version: 66.13
glider: 401
mission: 22
dive: 477
start: 8 4 117 6 55 10
data:
$ID,401
$MISSION,22
$DIVE,477
$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,0.14
$_SM_ANGLEo,-1.9
$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,-0.376373,0.076736
$KALMAN_X,56820.605469,-2546.861816,-470.598419,-177537.671875,237.231018
$KALMAN_Y,41172.804688,933.966370,131.119186,42136.304688,-38.321518
$MHEAD_RNG_PITCHd_Wd,273.9,40702,-7.8,-8.333,-12.24,10315
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.58,-584.1,2402,1947,2356,4092,0.0,0.0,0,20,5.93,0.00,-4.32,0.000,20482,0.027,0.000,1834,1947,2822,2822,4094,0,0,0,0,0,0,26.05,28.83,26.06,10.27,51.85
$GC,23,-1.58,-584.1,1833,1947,2822,4094,0.1,0.0,1,33,0.00,1.05,-3.25,0.000,16644,0.000,1.279,1833,2342,3170,3170,4095,0,0,0,0,0,0,26.23,24.88,26.25,10.38,51.81
$GC,212,-1.58,-584.1,1832,2342,3174,4095,20.3,-10.8,29,222,0.00,1.00,0.00,0.000,1030,0.000,0.031,1833,1944,3174,3174,4094,0,0,0,0,0,0,26.09,26.05,26.11,10.39,50.00
$GC,258,-1.58,-584.1,1832,1944,3175,4094,25.2,-10.7,35,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3175,3175,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.38,49.25
$GC,303,-1.58,-584.1,1833,1944,3175,4095,30.0,-10.7,41,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3175,3175,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,48.66
$GC,346,-1.58,-584.1,1833,1944,3176,4095,34.6,-10.8,47,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3177,3177,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.37,47.79
$GC,391,-1.58,-584.1,1832,1944,3177,4095,39.3,-10.6,53,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3178,3178,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.36,47.95
$GC,435,-1.58,-584.1,1832,1944,3178,4095,43.9,-10.3,59,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1944,3178,3178,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,47.83
$GC,481,-1.58,-584.1,1832,1944,3179,4095,48.8,-10.9,65,491,0.00,1.05,0.00,0.000,260,0.000,0.044,1833,2337,3179,3179,4094,0,0,0,0,0,0,26.46,26.17,26.47,10.35,47.00
$GC,540,-1.58,-584.1,1832,2337,3180,4094,55.3,-10.7,73,550,0.00,0.95,0.00,0.000,1030,0.000,0.030,1833,1956,3180,3180,4095,0,0,0,0,0,0,26.26,26.23,26.29,10.34,47.32
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,589,-0.45,0.0,1833,1956,3181,4095,60.2,-11.0,79,633,3.80,0.00,33.33,1.304,10244,0.054,0.000,2184,1956,2484,2484,4095,0,0,0,0,0,0,26.22,24.97,24.27,10.34,46.73
$STATE,634,end apogee,CONTROL_FINISHED_OK
$STATE,634,begin climb
$GC,636,1.58,584.1,2183,1955,2484,4095,62.5,0.0,84,681,7.00,0.00,33.35,1.279,11270,0.037,0.000,2831,1956,1803,1803,4094,0,0,0,0,0,0,25.46,25.61,23.77,10.19,46.10
$GC,718,1.58,584.1,2830,1955,1802,4094,57.0,9.3,94,728,0.00,1.05,0.00,0.000,260,0.000,0.037,2831,2337,1802,1802,4094,0,0,0,0,0,0,25.43,25.19,25.44,10.04,45.11
$GC,777,1.58,584.1,2830,2337,1801,4094,51.0,9.9,102,786,0.00,1.00,0.00,0.000,1030,0.000,0.031,2830,1955,1801,1801,4094,0,0,0,0,0,0,25.50,25.44,25.50,10.04,45.39
$GC,823,1.58,584.1,2830,1955,1799,4094,46.4,9.7,108,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1800,1800,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.03,45.86
$GC,866,1.58,584.1,2830,1955,1798,4094,42.1,9.9,114,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1956,1798,1798,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.03,46.06
$GC,910,1.58,584.1,2830,1954,1798,4094,37.9,9.6,120,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1797,1797,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.03,45.98
$GC,955,1.58,584.1,2830,1955,1797,4094,33.8,9.3,126,965,0.00,1.05,0.00,0.000,260,0.000,0.041,2831,2341,1796,1796,4095,0,0,0,0,0,0,26.03,25.77,26.05,10.03,45.98
$GC,1046,1.58,584.1,2830,2341,1796,4095,24.8,10.2,139,1056,0.00,0.98,0.00,0.000,1030,0.000,0.032,2831,1961,1795,1795,4094,0,0,0,0,0,0,25.93,25.89,25.97,10.03,47.48
$GC,1092,1.58,584.1,2830,1960,1794,4094,20.2,10.2,145,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1961,1794,1794,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.03,47.00
$GC,1136,1.58,584.1,2830,1960,1793,4094,15.7,9.7,151,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1792,1792,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.03,46.81
$GC,1181,1.58,584.1,2830,1960,1792,4094,11.6,9.0,157,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1791,1791,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.03,47.04
$GC,1225,1.78,718.1,2830,1961,1792,4095,8.4,7.0,163,1236,0.55,0.00,8.02,0.613,10246,0.031,0.000,2892,1961,1646,1646,4094,0,0,0,0,0,0,26.08,25.82,25.21,10.06,48.54
$GC,1274,2.01,869.2,2891,1960,1644,4094,5.2,6.8,169,1292,0.68,0.00,9.07,0.599,10246,0.033,0.000,2966,1961,1473,1473,4094,0,0,0,0,0,0,26.02,25.58,25.17,10.06,49.29
$STATE,1313,end climb,SURFACE_DEPTH_REACHED
$STATE,1313,begin surface coast
$FINISH,0.1,1.023941
$STATE,1341,end surface coast,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$SM_CCo,1439,0.00,0.000,0,0,1471,870.62
$SM_GC,0.74,28.83,0.00,0.00,0.023,0.000,0.000,230,1961,1471,-6.59,0.50,870.62,0,0,0,0,0,0,25.90,26.19,25.97
$IRIDIUM_FIX,5925.93,-17425.36,040817,043646
$TT8_MAMPS,0.025466,0.210469
$HUMID,51.06
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,1.70
$XPDR_PINGS,0
$24V_AH,23.77,11.982
$10V_AH,10.22,15.197
$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,46.775,9.175,83.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,479.363,60.269,164.297,748.217,48.850,33.413,443.162,0.000,267.370,0.000,0.540,0.000
$DEVICE_MAMPS,54.315,1279.080,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.795,483.587,0.000,567.294,742.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,17836,178
$CAP_FILE_SIZE,32687,0
$CFSIZE,1024409600,996048896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,071957,6000.935,-17236.971,4,0.7,12,7.6,0.0,0.0,11,5.0