version: 66.13
glider: 401
mission: 22
dive: 517
start: 8 5 117 1 39 53
data:
$ID,401
$MISSION,22
$DIVE,517
$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,39
$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
$GPS1,050817,013132,6004.9478,-17301.0547,4,1.0,40,7.4,0.5,328.3,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-41.1
$GPS2,050817,013845,6005.0205,-17301.0469,8,0.8,14,7.4,0.0,4.8,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.369835,-0.109939
$KALMAN_X,55660.847656,-3558.773926,-1495.755737,-197864.343750,87.527588
$KALMAN_Y,43248.476562,1296.346558,735.955505,46755.800781,209.092407
$MHEAD_RNG_PITCHd_Wd,246.0,16703,-7.7,-8.333,-12.19,10430
$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,-585.0,230,1947,1717,4093,0.0,0.0,0,20,10.07,0.00,0.00,0.000,2049,0.092,0.000,1086,1948,1716,1716,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.16,49.92
$GC,22,-1.58,-585.0,1085,1947,1717,4094,0.7,0.0,1,49,8.00,1.20,-13.68,0.000,18692,0.047,1.281,1827,2370,3171,3171,4095,0,0,0,0,0,0,25.88,24.75,25.91,10.17,49.64
$GC,158,-1.58,-585.0,1827,2371,3173,4095,12.5,-12.9,20,166,0.00,1.08,0.00,0.000,1030,0.000,0.028,1827,1943,3173,3173,4094,0,0,0,0,0,0,26.01,25.96,26.02,10.48,49.60
$GC,204,-1.58,-585.0,1827,1943,3174,4094,18.0,-11.7,26,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1943,3174,3174,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,48.54
$GC,249,-1.58,-585.0,1827,1942,3175,4095,22.9,-10.3,32,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1943,3175,3175,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.43,48.38
$GC,293,-1.58,-585.0,1827,1942,3176,4095,27.9,-11.1,38,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1943,3176,3176,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.41,47.55
$GC,338,-1.58,-585.0,1827,1943,3177,4094,33.2,-11.9,44,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1943,3176,3176,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.40,47.16
$GC,384,-1.58,-585.0,1826,1942,3178,4094,38.3,-11.8,50,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1942,3178,3178,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.39,46.14
$GC,429,-1.58,-585.0,1827,1942,3178,4094,43.9,-12.3,56,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1942,3179,3179,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,45.82
$GC,473,-1.58,-585.0,1826,1942,3180,4094,49.6,-12.5,62,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1942,3180,3180,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.38,45.35
$GC,518,-1.58,-585.0,1826,1942,3181,4094,55.0,-11.4,68,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1942,3181,3181,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,45.15
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,568,-0.45,0.0,1827,1942,3181,4095,60.0,-10.9,74,611,3.83,0.00,33.50,1.308,10244,0.051,0.000,2186,1942,2484,2484,4094,0,0,0,0,0,0,26.19,24.93,24.22,10.37,44.99
$STATE,612,end apogee,CONTROL_FINISHED_OK
$STATE,612,begin climb
$GC,614,1.58,585.0,2186,1942,2484,4094,62.6,0.0,79,659,6.95,0.00,33.50,1.279,11270,0.035,0.000,2829,1942,1803,1803,4094,0,0,0,0,0,0,25.44,25.58,23.75,10.22,45.03
$GC,697,1.58,585.0,2828,1942,1802,4094,57.1,9.4,89,706,0.00,1.15,0.00,0.000,260,0.000,0.036,2829,2365,1802,1802,4094,0,0,0,0,0,0,25.42,25.18,25.44,10.07,44.09
$GC,749,1.58,585.0,2828,2365,1801,4094,52.2,8.9,96,757,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1966,1801,1801,4094,0,0,0,0,0,0,25.45,25.41,25.49,10.06,44.01
$GC,793,1.58,585.0,2828,1966,1800,4094,48.1,9.9,102,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1966,1800,1800,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.06,44.21
$GC,838,1.58,585.0,2828,1965,1799,4094,44.1,8.9,108,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1966,1799,1799,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.05,44.92
$GC,883,1.58,585.0,2829,1965,1797,4094,39.7,10.3,114,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1966,1797,1797,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.05,44.88
$GC,929,1.58,585.0,2828,1966,1797,4094,35.1,9.7,120,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1966,1796,1796,4094,0,0,0,0,0,0,26.03,26.03,26.03,10.05,45.27
$GC,973,1.58,585.0,2828,1965,1796,4094,30.8,8.9,126,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1966,1795,1795,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.04,45.23
$GC,1017,1.58,585.0,2828,1965,1795,4094,26.8,9.4,132,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1966,1794,1794,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.05,45.31
$GC,1062,1.58,585.0,2828,1966,1794,4094,22.6,9.3,138,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1966,1794,1794,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.05,45.51
$GC,1105,1.58,585.0,2829,1965,1793,4094,18.6,9.3,144,1115,0.00,1.08,0.00,0.000,260,0.000,0.042,2829,2364,1793,1793,4094,0,0,0,0,0,0,26.21,25.93,26.22,10.05,46.10
$GC,1170,1.58,585.0,2829,2363,1791,4094,12.5,9.5,153,1180,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1952,1791,1791,4094,0,0,0,0,0,0,26.06,26.01,26.06,10.07,47.20
$GC,1216,1.59,591.3,2829,1951,1790,4094,8.6,8.3,159,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1952,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.10,48.34
$GC,1261,1.76,707.2,2829,1951,1790,4094,5.3,7.2,165,1271,0.50,0.00,7.38,0.566,10246,0.031,0.000,2887,1952,1658,1658,4094,0,0,0,0,0,0,26.13,25.86,25.27,10.12,49.56
$STATE,1307,end climb,FINISH_DEPTH_REACHED
$STATE,1307,begin subsurface finish
$FINISH1,1.5,1.024234,95
$GC,1313,0.14,95.2,2887,1951,1657,4094,1.5,8.0,171,1331,5.30,0.00,-6.47,0.000,20486,0.044,0.000,2388,1952,2377,2377,4094,0,0,0,0,0,0,26.04,25.52,26.09,10.10,49.56
$FINISH2,0.1
$STATE,1332,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1333,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,000930
$TT8_MAMPS,0.026215,0.206724
$HUMID,50.03
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.75,13.286
$10V_AH,10.20,16.618
$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,34.650,6.600,74.375,0.000,0.000,25.726,22.335,259.720,0.000,0.000,15.761,469.914,0.419,154.765,1036.993,124.598,33.482,451.008,0.000,261.879,0.000,0.542,0.000
$DEVICE_MAMPS,91.800,1281.375,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.527,469.966,0.000,550.719,714.858,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,17752,173
$CAP_FILE_SIZE,37325,0
$CFSIZE,1024409600,994066432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050817,013845,6005.021,-17301.047,8,0.8,14,7.4,0.0,4.8,10,4.8