version: 66.13
glider: 401
mission: 22
dive: 514
start: 8 5 117 0 16 29
data:
$ID,401
$MISSION,22
$DIVE,514
$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,23
$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
$GPS1,050817,000742,6004.2476,-17259.3262,4,0.8,16,7.4,0.4,324.6,10,4.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.0
$GPS2,050817,001522,6004.3306,-17259.4121,5,0.8,18,7.4,0.5,321.9,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.368142,-0.111361
$KALMAN_X,55573.269531,-3442.336182,-1461.078979,-196371.390625,-66.640747
$KALMAN_Y,41995.226562,1076.950684,549.131531,47133.964844,263.891052
$MHEAD_RNG_PITCHd_Wd,245.8,18382,-7.7,-8.333,-12.23,10349
$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,-585.0,237,1944,1731,4092,0.0,0.0,0,21,11.20,0.00,0.00,0.000,2049,0.093,0.000,1182,1943,1731,1731,4094,0,0,0,0,0,0,26.13,28.83,28.83,10.15,50.11
$GC,23,-1.58,-585.0,1182,1944,1731,4094,0.7,0.0,1,51,6.97,1.17,-13.62,0.000,18692,0.048,1.284,1826,2371,3171,3171,4095,0,0,0,0,0,0,25.84,24.72,25.92,10.15,49.29
$GC,175,-1.58,-585.0,1826,2371,3173,4095,13.8,-11.8,22,184,0.00,1.08,0.00,0.000,1030,0.000,0.028,1826,1945,3173,3173,4095,0,0,0,0,0,0,25.96,25.93,25.98,10.45,49.29
$GC,222,-1.58,-585.0,1826,1945,3175,4095,19.6,-11.2,28,231,0.00,1.08,0.00,0.000,516,0.000,0.051,1827,1523,3175,3175,4094,0,0,0,0,0,0,26.22,25.93,26.23,10.45,48.66
$GC,313,-1.58,-585.0,1826,1523,3176,4094,29.8,-10.8,41,321,0.00,0.98,0.00,0.000,1030,0.000,0.026,1827,1945,3176,3176,4095,0,0,0,0,0,0,26.10,26.08,26.11,10.42,48.46
$GC,359,-1.58,-585.0,1826,1944,3177,4095,34.9,-11.5,47,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1945,3177,3177,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.40,47.32
$GC,402,-1.58,-585.0,1825,1945,3178,4095,40.2,-11.7,53,412,0.00,1.10,0.00,0.000,260,0.000,0.044,1827,2362,3178,3178,4095,0,0,0,0,0,0,26.36,26.08,26.36,10.39,47.00
$GC,481,-1.58,-585.0,1826,2362,3180,4095,49.2,-11.2,64,490,0.00,1.05,0.00,0.000,1030,0.000,0.028,1827,1945,3180,3180,4094,0,0,0,0,0,0,26.19,26.15,26.21,10.38,46.61
$GC,526,-1.58,-585.0,1826,1944,3180,4094,54.4,-11.2,70,536,0.00,1.08,0.00,0.000,516,0.000,0.050,1827,1520,3181,3181,4095,0,0,0,0,0,0,26.42,26.13,26.44,10.37,46.85
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,583,-0.45,0.0,1827,1946,3182,4095,60.5,-12.0,77,627,3.88,0.00,33.55,1.317,10244,0.054,0.000,2185,1948,2483,2483,4094,0,0,0,0,0,0,26.17,24.91,24.20,10.37,45.94
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.58,585.0,2184,1948,2483,4094,63.0,0.0,82,675,6.97,0.00,33.45,1.291,11270,0.036,0.000,2830,1952,1802,1802,4094,0,0,0,0,0,0,25.41,25.56,23.73,10.22,45.11
$GC,712,1.58,585.0,2830,1951,1802,4094,57.3,9.7,92,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1952,1801,1801,4094,0,0,0,0,0,0,25.41,25.42,25.42,10.06,44.05
$GC,759,1.58,585.0,2830,1951,1800,4094,52.7,10.4,98,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1952,1800,1800,4094,0,0,0,0,0,0,25.63,25.64,25.63,10.06,44.25
$GC,805,1.58,585.0,2829,1951,1799,4094,48.2,9.7,104,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1952,1799,1799,4095,0,0,0,0,0,0,25.76,25.78,25.77,10.05,44.84
$GC,851,1.58,585.0,2830,1951,1798,4095,43.6,9.8,110,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1952,1798,1798,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.05,44.68
$GC,897,1.58,585.0,2830,1951,1797,4094,39.1,9.9,116,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1952,1797,1797,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.05,44.95
$GC,943,1.58,585.0,2830,1952,1796,4094,34.7,9.6,122,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1952,1796,1796,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.05,45.55
$GC,989,1.58,585.0,2829,1951,1795,4094,30.3,9.6,128,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1952,1795,1795,4094,0,0,0,0,0,0,26.08,26.08,26.08,10.05,46.14
$GC,1036,1.58,585.0,2830,1951,1794,4094,25.9,9.2,134,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1952,1794,1794,4094,0,0,0,0,0,0,26.12,26.14,26.14,10.05,45.90
$GC,1082,1.59,589.8,2830,1951,1794,4094,22.0,8.3,140,1091,0.00,1.10,0.00,0.000,260,0.000,0.042,2830,2363,1793,1793,4094,0,0,0,0,0,0,26.17,25.89,26.18,10.06,46.33
$GC,1134,1.59,589.8,2830,2362,1792,4094,17.5,8.5,147,1142,0.00,1.08,0.00,0.000,1030,0.000,0.032,2831,1944,1792,1792,4094,0,0,0,0,0,0,25.99,25.96,26.00,10.07,47.16
$GC,1179,1.59,591.6,2830,1943,1791,4094,13.7,8.3,153,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1944,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.09,48.22
$GC,1223,1.65,634.1,2830,1944,1790,4094,10.3,7.9,159,1233,0.15,0.00,3.85,0.412,10246,0.057,0.000,2857,1944,1743,1743,4094,0,0,0,0,0,0,26.08,25.69,25.24,10.10,48.46
$GC,1271,1.68,651.9,2856,1943,1742,4094,6.5,8.2,165,1279,0.00,0.00,2.70,0.223,8198,0.000,0.000,2857,1944,1723,1723,4094,0,0,0,0,0,0,26.28,25.72,25.29,10.10,48.85
$GC,1317,1.68,651.9,2856,1944,1722,4094,2.7,8.4,171,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1944,1722,1722,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.10,49.17
$STATE,1332,end climb,FINISH_DEPTH_REACHED
$STATE,1332,begin subsurface finish
$FINISH1,1.0,1.024338,88
$GC,1339,0.13,87.9,2856,1944,1722,4094,1.0,8.7,173,1357,4.85,0.00,-5.95,0.000,20486,0.027,0.000,2385,1944,2378,2378,4094,0,0,0,0,0,0,26.08,25.56,26.13,10.11,49.13
$FINISH2,0.1
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,224756
$TT8_MAMPS,0.025466,0.244174
$HUMID,49.84
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.73,13.192
$10V_AH,10.16,16.518
$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,34.025,10.725,73.550,0.000,0.000,23.597,20.064,281.522,0.000,0.000,19.863,490.616,0.000,151.445,1071.651,125.710,33.457,443.989,0.000,424.690,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1283.670,1317.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.251,475.343,376.438,557.317,726.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,17847,175
$CAP_FILE_SIZE,37566,0
$CFSIZE,1024409600,994213888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,001522,6004.331,-17259.412,5,0.8,18,7.4,0.5,321.9,11,5.0