version: 66.13
glider: 401
mission: 22
dive: 513
start: 8 4 117 23 42 57
data:
$ID,401
$MISSION,22
$DIVE,513
$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,37
$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
$GPS1,040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.2
$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,-0.383952,-0.024072
$KALMAN_X,56613.304688,-3201.319092,-1224.215942,-195697.921875,8.510742
$KALMAN_Y,40835.507812,923.073364,390.436432,47064.929688,159.530365
$MHEAD_RNG_PITCHd_Wd,259.0,20829,-7.7,-8.333,-12.22,10355
$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,-585.0,2386,1951,2386,4092,0.0,0.0,0,21,5.70,0.00,-5.30,0.000,20482,0.027,0.000,1838,1951,2944,2944,4094,0,0,0,0,0,0,26.06,28.83,26.09,10.24,50.27
$GC,24,-1.58,-585.0,1838,1951,2945,4094,0.1,0.0,1,33,0.00,0.00,-2.15,0.000,16390,0.000,0.000,1838,1951,3168,3168,4095,0,0,0,0,0,0,26.26,25.56,26.25,10.37,50.27
$GC,69,-1.58,-585.0,1837,1951,3169,4095,3.8,-11.0,7,78,0.00,1.12,0.00,0.000,260,0.000,0.044,1838,2369,3169,3169,4095,0,0,0,0,0,0,26.17,25.90,26.19,10.41,50.51
$GC,140,-1.58,-585.0,1837,2369,3170,4095,12.6,-13.4,17,150,0.00,1.08,0.00,0.000,1030,0.000,0.028,1838,1943,3171,3171,4095,0,0,0,0,0,0,26.02,25.98,26.05,10.41,50.11
$GC,186,-1.58,-585.0,1837,1943,3171,4095,18.1,-12.1,23,195,0.00,1.08,0.00,0.000,516,0.000,0.052,1838,1523,3171,3171,4094,0,0,0,0,0,0,26.28,25.98,26.29,10.41,49.92
$GC,250,-1.58,-585.0,1837,1523,3173,4094,25.8,-11.6,32,260,0.00,0.98,0.00,0.000,1030,0.000,0.026,1838,1940,3173,3173,4095,0,0,0,0,0,0,26.15,26.10,26.14,10.39,49.29
$GC,297,-1.58,-585.0,1837,1940,3173,4095,30.6,-10.7,38,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1940,3174,3174,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.38,49.01
$GC,342,-1.58,-585.0,1837,1941,3175,4095,35.5,-10.5,44,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3175,3175,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,48.46
$GC,386,-1.58,-585.0,1837,1941,3175,4095,40.2,-10.3,50,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3175,3175,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.37,48.11
$GC,431,-1.58,-585.0,1837,1941,3176,4095,45.0,-10.8,56,441,0.00,1.12,0.00,0.000,260,0.000,0.045,1838,2367,3176,3176,4094,0,0,0,0,0,0,26.43,26.14,26.44,10.36,47.59
$GC,511,-1.58,-585.0,1837,2367,3178,4094,53.4,-10.9,67,519,0.00,1.10,0.00,0.000,1030,0.000,0.029,1838,1926,3178,3178,4095,0,0,0,0,0,0,26.24,26.20,26.26,10.34,47.36
$GC,556,-1.58,-585.0,1838,1926,3178,4095,58.2,-10.4,73,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1926,3179,3179,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.34,47.59
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,579,-0.45,0.0,1837,1926,3180,4095,60.4,-11.0,75,623,3.75,0.00,33.45,1.317,10244,0.053,0.000,2184,1925,2484,2484,4094,0,0,0,0,0,0,26.21,24.94,24.23,10.34,47.55
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.58,585.0,2184,1925,2484,4094,63.2,0.0,80,672,6.97,1.17,33.47,1.293,10500,0.036,0.037,2829,2366,1802,1802,4094,0,0,0,0,0,0,25.41,25.36,23.75,10.19,46.57
$GC,701,1.58,585.0,2828,2365,1802,4094,58.3,9.6,89,711,0.00,1.08,0.00,0.000,1030,0.000,0.031,2828,1960,1802,1802,4094,0,0,0,0,0,0,25.18,25.14,25.20,10.04,45.39
$GC,747,1.58,585.0,2828,1959,1801,4094,53.9,9.4,95,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1959,1800,1800,4094,0,0,0,0,0,0,25.60,25.61,25.61,10.04,45.15
$GC,791,1.58,585.0,2828,1959,1800,4094,49.6,9.5,101,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1960,1800,1800,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.03,45.43
$GC,834,1.58,585.0,2828,1959,1799,4094,45.5,9.2,107,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1960,1798,1798,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.03,45.47
$GC,879,1.58,585.0,2827,1959,1798,4094,41.3,9.5,113,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1959,1798,1798,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.02,45.90
$GC,925,1.58,585.0,2828,1959,1797,4094,37.1,9.4,119,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1960,1796,1796,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.03,45.82
$GC,970,1.58,585.0,2828,1959,1796,4094,32.8,9.3,125,979,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2365,1795,1795,4094,0,0,0,0,0,0,26.06,25.78,26.07,10.03,46.25
$GC,1028,1.58,585.0,2828,2365,1794,4094,27.2,9.9,133,1038,0.00,1.08,0.00,0.000,1030,0.000,0.031,2829,1947,1794,1794,4094,0,0,0,0,0,0,25.90,25.87,25.94,10.03,46.96
$GC,1075,1.58,585.0,2828,1947,1794,4094,22.8,9.4,139,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.04,47.71
$GC,1120,1.58,585.0,2829,1947,1793,4094,18.5,9.1,145,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1793,1793,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.05,47.40
$GC,1163,1.58,585.0,2829,1947,1791,4094,14.8,8.5,151,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1947,1791,1791,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.08,48.66
$GC,1208,1.67,641.3,2828,1947,1790,4094,11.2,7.8,157,1218,0.17,0.00,4.15,0.447,10246,0.052,0.000,2858,1947,1735,1735,4094,0,0,0,0,0,0,26.08,25.86,25.21,10.07,49.72
$GC,1256,1.67,641.3,2857,1947,1734,4094,7.4,8.4,163,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1947,1734,1734,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.07,49.37
$GC,1299,1.67,641.3,2857,1947,1733,4094,3.5,8.6,169,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1947,1733,1733,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.08,50.07
$STATE,1316,end climb,SURFACE_DEPTH_REACHED
$STATE,1316,begin surface coast
$FINISH,0.1,1.002746
$STATE,1337,end surface coast,CONTROL_FINISHED_OK
$STATE,1338,begin surface
$SM_CCo,1434,0.00,0.000,0,0,1731,646.53
$SM_GC,0.88,27.45,0.00,0.00,0.024,0.000,0.000,237,1947,1731,-6.55,-0.09,646.53,0,0,0,0,0,0,26.12,26.34,26.15
$IRIDIUM_FIX,5925.93,-17425.36,040817,212433
$TT8_MAMPS,0.026215,0.223202
$HUMID,49.68
$INTERNAL_PRESSURE,10.0332
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.75,13.147
$10V_AH,10.19,16.473
$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,44.050,10.900,71.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.139,60.132,172.770,730.587,55.080,33.414,462.528,0.000,261.673,0.000,0.540,0.000
$DEVICE_MAMPS,52.785,52.020,1316.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.568,472.746,0.000,554.653,722.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,17703,174
$CAP_FILE_SIZE,34951,0
$CFSIZE,1024409600,994263040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,000742,6004.248,-17259.326,4,0.8,16,7.4,0.4,324.6,10,4.8