version: 66.13
glider: 401
mission: 22
dive: 465
start: 8 4 117 1 20 42
data:
$ID,401
$MISSION,22
$DIVE,465
$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,17
$R_STBD_OVSHOOT,32
$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
$GPS1,040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-1.8
$GPS2,040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.310238,-0.230317
$KALMAN_X,53758.085938,-3182.825195,-1310.090088,-171754.718750,109.460327
$KALMAN_Y,39508.765625,1108.456421,268.659515,43258.250000,193.683014
$MHEAD_RNG_PITCHd_Wd,225.8,9943,-7.7,-8.333,-12.17,10468
$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,-585.0,2398,1953,2361,4092,0.0,0.0,0,21,5.80,0.00,-5.12,0.000,20482,0.026,0.000,1837,1954,2914,2914,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.28,51.96
$GC,24,-1.58,-585.0,1836,1954,2914,4094,0.1,0.0,1,33,0.00,1.17,-2.28,0.000,16644,0.000,1.282,1837,2373,3168,3168,4094,0,0,0,0,0,0,26.32,24.96,26.30,10.40,51.81
$GC,173,-1.58,-585.0,1836,2373,3171,4094,17.0,-11.1,23,183,0.00,1.10,0.00,0.000,1030,0.000,0.031,1837,1935,3171,3171,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.42,51.22
$GC,220,-1.58,-585.0,1836,1935,3171,4094,21.7,-10.3,29,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3171,3171,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.40,50.43
$GC,264,-1.58,-585.0,1836,1935,3172,4095,26.1,-9.7,35,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1935,3173,3173,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,49.80
$GC,308,-1.58,-585.0,1836,1935,3173,4095,30.3,-9.4,41,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1935,3173,3173,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.37,48.22
$GC,352,-1.58,-585.0,1836,1935,3174,4095,34.4,-9.2,47,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1935,3174,3174,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.37,47.95
$GC,396,-1.58,-585.0,1836,1935,3175,4094,38.8,-9.9,53,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3175,3175,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.36,47.51
$GC,441,-1.58,-585.0,1836,1935,3175,4095,43.3,-10.3,59,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3175,3175,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.36,47.44
$GC,486,-1.58,-585.0,1836,1935,3176,4095,47.9,-10.2,65,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3176,3176,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.35,47.04
$GC,530,-1.58,-585.0,1836,1935,3177,4095,52.7,-10.8,71,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1935,3177,3177,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,46.37
$GC,575,-1.58,-585.0,1836,1935,3178,4095,57.6,-10.7,77,584,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3178,3178,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.34,46.18
$STATE,598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,598,begin apogee
$GC,603,-0.45,0.0,1836,1935,3178,4094,60.1,-10.6,80,647,3.75,0.00,33.28,1.300,10244,0.054,0.000,2183,1935,2483,2483,4095,0,0,0,0,0,0,26.28,25.01,24.32,10.34,46.88
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,650,1.58,585.0,2183,1935,2483,4095,62.2,0.0,85,694,7.00,0.00,33.22,1.273,11270,0.039,0.000,2827,1935,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.81,10.19,45.82
$GC,732,1.58,585.0,2826,1935,1802,4094,56.7,8.9,95,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1935,1802,1802,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.04,45.03
$GC,777,1.58,585.0,2826,1935,1801,4094,52.2,10.1,101,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1935,1800,1800,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.04,44.80
$GC,821,1.58,585.0,2826,1935,1800,4094,48.0,9.7,107,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1935,1800,1800,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.04,45.74
$GC,866,1.58,585.0,2826,1935,1798,4094,43.4,9.9,113,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1935,1798,1798,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.03,45.58
$GC,912,1.58,585.0,2826,1935,1797,4094,38.8,10.1,119,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1934,1797,1797,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.03,45.58
$GC,957,1.58,585.0,2826,1935,1796,4094,34.1,10.4,125,966,0.00,1.20,0.00,0.000,260,0.000,0.041,2827,2374,1796,1796,4094,0,0,0,0,0,0,26.03,25.76,26.04,10.03,45.90
$GC,1015,1.58,585.0,2826,2374,1795,4094,27.8,11.0,133,1024,0.00,1.08,0.00,0.000,1030,0.000,0.031,2827,1958,1795,1795,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.02,46.14
$GC,1062,1.58,585.0,2826,1957,1794,4094,22.8,10.9,139,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1958,1794,1794,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.02,46.25
$GC,1105,1.58,585.0,2827,1957,1793,4094,18.2,9.9,145,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1958,1793,1793,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.03,46.33
$GC,1150,1.58,585.0,2826,1957,1791,4094,13.8,9.9,151,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1958,1791,1791,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.04,47.51
$GC,1194,1.58,585.0,2826,1957,1791,4094,9.9,9.0,157,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1958,1790,1790,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.06,47.67
$GC,1239,1.60,600.7,2826,1957,1790,4094,6.2,8.2,163,1248,0.00,0.00,2.28,0.116,8198,0.000,0.000,2827,1958,1781,1781,4094,0,0,0,0,0,0,26.30,25.75,25.34,10.09,49.29
$GC,1284,1.69,659.2,2826,1957,1779,4094,2.5,7.8,169,1294,0.30,0.00,4.55,0.426,10246,0.039,0.000,2868,1958,1714,1714,4094,0,0,0,0,0,0,26.11,25.92,25.36,10.10,50.51
$STATE,1301,end climb,SURFACE_DEPTH_REACHED
$STATE,1302,begin surface coast
$FINISH,0.1,1.022952
$STATE,1331,end surface coast,CONTROL_FINISHED_OK
$STATE,1331,begin surface
$SM_CCo,1428,0.00,0.000,0,0,1713,662.84
$SM_GC,0.87,27.73,0.00,0.00,0.023,0.000,0.000,229,1954,1713,-6.59,0.18,662.84,0,0,0,0,0,0,26.00,26.33,26.09
$IRIDIUM_FIX,5925.93,-17425.36,030817,230212
$TT8_MAMPS,0.026215,0.235935
$HUMID,51.02
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,23.81,11.586
$10V_AH,10.17,14.772
$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,44.575,4.550,73.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.422,60.299,169.361,734.892,50.514,33.415,455.589,0.000,263.162,0.000,0.540,0.000
$DEVICE_MAMPS,53.550,1282.140,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.341,475.465,0.000,557.467,728.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330904
$DATA_FILE_SIZE,17873,175
$CAP_FILE_SIZE,33309,0
$CFSIZE,1024409600,996622336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,014519,6000.917,-17235.730,3,0.8,14,7.6,0.5,82.6,11,4.8