155,1189,0.00,1.00,0.00,0.000,1030,0.000,0.032,2832,1961,1791,1791,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.04,47.36
$GC,1225,1.64,623.1,2831,1960,1790,4094,9.8,8.0,161,1234,0.10,0.00,3.25,0.330,10246,0.075,0.000,2851,1961,1757,1757,4094,0,0,0,0,0,0,26.10,25.90,25.27,10.05,47.71
$GC,1271,1.64,623.1,2850,1960,1756,4094,5.9,8.9,167,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1961,1755,1755,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.07,47.95
$GC,1316,1.77,708.5,2849,1960,1754,4094,2.1,7.5,173,1325,0.30,0.00,6.00,0.494,10246,0.038,0.000,2888,1961,1656,1656,4094,0,0,0,0,0,0,26.13,25.91,25.34,10.10,49.92
$STATE,1333,end climb,FINISH_DEPTH_REACHED
$STATE,1333,begin subsurface finish
$FINISH1,0.6,1.023893,119
$GC,1339,0.18,119.0,2888,1960,1655,4094,0.6,7.5,175,1357,5.05,0.00,-6.15,0.000,20486,0.026,0.000,2399,1961,2347,2347,4095,0,0,0,0,0,0,26.06,25.54,26.10,10.09,49.76
$FINISH2,0.2
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,043138
$TT8_MAMPS,0.026215,0.210469
$HUMID,50.86
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.80,11.857
$10V_AH,10.23,15.056
$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,22.075,8.625,75.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,477.923,0.000,149.611,737.702,49.098,33.423,438.251,0.000,265.971,0.000,0.542,0.000
$DEVICE_MAMPS,74.970,1275.255,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.714,480.839,0.000,564.204,730.149,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,17847,177
$CAP_FILE_SIZE,33470,0
$CFSIZE,1024409600,996229120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,044109,6000.801,-17235.840,9,0.8,23,7.6,0.0,141.2,11,5.0