version: 66.13
glider: 401
mission: 22
dive: 474
start: 8 4 117 5 31 51
data:
$ID,401
$MISSION,22
$DIVE,474
$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,23
$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,0.15
$_SM_ANGLEo,-1.5
$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,-0.377648,0.070269
$KALMAN_X,55976.707031,-2736.577393,-645.564087,-176010.234375,261.080078
$KALMAN_Y,41237.964844,1005.865601,184.441040,41813.085938,-33.821762
$MHEAD_RNG_PITCHd_Wd,272.9,41034,-7.8,-8.333,-12.24,10316
$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,-584.2,2399,1961,2347,4092,0.0,0.0,0,21,5.85,0.00,-4.75,0.000,20482,0.025,0.000,1837,1961,2861,2861,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.28,51.85
$GC,24,-1.58,-584.2,1836,1961,2860,4094,0.1,0.0,1,33,0.00,1.08,-2.75,0.000,16644,0.000,1.284,1837,2355,3169,3169,4095,0,0,0,0,0,0,26.28,24.92,26.28,10.39,51.85
$GC,135,-1.58,-584.2,1836,2355,3170,4095,11.7,-12.5,17,145,0.00,1.05,0.00,0.000,1030,0.000,0.029,1837,1943,3171,3171,4095,0,0,0,0,0,0,26.06,26.01,26.10,10.43,52.08
$GC,182,-1.58,-584.2,1836,1943,3172,4095,17.0,-11.2,23,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1943,3172,3172,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.40,50.59
$GC,228,-1.58,-584.2,1836,1943,3173,4094,22.0,-10.9,29,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1943,3173,3173,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.39,50.27
$GC,272,-1.58,-584.2,1836,1943,3173,4095,27.0,-11.0,35,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1943,3174,3174,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,48.93
$GC,316,-1.58,-584.2,1836,1943,3175,4095,31.7,-10.4,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1943,3175,3175,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,48.46
$GC,361,-1.58,-584.2,1836,1943,3175,4094,36.1,-9.9,47,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1943,3175,3175,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.37,47.95
$GC,405,-1.58,-584.2,1836,1943,3176,4095,40.5,-10.1,53,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1943,3176,3176,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.36,47.20
$GC,450,-1.58,-584.2,1836,1943,3177,4095,45.1,-10.5,59,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1943,3177,3177,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.36,47.91
$GC,493,-1.58,-584.2,1836,1942,3178,4094,49.7,-10.4,65,502,0.00,1.10,0.00,0.000,260,0.000,0.045,1837,2352,3178,3178,4095,0,0,0,0,0,0,26.48,26.20,26.49,10.34,47.16
$GC,553,-1.58,-584.2,1836,2352,3178,4095,55.8,-10.6,73,562,0.00,1.00,0.00,0.000,1030,0.000,0.030,1837,1951,3179,3179,4094,0,0,0,0,0,0,26.30,26.26,26.31,10.35,46.65
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,590,begin apogee
$GC,594,-0.45,0.0,1836,1951,3179,4094,60.0,-10.4,78,639,3.75,0.00,33.10,1.302,10244,0.054,0.000,2183,1951,2488,2488,4094,0,0,0,0,0,0,26.24,24.98,24.30,10.34,47.67
$STATE,640,end apogee,CONTROL_FINISHED_OK
$STATE,640,begin climb
$GC,642,1.58,584.2,2183,1950,2488,4094,62.3,0.0,83,687,7.03,0.00,33.50,1.277,11270,0.037,0.000,2832,1951,1803,1803,4094,0,0,0,0,0,0,25.48,25.64,23.80,10.19,46.25
$GC,725,1.58,584.2,2831,1950,1802,4094,56.8,9.6,93,734,0.00,1.12,0.00,0.000,260,0.000,0.042,2832,2358,1802,1802,4094,0,0,0,0,0,0,25.44,25.19,25.46,10.04,45.15
$GC,809,1.58,584.2,2832,2358,1800,4094,47.9,10.0,105,819,0.00,1.02,0.00,0.000,1030,0.000,0.030,2832,1965,1800,1800,4094,0,0,0,0,0,0,25.57,25.53,25.58,10.04,45.55
$GC,855,1.58,584.2,2832,1964,1799,4094,43.5,9.8,111,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1965,1799,1799,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.03,45.70
$GC,899,1.58,584.2,2832,1964,1798,4094,39.2,9.8,117,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1965,1798,1798,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.03,46.45
$GC,945,1.58,584.2,2832,1964,1797,4094,34.8,9.6,123,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1965,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.03,46.33
$GC,988,1.58,584.2,2832,1964,1796,4094,30.4,9.3,129,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1965,1796,1796,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.03,46.37
$GC,1032,1.58,584.2,2832,1964,1795,4094,26.2,9.8,135,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1965,1795,1795,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.03,46.49
$GC,1077,1.58,584.2,2831,1964,1794,4095,22.0,9.2,141,1086,0.00,1.05,0.00,0.000,260,0.000,0.041,2832,2353,1794,1794,4094,0,0,0,0,0,0,26.17,25.90,26.18,10.03,46.65
$GC,1154,1.58,584.2,2832,2352,1792,4094,14.7,9.4,152,1164,0.00,1.02,0.00,0.000,1030,0.000,0.031,2832,1954,1792,1792,4094,0,0,0,0,0,0,26.02,25.99,26.05,10.03,47.00
$GC,1200,1.58,584.2,2832,1953,1791,4094,10.8,8.5,158,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1791,1791,4094,0,0,0,0,0,0,26.27,26.28,26.29,10.05,47.71
$GC,1244,1.58,584.2,2831,1954,1790,4094,6.8,9.0,164,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1789,1789,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.07,48.42
$GC,1289,1.70,663.0,2832,1953,1789,4094,3.3,7.5,170,1300,0.22,0.00,5.18,0.471,10246,0.047,0.000,2866,1954,1709,1709,4094,0,0,0,0,0,0,26.13,25.92,25.34,10.09,49.44
$STATE,1307,end climb,SURFACE_DEPTH_REACHED
$STATE,1307,begin surface coast
$FINISH,0.1,1.023915
$STATE,1337,end surface coast,CONTROL_FINISHED_OK
$STATE,1337,begin surface
$SM_CCo,1433,0.00,0.000,0,0,1708,667.13
$SM_GC,0.95,27.70,0.00,0.00,0.023,0.000,0.000,230,1953,1708,-6.59,0.14,667.13,0,0,0,0,0,0,26.01,26.32,26.10
$IRIDIUM_FIX,5925.93,-17425.36,040817,043138
$TT8_MAMPS,0.025466,0.250915
$HUMID,51.89
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,1.60
$XPDR_PINGS,0
$24V_AH,23.80,11.882
$10V_AH,10.15,15.096
$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,44.550,8.450,71.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,482.138,60.086,165.618,731.804,53.611,33.411,443.979,0.000,424.514,0.000,0.540,0.000
$DEVICE_MAMPS,53.550,1284.435,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.713,478.096,378.593,561.088,729.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,17736,176
$CAP_FILE_SIZE,33392,0
$CFSIZE,1024409600,996179968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,055656,6000.929,-17236.205,3,0.9,37,7.6,0.2,196.5,10,4.3