version: 66.13
glider: 401
mission: 22
dive: 478
start: 8 4 117 7 28 16
data:
$ID,401
$MISSION,22
$DIVE,478
$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
$GPS1,040817,071957,6000.9346,-17236.9707,4,0.7,12,7.6,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-33.0
$GPS2,040817,072707,6000.8623,-17237.0273,9,0.8,16,7.6,0.0,228.6,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.366081,0.120280
$KALMAN_X,56702.894531,-2590.569580,-523.367065,-178115.312500,148.178986
$KALMAN_Y,41056.847656,928.190063,129.777054,42240.109375,-81.479340
$MHEAD_RNG_PITCHd_Wd,280.6,39943,-7.7,-8.333,-12.20,10397
$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,-585.0,229,1960,1471,4092,0.0,0.0,0,19,9.38,0.00,0.00,0.000,2049,0.087,0.000,1034,1957,1470,1470,4094,0,0,0,0,0,0,26.12,28.83,28.83,10.16,50.11
$GC,21,-1.58,-585.0,1034,1957,1471,4094,0.7,0.0,1,57,8.70,1.05,-15.80,0.000,18692,0.055,1.281,1827,2337,3172,3172,4095,0,0,0,0,0,0,25.86,24.75,25.89,10.17,50.78
$GC,186,-1.58,-585.0,1827,2337,3175,4095,16.3,-11.7,24,195,0.00,1.00,0.00,0.000,1030,0.000,0.029,1827,1940,3175,3175,4095,0,0,0,0,0,0,25.90,25.86,25.94,10.47,48.70
$GC,231,-1.58,-585.0,1827,1939,3177,4095,21.6,-11.3,30,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1940,3176,3176,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.44,47.91
$GC,278,-1.58,-585.0,1827,1940,3177,4094,26.5,-11.0,36,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1940,3177,3177,4094,0,0,0,0,0,0,26.22,26.22,26.22,10.43,46.73
$GC,324,-1.58,-585.0,1827,1940,3178,4094,31.7,-11.2,42,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1939,3178,3178,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.42,46.22
$GC,370,-1.58,-585.0,1827,1939,3178,4094,37.0,-11.6,48,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1940,3179,3179,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.41,45.70
$GC,416,-1.58,-585.0,1827,1939,3180,4095,41.8,-10.6,54,425,0.00,1.08,0.00,0.000,260,0.000,0.044,1827,2339,3180,3180,4095,0,0,0,0,0,0,26.32,26.04,26.33,10.40,45.27
$GC,481,-1.58,-585.0,1827,2338,3181,4095,49.4,-11.1,63,490,0.00,0.98,0.00,0.000,1030,0.000,0.030,1827,1947,3181,3181,4095,0,0,0,0,0,0,26.15,26.10,26.17,10.38,44.80
$GC,526,-1.58,-585.0,1827,1947,3182,4095,54.5,-11.7,69,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1947,3182,3182,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,45.15
$GC,571,-1.58,-585.0,1827,1947,3183,4095,59.6,-11.5,75,580,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1947,3183,3183,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.38,45.15
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,592,-0.45,0.0,1827,1947,3183,4094,61.8,-11.7,77,637,3.85,0.00,33.55,1.320,10244,0.054,0.000,2183,1947,2486,2486,4094,0,0,0,0,0,0,26.14,24.89,24.19,10.38,44.99
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,640,1.58,585.0,2183,1946,2486,4094,64.5,0.0,82,683,7.00,0.00,33.58,1.294,11270,0.036,0.000,2831,1947,1803,1803,4095,0,0,0,0,0,0,25.39,25.54,23.72,10.23,44.52
$GC,721,1.58,585.0,2830,1946,1802,4095,59.3,9.5,92,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1947,1802,1802,4094,0,0,0,0,0,0,25.39,25.40,25.40,10.08,43.46
$GC,767,1.58,585.0,2830,1946,1801,4094,55.0,9.6,98,776,0.00,1.08,0.00,0.000,260,0.000,0.039,2830,2338,1801,1801,4094,0,0,0,0,0,0,25.61,25.36,25.63,10.07,43.73
$GC,847,1.58,585.0,2830,2338,1799,4094,47.1,10.1,109,856,0.00,0.98,0.00,0.000,1030,0.000,0.031,2831,1961,1799,1799,4094,0,0,0,0,0,0,25.63,25.59,25.65,10.06,45.31
$GC,894,1.58,585.0,2830,1960,1798,4094,42.4,9.6,115,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1797,1797,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.06,45.23
$GC,940,1.58,585.0,2830,1960,1796,4094,37.8,10.1,121,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1961,1796,1796,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.05,45.03
$GC,986,1.58,585.0,2830,1960,1795,4095,33.3,9.7,127,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1960,1795,1795,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.05,45.58
$GC,1029,1.58,585.0,2830,1961,1794,4094,29.0,9.3,133,1039,0.00,1.00,0.00,0.000,260,0.000,0.040,2831,2332,1794,1794,4094,0,0,0,0,0,0,26.11,25.84,26.12,10.05,46.22
$GC,1101,1.58,585.0,2830,2332,1793,4094,22.0,10.0,143,1110,0.00,0.93,0.00,0.000,1030,0.000,0.031,2831,1968,1793,1793,4094,0,0,0,0,0,0,25.98,25.94,25.99,10.05,46.06
$GC,1148,1.58,585.0,2830,1967,1791,4094,17.7,9.4,149,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1968,1791,1791,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.05,46.33
$GC,1194,1.61,603.8,2830,1968,1791,4095,13.7,8.1,155,1204,0.00,0.00,2.45,0.177,8198,0.000,0.000,2831,1968,1778,1778,4094,0,0,0,0,0,0,26.26,25.69,25.22,10.05,46.49
$GC,1241,1.84,761.4,2830,1967,1777,4094,10.4,6.8,161,1260,0.77,0.00,9.50,0.649,10246,0.030,0.000,2912,1968,1597,1597,4094,0,0,0,0,0,0,26.05,25.61,25.17,10.08,47.71
$GC,1297,2.05,899.5,2912,1968,1596,4094,6.7,7.0,168,1316,0.62,0.00,8.62,0.594,10246,0.030,0.000,2982,1968,1436,1436,4094,0,0,0,0,0,0,26.00,25.56,25.13,10.08,48.38
$GC,1354,2.09,928.6,2982,1967,1434,4094,2.2,8.0,175,1364,0.00,0.98,3.38,0.308,8452,0.000,0.037,2982,2345,1399,1399,4094,0,0,0,0,0,0,26.15,25.62,25.22,10.07,49.52
$STATE,1372,end climb,FINISH_DEPTH_REACHED
$STATE,1372,begin subsurface finish
$FINISH1,0.4,1.023926,117
$GC,1380,0.18,116.7,2982,1945,1399,4094,0.4,8.3,177,1398,6.05,0.00,-8.43,0.000,20742,0.024,0.000,2401,1945,2354,2354,4094,0,0,0,0,0,0,25.92,25.00,25.97,10.06,49.60
$FINISH2,0.2
$STATE,1399,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1399,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,055842
$TT8_MAMPS,0.025466,0.246421
$HUMID,51.14
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.72,12.029
$10V_AH,10.17,15.242
$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,36.375,10.100,91.075,0.000,0.000,24.543,17.360,267.004,0.000,0.000,17.269,497.316,0.000,167.786,1065.538,121.881,33.481,480.342,0.000,433.766,0.000,0.544,0.000
$DEVICE_MAMPS,87.210,1281.375,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.949,486.184,385.031,569.935,743.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,17937,179
$CAP_FILE_SIZE,39237,0
$CFSIZE,1024409600,995983360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,072707,6000.862,-17237.027,9,0.8,16,7.6,0.0,228.6,10,5.0