version: 66.13
glider: 401
mission: 22
dive: 475
start: 8 4 117 6 5 12
data:
$ID,401
$MISSION,22
$DIVE,475
$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,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
$GPS1,040817,055656,6000.9292,-17236.2051,3,0.9,37,7.6,0.2,196.5,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-39.1
$GPS2,040817,060404,6000.8726,-17236.1758,8,0.8,13,7.6,0.0,0.0,11,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.374653,0.086806
$KALMAN_X,56209.882812,-2736.325684,-644.663757,-176556.203125,266.656250
$KALMAN_Y,41276.562500,997.570068,178.534332,41918.960938,-60.384247
$MHEAD_RNG_PITCHd_Wd,275.4,40702,-7.7,-8.333,-12.23,10346
$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,-585.0,230,1952,1708,4092,0.0,0.0,0,19,10.27,0.00,0.00,0.000,2049,0.098,0.000,1091,1953,1708,1708,4095,0,0,0,0,0,0,26.15,28.83,28.83,10.20,50.86
$GC,22,-1.58,-585.0,1090,1953,1708,4095,0.8,0.0,1,50,7.93,1.15,-13.70,0.000,18692,0.043,1.282,1830,2357,3171,3171,4095,0,0,0,0,0,0,25.90,24.77,25.95,10.20,50.35
$GC,236,-1.58,-585.0,1829,2356,3175,4095,20.4,-10.5,32,246,0.00,1.02,0.00,0.000,1030,0.000,0.028,1830,1947,3175,3175,4095,0,0,0,0,0,0,26.05,26.01,26.08,10.44,47.87
$GC,283,-1.58,-585.0,1829,1947,3175,4095,25.2,-10.9,38,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1947,3175,3175,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.43,46.77
$GC,328,-1.58,-585.0,1829,1946,3177,4095,30.3,-11.1,44,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1947,3177,3177,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.41,46.33
$GC,372,-1.58,-585.0,1829,1946,3178,4094,35.4,-11.5,50,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1946,3178,3178,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.40,45.78
$GC,417,-1.58,-585.0,1829,1947,3178,4095,40.3,-10.9,56,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1947,3178,3178,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.39,45.58
$GC,463,-1.58,-585.0,1829,1946,3179,4094,45.1,-11.2,62,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1947,3179,3179,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.38,45.15
$GC,508,-1.58,-585.0,1829,1946,3180,4095,50.3,-11.0,68,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1946,3180,3180,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.38,44.76
$GC,552,-1.58,-585.0,1829,1946,3181,4095,55.1,-11.0,74,562,0.00,1.10,0.00,0.000,260,0.000,0.044,1830,2362,3181,3181,4095,0,0,0,0,0,0,26.46,26.17,26.47,10.38,44.64
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,603,-0.45,0.0,1829,1945,3182,4095,60.1,-11.5,80,647,3.85,0.00,33.53,1.300,10244,0.054,0.000,2185,1945,2482,2482,4094,0,0,0,0,0,0,26.20,24.95,24.25,10.38,44.68
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,650,1.58,585.0,2185,1945,2483,4094,62.8,0.0,85,695,6.97,0.00,33.33,1.277,11270,0.037,0.000,2830,1946,1802,1802,4094,0,0,0,0,0,0,25.44,25.60,23.77,10.23,44.17
$GC,733,1.58,585.0,2829,1945,1801,4094,57.4,9.5,95,742,0.00,1.12,0.00,0.000,260,0.000,0.039,2830,2353,1801,1801,4094,0,0,0,0,0,0,25.43,25.22,25.44,10.08,44.05
$GC,804,1.58,585.0,2830,2352,1800,4094,50.2,10.1,105,814,0.00,1.05,0.00,0.000,1030,0.000,0.032,2830,1953,1800,1800,4094,0,0,0,0,0,0,25.50,25.48,25.54,10.07,44.76
$GC,851,1.58,585.0,2829,1952,1799,4094,46.0,9.3,111,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1798,1798,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.06,44.48
$GC,896,1.58,585.0,2829,1953,1798,4094,41.3,10.1,117,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1797,1797,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.06,44.56
$GC,939,1.58,585.0,2829,1953,1796,4094,37.0,9.8,123,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1796,1796,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.05,45.11
$GC,984,1.58,585.0,2829,1953,1795,4094,32.4,10.3,129,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1796,1796,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.05,44.95
$GC,1029,1.58,585.0,2830,1953,1794,4094,28.1,9.3,135,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1794,1794,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.05,45.35
$GC,1073,1.58,585.0,2829,1953,1794,4094,24.0,9.1,141,1083,0.00,1.08,0.00,0.000,260,0.000,0.041,2830,2353,1794,1794,4094,0,0,0,0,0,0,26.16,25.88,26.17,10.05,45.86
$GC,1158,1.58,585.0,2829,2352,1790,4094,15.7,9.8,153,1168,0.00,1.02,0.00,0.000,1030,0.000,0.032,2830,1951,1791,1791,4094,0,0,0,0,0,0,26.02,25.98,26.04,10.05,46.61
$GC,1203,1.58,585.0,2829,1950,1790,4094,11.7,9.0,159,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1951,1790,1790,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.06,46.92
$GC,1250,1.65,628.4,2828,1951,1789,4094,8.0,7.9,165,1260,0.12,1.12,3.45,0.352,10756,0.065,0.056,2853,1517,1750,1750,4094,0,0,0,0,0,0,26.10,25.95,25.29,10.09,47.24
$GC,1289,1.81,736.7,2852,1517,1750,4094,4.9,7.3,170,1309,0.43,0.95,7.22,0.556,11270,0.028,0.028,2899,1958,1623,1623,4094,0,0,0,0,0,0,26.08,26.11,25.27,10.10,48.50
$STATE,1330,end climb,FINISH_DEPTH_REACHED
$STATE,1330,begin subsurface finish
$FINISH1,1.8,1.023917,117
$GC,1336,0.18,117.3,2898,1957,1622,4094,1.8,7.5,175,1355,5.38,1.05,-5.95,0.000,20740,0.050,1.287,2402,2339,2353,2353,4094,0,0,0,0,0,0,25.98,24.88,26.06,10.10,49.21
$FINISH2,0.5
$STATE,1356,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1357,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,043646
$TT8_MAMPS,0.025466,0.211967
$HUMID,50.07
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.77,11.926
$10V_AH,10.22,15.129
$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,34.950,11.750,77.525,0.000,0.000,26.001,28.988,249.993,0.000,0.000,15.146,481.222,1.366,151.141,1059.386,114.831,33.480,448.667,0.000,267.488,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1287.495,1299.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.686,480.908,0.000,563.934,736.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329384
$DATA_FILE_SIZE,17724,177
$CAP_FILE_SIZE,37129,0
$CFSIZE,1024409600,996130816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,060404,6000.873,-17236.176,8,0.8,13,7.6,0.0,0.0,11,4.9