version: 66.13
glider: 401
mission: 22
dive: 466
start: 8 4 117 1 53 16
data:
$ID,401
$MISSION,22
$DIVE,466
$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,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
$GPS1,040817,014519,6000.9165,-17235.7305,3,0.8,14,7.6,0.5,82.6,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-41.8
$GPS2,040817,015210,6000.9512,-17235.6504,3,0.8,20,7.6,0.0,19.1,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.342464,-0.173589
$KALMAN_X,53653.097656,-3269.392578,-1377.227173,-172230.562500,212.103271
$KALMAN_Y,40132.761719,1124.548462,289.784149,42963.542969,113.272736
$MHEAD_RNG_PITCHd_Wd,235.5,9431,-7.8,-8.333,-12.25,10304
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.58,-583.4,229,1954,1713,4093,0.0,0.0,0,21,10.45,0.00,0.00,0.000,2049,0.097,0.000,1109,1954,1713,1713,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,50.86
$GC,23,-1.58,-583.4,1108,1954,1713,4094,0.8,0.0,1,50,7.72,1.17,-13.60,0.000,18692,0.045,1.279,1827,2374,3169,3169,4095,0,0,0,0,0,0,25.89,24.79,25.93,10.20,50.27
$GC,165,-1.58,-583.4,1826,2374,3172,4095,13.9,-11.5,21,175,0.00,1.08,0.00,0.000,1030,0.000,0.028,1827,1947,3172,3172,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.48,49.40
$GC,212,-1.58,-583.4,1826,1947,3173,4094,18.8,-10.2,27,222,0.00,1.08,0.00,0.000,516,0.000,0.050,1826,1525,3173,3173,4094,0,0,0,0,0,0,26.27,25.98,26.28,10.46,48.74
$GC,264,-1.58,-583.4,1826,1525,3174,4094,24.7,-10.9,34,274,0.00,1.00,0.00,0.000,1030,0.000,0.024,1827,1954,3174,3174,4095,0,0,0,0,0,0,26.11,26.06,26.15,10.44,47.32
$GC,310,-1.58,-583.4,1826,1954,3175,4095,29.7,-10.9,40,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1954,3175,3175,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.41,46.53
$GC,355,-1.58,-583.4,1826,1954,3175,4094,34.6,-10.8,46,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1954,3175,3175,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.40,45.86
$GC,400,-1.58,-583.4,1826,1954,3176,4095,39.5,-11.1,52,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1954,3176,3176,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.39,45.07
$GC,446,-1.58,-583.4,1826,1954,3177,4095,44.2,-10.9,58,454,0.00,1.08,0.00,0.000,260,0.000,0.043,1827,2365,3177,3177,4094,0,0,0,0,0,0,26.42,26.14,26.43,10.38,44.84
$GC,510,-1.58,-583.4,1826,2365,3178,4094,51.4,-10.7,67,519,0.00,1.05,0.00,0.000,1030,0.000,0.029,1827,1944,3178,3178,4094,0,0,0,0,0,0,26.23,26.21,26.25,10.38,44.64
$GC,555,-1.58,-583.4,1826,1943,3179,4094,56.3,-11.1,73,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1944,3179,3179,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,44.72
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,596,-0.45,0.0,1826,1943,3180,4095,60.2,-10.1,78,639,3.85,0.00,33.30,1.297,10244,0.054,0.000,2186,1943,2484,2484,4094,0,0,0,0,0,0,26.20,25.21,24.28,10.37,44.48
$STATE,640,end apogee,CONTROL_FINISHED_OK
$STATE,640,begin climb
$GC,642,1.58,583.4,2186,1943,2484,4094,62.5,0.0,83,686,6.95,0.00,33.28,1.268,11270,0.037,0.000,2829,1943,1803,1803,4094,0,0,0,0,0,0,25.45,25.60,23.80,10.22,44.48
$GC,724,1.58,583.4,2829,1942,1803,4094,56.9,9.8,93,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1943,1802,1802,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.07,43.58
$GC,770,1.58,583.4,2828,1942,1802,4094,52.2,10.7,99,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1943,1802,1802,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.07,43.81
$GC,816,1.58,583.4,2829,1942,1800,4094,47.5,9.9,105,825,0.00,1.15,0.00,0.000,260,0.000,0.040,2829,2362,1801,1801,4094,0,0,0,0,0,0,25.79,25.52,25.79,10.06,44.17
$GC,895,1.58,583.4,2829,2362,1799,4094,39.8,10.2,116,904,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1958,1800,1800,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.05,44.56
$GC,939,1.58,583.4,2829,1957,1798,4094,35.3,9.6,122,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1797,1797,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.05,45.15
$GC,984,1.58,583.4,2829,1957,1796,4094,30.8,10.0,128,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1796,1796,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.05,45.47
$GC,1029,1.58,583.4,2829,1957,1795,4094,26.4,10.2,134,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1795,1795,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.05,45.62
$GC,1073,1.58,583.4,2829,1957,1794,4094,21.7,10.3,140,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1794,1794,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.05,45.66
$GC,1118,1.58,583.4,2829,1957,1793,4094,17.2,10.2,146,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1793,1793,4095,0,0,0,0,0,0,26.21,26.23,26.22,10.05,46.37
$GC,1162,1.58,583.4,2828,1957,1792,4095,12.8,9.6,152,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1792,1792,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.06,47.12
$GC,1207,1.58,583.4,2829,1957,1791,4094,9.0,8.4,158,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1791,1791,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.10,47.83
$GC,1251,1.67,642.3,2829,1957,1790,4094,5.5,7.7,164,1262,0.22,1.10,4.18,0.415,10500,0.045,0.040,2863,2369,1734,1734,4094,0,0,0,0,0,0,26.11,25.95,25.32,10.12,48.62
$STATE,1297,end climb,FINISH_DEPTH_REACHED
$STATE,1298,begin subsurface finish
$FINISH1,1.8,1.023966,114
$GC,1305,0.17,113.9,2862,1951,1732,4094,1.8,7.7,170,1323,5.00,0.00,-5.38,0.000,20486,0.054,0.000,2401,1951,2354,2354,4095,0,0,0,0,0,0,26.05,25.57,26.11,10.12,49.09
$FINISH2,0.2
$STATE,1324,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1325,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,040817,002419
$TT8_MAMPS,0.026215,0.258405
$HUMID,50.27
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.80,11.628
$10V_AH,10.13,14.815
$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,34.200,10.850,70.750,0.000,0.000,23.945,18.109,243.746,0.000,0.000,21.736,472.595,0.000,151.747,1015.857,116.279,33.455,441.888,0.000,416.710,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1279.080,1296.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.727,467.208,369.962,547.840,713.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,17734,172
$CAP_FILE_SIZE,36982,0
$CFSIZE,1024409600,996573184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,015210,6000.951,-17235.650,3,0.8,20,7.6,0.0,19.1,10,5.0