version: 66.13
glider: 401
mission: 22
dive: 523
start: 8 5 117 4 24 48
data:
$ID,401
$MISSION,22
$DIVE,523
$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,21
$R_STBD_OVSHOOT,46
$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
$GPS1,050817,041610,6005.5361,-17302.3750,4,0.9,15,7.4,0.0,59.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-37.0
$GPS2,050817,042341,6005.5444,-17302.2285,5,0.9,22,7.4,0.5,64.5,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.381402,0.035482
$KALMAN_X,57062.785156,-3416.731201,-1168.509155,-200872.109375,335.218628
$KALMAN_Y,44623.398438,1487.493774,770.164062,46140.367188,-38.190796
$MHEAD_RNG_PITCHd_Wd,267.9,15530,-7.8,-8.333,-12.27,10244
$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,-579.9,230,1951,1681,4092,0.0,0.0,0,20,10.20,0.00,0.00,0.000,2049,0.081,0.000,1115,1951,1681,1681,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.19,49.84
$GC,22,-1.58,-579.9,1114,1951,1681,4094,0.5,0.0,1,50,7.62,1.17,-13.88,0.000,19204,0.041,1.290,1829,1519,3163,3163,4095,0,0,0,0,0,0,25.90,24.76,25.96,10.20,50.03
$GC,60,-1.59,-585.0,1828,1518,3164,4095,0.6,-0.2,5,70,0.00,1.00,-0.03,0.000,17414,0.000,0.025,1829,1957,3169,3169,4094,0,0,0,0,0,0,25.91,25.89,25.41,10.52,49.96
$GC,108,-1.59,-585.0,1828,1958,3171,4094,6.2,-12.7,11,117,0.00,1.15,0.00,0.000,516,0.000,0.047,1828,1520,3170,3170,4095,0,0,0,0,0,0,26.00,25.72,26.01,10.52,49.21
$GC,370,-1.59,-585.0,1828,1520,3176,4095,37.8,-11.5,50,379,0.00,0.95,0.00,0.000,1030,0.000,0.025,1829,1934,3177,3177,4094,0,0,0,0,0,0,26.10,26.08,26.11,10.40,46.25
$GC,417,-1.59,-585.0,1828,1934,3177,4094,42.9,-11.2,56,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3177,3177,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.39,46.29
$GC,461,-1.59,-585.0,1828,1934,3178,4095,48.0,-11.2,62,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3178,3178,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.39,45.27
$GC,506,-1.59,-585.0,1828,1934,3179,4094,53.0,-11.6,68,515,0.00,1.15,0.00,0.000,260,0.000,0.046,1828,2369,3178,3178,4095,0,0,0,0,0,0,26.38,26.08,26.39,10.38,45.31
$GC,553,-1.59,-585.0,1828,2369,3180,4095,58.0,-10.9,74,562,0.00,1.08,0.00,0.000,1030,0.000,0.028,1829,1936,3180,3180,4095,0,0,0,0,0,0,26.19,26.15,26.21,10.38,45.03
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,575,-0.45,0.0,1828,1936,3180,4094,60.3,-10.8,76,618,3.83,0.00,33.50,1.307,10244,0.054,0.000,2186,1936,2483,2483,4094,0,0,0,0,0,0,26.14,25.14,24.18,10.38,45.07
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,621,1.59,585.0,2185,1936,2483,4094,62.7,0.0,81,666,7.00,0.00,33.22,1.280,11270,0.037,0.000,2832,1936,1802,1802,4094,0,0,0,0,0,0,25.39,25.54,23.74,10.23,44.95
$GC,703,1.59,585.0,2832,1936,1801,4094,56.9,9.4,91,713,0.00,1.20,0.00,0.000,260,0.000,0.037,2833,2370,1801,1801,4095,0,0,0,0,0,0,25.41,25.17,25.43,10.08,43.97
$GC,770,1.59,585.0,2832,2370,1799,4095,50.3,10.0,100,779,0.00,1.05,0.00,0.000,1030,0.000,0.030,2833,1966,1799,1799,4094,0,0,0,0,0,0,25.49,25.46,25.52,10.07,43.85
$GC,815,1.59,585.0,2832,1966,1798,4094,45.7,9.4,106,825,0.00,1.17,0.00,0.000,516,0.000,0.054,2833,1523,1798,1798,4094,0,0,0,0,0,0,25.82,25.52,25.82,10.07,44.17
$GC,861,1.59,585.0,2832,1522,1797,4094,41.5,9.5,112,871,0.00,1.02,0.00,0.000,1030,0.000,0.025,2833,1962,1797,1797,4094,0,0,0,0,0,0,25.72,25.70,25.72,10.07,44.76
$GC,906,1.59,585.0,2832,1962,1796,4094,37.3,9.3,118,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,1796,1796,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.06,44.72
$GC,953,1.59,585.0,2832,1962,1795,4094,33.1,9.1,124,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,1795,1795,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.06,45.39
$GC,996,1.59,585.0,2832,1961,1794,4094,28.9,9.3,130,1006,0.00,1.05,0.00,0.000,260,0.000,0.043,2833,2358,1794,1794,4094,0,0,0,0,0,0,26.10,25.82,26.11,10.05,45.86
$GC,1048,1.59,585.0,2832,2357,1794,4094,24.0,9.5,137,1058,0.00,1.02,0.00,0.000,1030,0.000,0.031,2833,1958,1793,1793,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.05,45.98
$GC,1094,1.59,585.0,2832,1958,1792,4094,19.8,9.7,143,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1958,1792,1792,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.05,45.94
$GC,1139,1.59,585.0,2832,1958,1791,4094,15.8,8.8,149,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1958,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.08,46.81
$GC,1183,1.64,619.1,2832,1957,1790,4094,12.1,8.0,155,1193,0.10,0.00,3.10,0.316,10246,0.074,0.000,2852,1958,1761,1761,4094,0,0,0,0,0,0,26.07,25.68,25.21,10.10,47.04
$GC,1231,1.68,644.3,2852,1957,1760,4094,8.4,8.1,161,1240,0.00,0.00,3.08,0.296,8198,0.000,0.000,2853,1958,1731,1731,4094,0,0,0,0,0,0,26.28,25.74,25.27,10.11,48.42
$GC,1278,1.84,753.1,2852,1957,1730,4094,4.8,7.2,167,1296,0.52,0.00,7.03,0.547,10246,0.034,0.000,2909,1958,1608,1608,4094,0,0,0,0,0,0,26.06,25.68,25.27,10.12,49.64
$STATE,1310,end climb,FINISH_DEPTH_REACHED
$STATE,1310,begin subsurface finish
$FINISH1,1.9,1.024062,107
$GC,1316,0.16,107.2,2909,1957,1607,4094,1.9,8.1,171,1335,5.55,0.00,-6.22,0.000,20486,0.053,0.000,2399,1957,2365,2365,4094,0,0,0,0,0,0,25.97,25.50,26.04,10.11,49.29
$FINISH2,0.5
$STATE,1336,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1336,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,025529
$TT8_MAMPS,0.025466,0.215712
$HUMID,50.07
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.74,13.481
$10V_AH,10.22,16.828
$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,34.825,13.025,79.925,0.000,0.000,25.575,16.582,268.276,0.000,0.000,23.651,479.405,0.000,151.016,1054.778,122.610,33.458,440.999,0.000,261.931,0.000,0.545,0.000
$DEVICE_MAMPS,81.090,1289.790,1307.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.708,470.030,0.000,551.239,716.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329428
$DATA_FILE_SIZE,17745,173
$CAP_FILE_SIZE,38051,0
$CFSIZE,1024409600,993771520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,042341,6005.544,-17302.229,5,0.9,22,7.4,0.5,64.5,10,5.0