version: 66.13
glider: 401
mission: 22
dive: 525
start: 8 5 117 5 13 23
data:
$ID,401
$MISSION,22
$DIVE,525
$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,45
$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
$GPS1,050817,042341,6005.5444,-17302.2285,5,0.9,22,7.4,0.5,64.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-1.8
$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,-0.385992,-0.001123
$KALMAN_X,57628.250000,-3217.990479,-920.267456,-201889.328125,259.392334
$KALMAN_Y,44706.753906,1451.705811,663.729004,46203.199219,19.425537
$MHEAD_RNG_PITCHd_Wd,262.4,15530,-7.7,-8.333,-12.18,10441
$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,6,begin dive
$GC,8,-1.58,-585.0,2398,1953,2365,4092,0.0,0.0,0,21,5.82,0.00,-4.40,0.000,20482,0.023,0.000,1836,1953,2890,2890,4095,0,0,0,0,0,0,26.06,28.83,26.08,10.28,51.69
$GC,24,-1.58,-585.0,1835,1953,2890,4095,0.6,0.0,1,33,0.00,0.00,-2.10,0.000,16390,0.000,0.000,1836,1953,3166,3166,4094,0,0,0,0,0,0,26.25,25.53,26.24,10.39,51.81
$GC,69,-1.58,-585.0,1835,1953,3167,4094,5.7,-13.4,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1954,3167,3167,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.45,51.10
$GC,115,-1.58,-585.0,1835,1953,3168,4094,12.0,-13.3,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1953,3168,3168,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.44,50.94
$GC,160,-1.58,-585.0,1835,1952,3169,4095,17.4,-11.8,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1952,3170,3170,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.43,50.47
$GC,203,-1.58,-585.0,1835,1952,3170,4095,22.3,-10.9,25,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1953,3170,3170,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.40,49.60
$GC,248,-1.58,-585.0,1835,1952,3171,4094,27.0,-10.5,31,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1953,3171,3171,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.38,49.09
$GC,294,-1.58,-585.0,1835,1953,3172,4095,31.6,-10.1,37,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1952,3172,3172,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.38,47.63
$GC,338,-1.58,-585.0,1835,1952,3173,4094,36.3,-10.4,43,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1952,3173,3173,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.37,47.28
$GC,383,-1.58,-585.0,1835,1952,3174,4095,41.0,-10.9,49,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1952,3174,3174,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.37,47.79
$GC,429,-1.58,-585.0,1835,1952,3175,4094,45.8,-10.6,55,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1952,3175,3175,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.36,46.96
$GC,472,-1.58,-585.0,1834,1953,3175,4095,50.6,-10.9,61,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1953,3175,3175,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,46.41
$GC,517,-1.58,-585.0,1835,1953,3176,4095,55.6,-11.3,67,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1953,3177,3177,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.35,46.85
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,564,-0.45,0.0,1835,1952,3177,4094,60.7,-11.9,73,608,3.78,0.00,33.17,1.312,10246,0.051,0.000,2186,1953,2483,2483,4094,0,0,0,0,0,0,26.21,24.95,24.24,10.35,46.18
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,611,1.58,585.0,2185,1952,2484,4094,63.0,0.0,78,655,6.93,0.00,33.40,1.286,10246,0.034,0.000,2831,1952,1802,1802,4095,0,0,0,0,0,0,25.44,24.66,23.77,10.20,46.06
$GC,693,1.58,585.0,2830,1952,1801,4095,57.6,9.4,88,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1952,1801,1801,4094,0,0,0,0,0,0,25.43,25.44,25.44,10.04,44.84
$GC,738,1.58,585.0,2830,1952,1800,4094,52.6,10.5,94,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1800,1800,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.04,44.64
$GC,782,1.58,585.0,2830,1952,1799,4094,48.1,10.2,100,791,0.00,1.12,0.00,0.000,260,0.000,0.041,2831,2360,1798,1798,4094,0,0,0,0,0,0,25.77,25.51,25.78,10.04,45.07
$GC,853,1.58,585.0,2830,2360,1797,4094,40.8,10.3,110,861,0.00,1.05,0.00,0.000,1030,0.000,0.030,2831,1954,1797,1797,4094,0,0,0,0,0,0,25.71,25.67,25.73,10.03,45.58
$GC,897,1.58,585.0,2830,1953,1796,4094,36.3,10.2,116,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1796,1796,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.03,45.78
$GC,941,1.58,585.0,2830,1953,1795,4094,31.9,9.9,122,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1795,1795,4094,0,0,0,0,0,0,26.05,26.07,26.06,10.03,46.22
$GC,987,1.58,585.0,2830,1953,1794,4094,27.5,9.9,128,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1795,1795,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.02,45.82
$GC,1032,1.58,585.0,2830,1953,1793,4094,23.0,9.5,134,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1793,1793,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.02,46.18
$GC,1077,1.58,585.0,2830,1953,1792,4094,18.9,9.0,140,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1792,1792,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.02,46.77
$GC,1122,1.58,585.0,2830,1953,1791,4094,15.0,8.5,146,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.05,47.51
$GC,1168,1.64,624.5,2830,1953,1790,4094,11.5,7.9,152,1178,0.10,0.00,3.40,0.363,10246,0.075,0.000,2851,1954,1754,1754,4094,0,0,0,0,0,0,26.07,25.68,25.23,10.07,47.75
$GC,1216,1.71,672.7,2850,1953,1753,4094,7.7,7.9,158,1227,0.10,1.10,4.18,0.429,10500,0.073,0.041,2873,2362,1699,1699,4094,0,0,0,0,0,0,26.08,25.91,25.25,10.09,48.97
$STATE,1286,end climb,SURFACE_DEPTH_REACHED
$STATE,1287,begin surface coast
$FINISH,0.1,1.009617
$STATE,1309,end surface coast,CONTROL_FINISHED_OK
$STATE,1309,begin surface
$SM_CCo,1407,0.00,0.000,0,0,1695,677.44
$SM_GC,0.92,27.70,1.10,0.00,0.022,0.031,0.000,229,1940,1695,-6.59,1.00,677.44,0,0,0,0,0,0,25.97,26.06,26.08
$IRIDIUM_FIX,5925.93,-17425.36,050817,025529
$TT8_MAMPS,0.025466,0.214963
$HUMID,51.81
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.77,13.533
$10V_AH,10.20,16.893
$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,44.425,4.375,74.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,467.259,60.207,168.999,715.205,55.557,33.412,448.545,0.000,257.414,0.000,0.541,0.000
$DEVICE_MAMPS,74.970,41.310,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.560,464.581,0.000,544.610,707.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,14306,171
$CAP_FILE_SIZE,33375,0
$CFSIZE,1024409600,993689600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,053814,6005.537,-17302.281,4,0.9,49,7.4,0.0,86.4,10,5.6