version: 66.13
glider: 401
mission: 22
dive: 476
start: 8 4 117 6 29 54
data:
$ID,401
$MISSION,22
$DIVE,476
$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,22
$R_STBD_OVSHOOT,66
$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
$GPS1,040817,060404,6000.8726,-17236.1758,8,0.8,13,7.6,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-0.2
$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,-0.376427,0.080480
$KALMAN_X,56423.851562,-2598.208496,-513.211182,-177046.390625,171.621796
$KALMAN_Y,41246.449219,952.208679,142.941742,42032.437500,-28.153885
$MHEAD_RNG_PITCHd_Wd,274.5,40702,-7.7,-8.333,-12.22,10370
$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,-585.0,2402,1945,2352,4092,0.0,0.0,0,20,5.85,0.00,-4.20,0.000,20482,0.023,0.000,1835,1946,2808,2808,4094,0,0,0,0,0,0,26.06,28.83,26.08,10.29,51.18
$GC,23,-1.58,-585.0,1834,1945,2808,4094,0.2,0.0,1,32,0.00,1.10,-3.33,0.000,16644,0.000,1.280,1835,2339,3172,3172,4095,0,0,0,0,0,0,26.25,24.89,26.25,10.38,51.06
$GC,201,-1.58,-585.0,1834,2339,3175,4095,19.2,-10.2,27,210,0.00,1.00,0.00,0.000,1030,0.000,0.030,1835,1940,3175,3175,4094,0,0,0,0,0,0,26.08,26.06,26.13,10.39,50.43
$GC,248,-1.58,-585.0,1834,1939,3176,4094,24.2,-10.3,33,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1940,3176,3176,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,48.70
$GC,294,-1.58,-585.0,1834,1940,3178,4095,29.0,-10.7,39,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1940,3177,3177,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,48.70
$GC,340,-1.58,-585.0,1834,1939,3178,4095,34.2,-11.3,45,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1940,3178,3178,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.38,47.91
$GC,386,-1.58,-585.0,1834,1940,3179,4095,39.3,-11.3,51,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1940,3179,3179,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.37,47.12
$GC,432,-1.58,-585.0,1834,1940,3179,4094,44.3,-10.5,57,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1939,3180,3180,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,47.16
$GC,478,-1.58,-585.0,1834,1940,3181,4095,49.2,-10.8,63,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1940,3181,3181,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.36,46.65
$GC,525,-1.58,-585.0,1834,1939,3181,4094,53.9,-10.2,69,533,0.00,1.05,0.00,0.000,260,0.000,0.044,1835,2333,3181,3181,4094,0,0,0,0,0,0,26.49,26.21,26.51,10.36,46.65
$GC,575,-1.58,-585.0,1834,2333,3183,4094,59.9,-11.8,76,585,0.00,0.95,0.00,0.000,1030,0.000,0.031,1835,1952,3183,3183,4095,0,0,0,0,0,0,26.29,26.26,26.31,10.35,46.81
$STATE,593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,593,begin apogee
$GC,597,-0.45,0.0,1834,1952,3183,4095,62.0,-11.2,78,641,3.80,0.00,33.40,1.321,10244,0.053,0.000,2186,1952,2484,2484,4095,0,0,0,0,0,0,26.24,24.97,24.25,10.35,46.53
$STATE,642,end apogee,CONTROL_FINISHED_OK
$STATE,643,begin climb
$GC,645,1.58,585.0,2186,1951,2484,4095,64.5,0.0,83,689,6.97,0.00,33.33,1.299,11270,0.037,0.000,2832,1952,1803,1803,4094,0,0,0,0,0,0,25.46,25.61,23.75,10.19,45.90
$GC,727,1.58,585.0,2830,1951,1802,4094,59.4,9.0,93,736,0.00,1.05,0.00,0.000,260,0.000,0.037,2831,2339,1801,1801,4094,0,0,0,0,0,0,25.43,25.17,25.44,10.04,44.92
$GC,792,1.58,585.0,2831,2338,1800,4094,52.7,9.5,102,802,0.00,1.00,0.00,0.000,1030,0.000,0.031,2831,1956,1800,1800,4094,0,0,0,0,0,0,25.53,25.46,25.50,10.04,45.35
$GC,837,1.58,585.0,2830,1956,1799,4094,48.4,9.6,108,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1956,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.84,10.03,45.35
$GC,882,1.58,585.0,2830,1956,1798,4094,43.9,10.0,114,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1957,1798,1798,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.03,45.94
$GC,926,1.58,585.0,2831,1956,1797,4094,39.4,10.5,120,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1956,1797,1797,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.02,46.61
$GC,971,1.58,585.0,2831,1956,1796,4094,34.9,10.0,126,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1957,1796,1796,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.02,46.33
$GC,1015,1.58,585.0,2831,1956,1795,4094,30.6,9.4,132,1025,0.00,1.02,0.00,0.000,260,0.000,0.041,2832,2336,1795,1795,4094,0,0,0,0,0,0,26.10,25.83,26.12,10.03,46.53
$GC,1087,1.58,585.0,2831,2335,1794,4094,24.1,9.2,142,1096,0.00,0.98,0.00,0.000,1030,0.000,0.031,2831,1954,1794,1794,4094,0,0,0,0,0,0,25.96,25.91,25.98,10.03,46.69
$GC,1134,1.58,585.0,2830,1954,1793,4094,19.9,9.2,148,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1792,1792,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.03,46.73
$GC,1177,1.58,585.0,2831,1954,1791,4094,15.9,8.7,154,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1791,1791,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.03,46.96
$GC,1222,1.60,595.8,2831,1954,1790,4094,12.3,8.2,160,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1790,1790,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.04,47.16
$GC,1266,1.88,787.3,2831,1954,1790,4094,9.3,6.4,166,1285,0.90,0.00,11.27,0.667,10246,0.031,0.000,2925,1954,1566,1566,4094,0,0,0,0,0,0,26.09,25.63,25.18,10.06,47.87
$GC,1322,2.02,875.3,2925,1953,1566,4094,5.2,7.5,173,1341,0.38,1.02,6.20,0.523,10500,0.036,0.038,2973,2344,1463,1463,4094,0,0,0,0,0,0,26.03,25.81,25.19,10.05,48.85
$STATE,1362,end climb,FINISH_DEPTH_REACHED
$STATE,1362,begin subsurface finish
$FINISH1,1.9,1.023949,115
$GC,1369,0.17,115.1,2972,1949,1461,4094,1.9,8.0,178,1389,6.22,1.10,-7.90,0.000,20740,0.052,1.289,2403,2340,2355,2355,4095,0,0,0,0,0,0,25.91,24.80,25.98,10.05,50.35
$FINISH2,0.2
$STATE,1390,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1390,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,043646
$TT8_MAMPS,0.026215,0.245672
$HUMID,50.51
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.75,11.955
$10V_AH,10.15,15.169
$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,24.125,12.375,84.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,489.405,0.000,156.017,749.165,53.324,33.423,451.204,0.000,433.999,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1289.025,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.934,488.946,387.201,573.450,746.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,17794,180
$CAP_FILE_SIZE,33385,0
$CFSIZE,1024409600,996081664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,060404,6000.873,-17236.176,8,0.8,13,7.6,0.0,0.0,11,4.9