version: 66.13
glider: 401
mission: 22
dive: 515
start: 8 5 117 0 41 13
data:
$ID,401
$MISSION,22
$DIVE,515
$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,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
$GPS1,050817,001522,6004.3306,-17259.4121,5,0.8,18,7.4,0.5,321.9,11,5.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.5
$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,-0.374414,-0.091298
$KALMAN_X,55761.457031,-3364.500488,-1337.502808,-196799.468750,-92.917358
$KALMAN_Y,42124.050781,1120.730347,575.201660,46959.015625,240.550232
$MHEAD_RNG_PITCHd_Wd,248.9,18382,-7.7,-8.333,-12.20,10400
$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,-585.0,2385,1940,2378,4092,0.0,0.0,0,19,5.68,0.00,-3.53,0.000,20482,0.026,0.000,1833,1942,2749,2749,4094,0,0,0,0,0,0,26.10,28.83,26.13,10.26,50.00
$GC,22,-1.58,-585.0,1832,1941,2749,4094,0.0,0.0,1,32,0.00,1.15,-4.05,0.000,16644,0.000,1.278,1832,2370,3172,3172,4094,0,0,0,0,0,0,26.27,24.90,26.29,10.35,49.68
$GC,135,-1.58,-585.0,1831,2370,3175,4094,11.7,-12.2,17,144,0.00,1.08,0.00,0.000,1030,0.000,0.028,1832,1942,3175,3175,4095,0,0,0,0,0,0,26.06,26.06,26.09,10.43,50.00
$GC,180,-1.58,-585.0,1831,1942,3175,4095,17.6,-12.0,23,190,0.00,1.08,0.00,0.000,516,0.000,0.050,1832,1521,3175,3175,4095,0,0,0,0,0,0,26.32,26.02,26.32,10.43,49.48
$GC,266,-1.58,-585.0,1832,1521,3177,4095,27.1,-11.0,35,276,0.00,0.98,0.00,0.000,1030,0.000,0.026,1832,1941,3177,3177,4095,0,0,0,0,0,0,26.17,26.15,26.19,10.39,49.33
$GC,312,-1.58,-585.0,1832,1941,3178,4095,32.1,-10.6,41,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1941,3178,3178,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,48.38
$GC,356,-1.58,-585.0,1831,1941,3179,4095,36.9,-10.6,47,366,0.00,1.10,0.00,0.000,260,0.000,0.044,1832,2360,3179,3179,4095,0,0,0,0,0,0,26.41,26.13,26.43,10.38,47.67
$GC,435,-1.58,-585.0,1831,2360,3181,4095,45.6,-11.4,58,444,0.00,1.05,0.00,0.000,1030,0.000,0.028,1832,1944,3180,3180,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.37,47.24
$GC,482,-1.58,-585.0,1832,1943,3181,4094,50.8,-11.1,64,491,0.00,1.08,0.00,0.000,516,0.000,0.050,1832,1520,3182,3182,4094,0,0,0,0,0,0,26.48,26.20,26.48,10.36,47.16
$GC,560,-1.58,-585.0,1831,1520,3183,4094,59.5,-10.6,75,568,0.00,0.93,0.00,0.000,1030,0.000,0.028,1832,1927,3183,3183,4095,0,0,0,0,0,0,26.31,26.29,26.36,10.35,46.41
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,581,-0.45,0.0,1832,1928,3183,4095,61.5,-10.6,77,625,3.83,0.00,33.53,1.322,10244,0.054,0.000,2185,1930,2484,2484,4094,0,0,0,0,0,0,26.23,24.95,24.25,10.35,46.88
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,628,1.58,585.0,2185,1929,2484,4094,63.9,0.0,82,672,7.00,0.00,33.55,1.295,11270,0.037,0.000,2829,1931,1802,1802,4094,0,0,0,0,0,0,25.44,25.61,23.75,10.20,45.55
$GC,710,1.58,585.0,2829,1932,1801,4094,59.0,8.7,92,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1932,1801,1801,4095,0,0,0,0,0,0,25.42,25.44,25.44,10.05,44.84
$GC,754,1.58,585.0,2829,1932,1800,4095,54.6,10.5,98,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1932,1800,1800,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.03,45.23
$GC,799,1.58,585.0,2829,1932,1799,4094,50.0,10.3,104,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1799,1799,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.04,45.07
$GC,845,1.58,585.0,2829,1931,1798,4094,45.9,9.2,110,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1798,1798,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.03,45.43
$GC,888,1.58,585.0,2829,1932,1798,4094,41.2,10.7,116,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1797,1797,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.04,45.82
$GC,933,1.58,585.0,2829,1932,1796,4094,36.8,9.3,122,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1796,1796,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.03,45.86
$GC,979,1.58,585.0,2829,1932,1795,4094,32.7,9.2,128,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1795,1795,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.03,46.14
$GC,1024,1.58,585.0,2829,1932,1794,4094,28.0,10.3,134,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1794,1794,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.03,46.06
$GC,1068,1.58,585.0,2829,1932,1794,4094,23.6,9.8,140,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.04,46.41
$GC,1113,1.58,585.0,2828,1932,1792,4094,19.5,8.9,146,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1933,1792,1792,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.05,47.67
$GC,1156,1.58,585.0,2829,1932,1791,4094,15.5,9.2,152,1166,0.00,1.15,0.00,0.000,260,0.000,0.040,2829,2363,1790,1790,4094,0,0,0,0,0,0,26.24,25.96,26.25,10.06,47.75
$GC,1215,1.61,606.3,2829,2363,1790,4094,10.6,8.1,160,1224,0.00,1.02,2.45,0.174,9222,0.000,0.031,2829,1962,1776,1776,4094,0,0,0,0,0,0,26.09,26.03,25.26,10.09,48.70
$GC,1262,1.65,633.7,2829,1962,1775,4094,6.8,8.1,166,1273,0.15,1.12,3.17,0.308,10756,0.057,0.054,2856,1516,1743,1743,4094,0,0,0,0,0,0,26.10,25.75,25.30,10.10,49.29
$STATE,1320,end climb,FINISH_DEPTH_REACHED
$STATE,1320,begin subsurface finish
$FINISH1,1.7,1.024318,89
$GC,1328,0.13,89.3,2855,1962,1741,4095,1.7,8.3,174,1346,5.07,0.00,-5.70,0.000,20486,0.056,0.000,2390,1967,2384,2384,4094,0,0,0,0,0,0,26.03,25.57,26.12,10.10,49.68
$FINISH2,0.2
$STATE,1346,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1347,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,224756
$TT8_MAMPS,0.025466,0.211218
$HUMID,50.78
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.75,13.217
$10V_AH,10.21,16.545
$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,21.725,12.775,72.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,477.118,0.000,141.632,735.451,49.207,33.424,421.891,0.000,264.536,0.000,0.541,0.000
$DEVICE_MAMPS,57.375,1277.550,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.883,478.206,0.000,560.608,728.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,17843,176
$CAP_FILE_SIZE,32878,0
$CFSIZE,1024409600,994164736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,001522,6004.331,-17259.412,5,0.8,18,7.4,0.5,321.9,11,5.0