version: 66.13
glider: 401
mission: 22
dive: 470
start: 8 4 117 3 39 46
data:
$ID,401
$MISSION,22
$DIVE,470
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.0
$GPS2,040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W5N
$TGT_LATLONG,5958.680,-17244.760
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.361062,-0.136068
$KALMAN_X,54674.234375,-3013.819580,-970.544006,-174031.500000,216.026245
$KALMAN_Y,41001.542969,1122.771118,293.734314,42039.941406,47.947144
$MHEAD_RNG_PITCHd_Wd,241.8,9311,-7.7,-8.333,-12.19,10432
$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,8,-1.58,-585.0,2396,1962,2354,4092,0.0,0.0,0,21,5.80,0.00,-4.88,0.000,20482,0.026,0.000,1835,1962,2881,2881,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.29,51.10
$GC,24,-1.58,-585.0,1834,1962,2882,4094,0.1,0.0,1,34,0.00,1.12,-2.72,0.000,16644,0.000,1.281,1835,2362,3171,3171,4094,0,0,0,0,0,0,26.27,24.91,26.27,10.40,51.02
$GC,127,-1.58,-585.0,1834,2362,3173,4094,11.6,-12.7,16,137,0.00,1.05,0.00,0.000,1030,0.000,0.031,1835,1946,3173,3173,4095,0,0,0,0,0,0,26.05,26.00,26.06,10.45,50.78
$GC,174,-1.58,-585.0,1834,1946,3174,4095,16.7,-10.7,22,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3174,3174,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.42,50.86
$GC,220,-1.58,-585.0,1834,1946,3175,4094,21.5,-10.4,28,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3175,3175,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.40,49.33
$GC,264,-1.58,-585.0,1834,1946,3175,4095,26.3,-11.0,34,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3176,3176,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.38,48.38
$GC,308,-1.58,-585.0,1835,1946,3176,4094,30.9,-10.6,40,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3177,3177,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,47.55
$GC,351,-1.58,-585.0,1834,1946,3177,4095,35.6,-10.4,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3177,3177,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.38,47.40
$GC,396,-1.58,-585.0,1834,1946,3178,4095,40.2,-10.1,52,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3178,3178,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.36,46.77
$GC,441,-1.58,-585.0,1834,1946,3179,4094,44.8,-10.9,58,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3179,3179,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,46.96
$GC,484,-1.58,-585.0,1834,1946,3180,4095,49.8,-11.3,64,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3180,3180,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,46.29
$GC,528,-1.58,-585.0,1834,1946,3181,4095,53.8,-9.1,70,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1946,3181,3181,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.36,46.22
$GC,573,-1.58,-585.0,1834,1946,3181,4095,58.6,-11.0,76,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3182,3182,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.35,46.41
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,594,-0.45,0.0,1835,1946,3182,4094,60.6,-11.0,78,638,3.80,0.00,33.45,1.307,10244,0.054,0.000,2185,1945,2484,2484,4094,0,0,0,0,0,0,26.22,24.97,24.29,10.35,46.10
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.58,585.0,2185,1945,2484,4094,63.3,0.0,83,686,6.97,0.00,33.38,1.284,11270,0.037,0.000,2830,1945,1802,1802,4094,0,0,0,0,0,0,25.46,25.63,23.78,10.20,45.78
$GC,724,1.58,585.0,2829,1945,1801,4094,57.6,10.0,93,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1945,1801,1801,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.05,45.62
$GC,767,1.58,585.0,2830,1945,1801,4094,53.1,9.8,99,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1945,1800,1800,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.04,45.27
$GC,812,1.58,585.0,2829,1945,1800,4094,48.4,9.8,105,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1946,1799,1799,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.04,45.07
$GC,857,1.58,585.0,2829,1945,1798,4094,44.0,9.9,111,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1945,1798,1798,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.04,45.98
$GC,900,1.58,585.0,2830,1945,1797,4094,39.7,10.0,117,910,0.00,1.15,0.00,0.000,260,0.000,0.042,2829,2370,1797,1797,4094,0,0,0,0,0,0,25.96,25.68,25.96,10.03,46.33
$GC,971,1.58,585.0,2829,2370,1796,4094,32.9,9.4,127,981,0.00,1.05,0.00,0.000,1030,0.000,0.031,2830,1962,1795,1795,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.03,46.33
$GC,1018,1.58,585.0,2829,1962,1795,4094,28.7,9.2,133,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1795,1795,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.03,46.85
$GC,1065,1.58,585.0,2829,1962,1794,4094,24.6,8.8,139,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1794,1794,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.03,46.41
$GC,1108,1.58,585.0,2829,1962,1793,4094,20.6,8.7,145,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1793,1793,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.02,46.88
$GC,1153,1.63,620.5,2829,1962,1792,4094,17.0,8.0,151,1162,0.00,0.00,3.17,0.350,8198,0.000,0.000,2830,1962,1762,1762,4094,0,0,0,0,0,0,26.24,25.66,25.17,10.03,46.73
$GC,1199,1.66,641.7,2829,1962,1761,4094,13.4,8.1,157,1208,0.17,0.00,3.03,0.306,10246,0.054,0.000,2858,1962,1734,1734,4094,0,0,0,0,0,0,26.06,25.67,25.20,10.04,46.81
$GC,1246,1.72,678.4,2857,1962,1733,4094,9.7,8.0,163,1256,0.10,0.00,3.70,0.389,10246,0.072,0.000,2878,1962,1692,1692,4094,0,0,0,0,0,0,26.08,25.70,25.29,10.06,47.75
$GC,1294,1.72,678.4,2878,1962,1690,4094,5.7,8.6,169,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1962,1690,1690,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.07,48.85
$STATE,1338,end climb,FINISH_DEPTH_REACHED
$STATE,1338,begin subsurface finish
$FINISH1,1.9,1.023932,116
$GC,1344,0.17,116.3,2878,1961,1689,4094,1.9,8.2,175,1363,5.18,0.00,-5.45,0.000,20486,0.053,0.000,2401,1962,2349,2349,4094,0,0,0,0,0,0,26.05,25.55,26.11,10.09,50.63
$FINISH2,0.5
$STATE,1364,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1364,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,014702
$TT8_MAMPS,0.026215,0.250915
$HUMID,50.82
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.78,11.752
$10V_AH,10.15,14.953
$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,22.025,4.375,76.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,480.258,0.620,152.663,732.711,53.570,33.426,445.946,0.000,425.909,0.000,0.541,0.000
$DEVICE_MAMPS,71.910,1281.375,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.159,480.795,380.741,564.084,729.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,17815,177
$CAP_FILE_SIZE,33712,0
$CFSIZE,1024409600,996376576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,031423,6000.920,-17235.764,3,0.8,14,7.6,0.0,61.1,10,4.6