version: 66.13
glider: 401
mission: 22
dive: 511
start: 8 4 117 22 54 23
data:
$ID,401
$MISSION,22
$DIVE,511
$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,51
$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
$GPS1,040817,224558,6003.4272,-17256.8652,4,1.1,49,7.4,0.8,285.9,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-36.8
$GPS2,040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.383778,-0.033268
$KALMAN_X,55895.203125,-3233.582764,-1302.292725,-194822.265625,-176.987061
$KALMAN_Y,40800.710938,864.600708,333.447388,47191.566406,215.705566
$MHEAD_RNG_PITCHd_Wd,257.6,20829,-7.7,-8.333,-12.21,10389
$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,-585.0,238,1946,1691,4092,0.0,0.0,0,20,11.02,0.00,0.00,0.000,2049,0.088,0.000,1179,1947,1692,1692,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.10,49.68
$GC,23,-1.58,-585.0,1178,1946,1692,4094,0.8,0.0,1,51,7.03,1.10,-13.88,0.000,18692,0.048,1.281,1829,2351,3168,3168,4095,0,0,0,0,0,0,25.89,24.75,25.96,10.11,49.80
$GC,187,-1.58,-585.0,1828,2351,3171,4095,16.9,-14.8,24,197,0.00,1.02,0.00,0.000,1030,0.000,0.028,1829,1946,3171,3171,4095,0,0,0,0,0,0,26.00,25.98,26.01,10.42,49.29
$GC,233,-1.58,-585.0,1828,1946,3172,4095,23.3,-13.1,30,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1946,3172,3172,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.41,48.81
$GC,277,-1.58,-585.0,1828,1945,3173,4095,28.7,-11.9,36,287,0.00,1.08,0.00,0.000,516,0.000,0.050,1829,1525,3173,3173,4095,0,0,0,0,0,0,26.29,26.00,26.30,10.40,48.81
$GC,362,-1.58,-585.0,1828,1524,3175,4095,37.6,-10.4,48,372,0.00,0.95,0.00,0.000,1030,0.000,0.025,1829,1936,3175,3175,4095,0,0,0,0,0,0,26.13,26.15,26.17,10.38,47.71
$GC,408,-1.58,-585.0,1828,1936,3175,4095,42.3,-10.4,54,417,0.00,1.12,0.00,0.000,260,0.000,0.044,1829,2363,3175,3175,4095,0,0,0,0,0,0,26.38,26.09,26.39,10.37,47.59
$GC,492,-1.58,-585.0,1828,2363,3177,4095,51.5,-11.7,66,502,0.00,1.00,0.00,0.000,1030,0.000,0.028,1829,1966,3177,3177,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.36,46.77
$GC,539,-1.58,-585.0,1828,1966,3178,4094,56.6,-11.2,72,548,0.00,1.15,0.00,0.000,516,0.000,0.050,1829,1513,3178,3178,4095,0,0,0,0,0,0,26.44,26.15,26.46,10.35,46.69
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,575,-0.45,0.0,1829,1952,3178,4095,60.4,-11.3,76,619,3.88,0.00,33.33,1.314,10244,0.055,0.000,2186,1952,2487,2487,4095,0,0,0,0,0,0,26.17,24.92,24.22,10.35,46.81
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,623,1.58,585.0,2186,1952,2487,4095,63.0,0.0,81,667,7.00,0.00,33.67,1.287,11270,0.037,0.000,2831,1956,1802,1802,4094,0,0,0,0,0,0,25.42,25.58,23.74,10.20,45.70
$GC,704,1.58,585.0,2830,1956,1801,4094,57.7,9.6,91,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1801,1801,4094,0,0,0,0,0,0,25.41,25.42,25.42,10.05,44.80
$GC,749,1.58,585.0,2830,1956,1801,4094,53.0,9.9,97,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1800,1800,4094,0,0,0,0,0,0,25.63,25.64,25.63,10.05,45.03
$GC,794,1.58,585.0,2830,1956,1799,4094,48.7,9.6,103,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1799,1799,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.04,45.19
$GC,839,1.58,585.0,2830,1956,1798,4094,44.4,9.7,109,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1957,1797,1797,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.04,45.07
$GC,885,1.58,585.0,2830,1956,1796,4094,40.0,9.6,115,893,0.00,1.10,0.00,0.000,260,0.000,0.041,2830,2364,1797,1797,4094,0,0,0,0,0,0,25.94,25.67,25.95,10.04,45.35
$GC,962,1.58,585.0,2830,2363,1795,4094,32.3,9.8,126,971,0.00,1.10,0.00,0.000,1030,0.000,0.030,2831,1939,1796,1796,4094,0,0,0,0,0,0,25.87,25.80,25.86,10.04,45.82
$GC,1007,1.58,585.0,2830,1939,1794,4094,27.7,10.1,132,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,1794,1794,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.05,46.41
$GC,1052,1.58,585.0,2830,1938,1794,4094,23.3,9.9,138,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,1793,1793,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.06,46.85
$GC,1098,1.58,585.0,2830,1939,1793,4094,19.2,8.8,144,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,1792,1792,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.06,48.30
$GC,1141,1.58,585.0,2830,1938,1791,4094,15.2,9.0,150,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.07,48.38
$GC,1186,1.60,596.6,2829,1939,1790,4094,11.4,8.2,156,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1939,1790,1790,4094,0,0,0,0,0,0,26.27,26.27,26.27,10.09,48.66
$GC,1233,1.61,607.2,2830,1939,1789,4094,7.7,8.2,162,1242,0.00,0.00,2.15,0.078,8198,0.000,0.000,2830,1939,1783,1783,4094,0,0,0,0,0,0,26.29,25.73,25.31,10.09,49.76
$GC,1278,1.62,609.3,2830,1939,1782,4094,3.8,8.3,168,1288,0.00,1.12,2.33,0.129,8452,0.000,0.037,2830,2363,1771,1771,4094,0,0,0,0,0,0,26.32,25.82,25.34,10.09,49.37
$STATE,1303,end climb,FINISH_DEPTH_REACHED
$STATE,1303,begin subsurface finish
$FINISH1,1.6,1.024602,69
$GC,1311,0.10,69.5,2830,1945,1771,4095,1.6,8.5,171,1329,4.88,0.00,-5.82,0.000,20486,0.050,0.000,2372,1938,2408,2408,4094,0,0,0,0,0,0,26.11,25.57,26.15,10.10,49.40
$FINISH2,0.2
$STATE,1330,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1330,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,212433
$TT8_MAMPS,0.025466,0.208971
$HUMID,49.60
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.74,13.097
$10V_AH,10.20,16.408
$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,33.800,12.900,71.475,0.000,0.000,22.241,28.365,259.720,0.000,0.000,16.035,473.703,0.000,148.019,1045.966,121.293,33.478,437.777,0.000,261.849,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,1281.375,1313.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.852,470.034,0.000,551.419,719.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,17781,173
$CAP_FILE_SIZE,37085,0
$CFSIZE,1024409600,994361344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040817,225315,6003.485,-17257.057,8,0.8,14,7.4,0.6,299.2,10,4.6