version: 66.13
glider: 401
mission: 22
dive: 527
start: 8 5 117 6 11 20
data:
$ID,401
$MISSION,22
$DIVE,527
$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,19
$R_STBD_OVSHOOT,52
$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
$GPS1,050817,054519,6005.5215,-17302.1348,8,0.9,16,7.4,0.0,88.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.2
$GPS2,050817,054519,6005.5215,-17302.1348,8,0.9,16,7.4,0.0,88.9,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.382151,0.054937
$KALMAN_X,58388.925781,-3046.688965,-726.167419,-202924.453125,259.723022
$KALMAN_Y,44702.328125,1398.741821,558.281616,46323.519531,-60.982178
$MHEAD_RNG_PITCHd_Wd,270.8,15619,-7.7,-8.333,-12.18,10447
$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,-585.0,2392,1950,2364,4092,0.0,0.0,0,20,5.70,0.00,-4.30,0.000,20482,0.024,0.000,1838,1950,2833,2833,4094,0,0,0,0,0,0,26.08,28.83,26.09,10.31,51.18
$GC,23,-1.58,-585.0,1838,1950,2833,4094,0.1,0.0,1,33,0.00,1.08,-3.22,0.000,16644,0.000,1.275,1838,2360,3169,3169,4095,0,0,0,0,0,0,26.26,24.90,26.27,10.40,50.70
$GC,193,-1.58,-585.0,1837,2359,3173,4095,19.0,-11.7,26,203,0.00,1.05,0.00,0.000,1030,0.000,0.028,1838,1941,3173,3173,4095,0,0,0,0,0,0,26.10,26.06,26.11,10.46,50.59
$GC,239,-1.58,-585.0,1837,1941,3174,4095,24.0,-10.8,32,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3174,3174,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.43,49.48
$GC,284,-1.58,-585.0,1837,1941,3175,4095,28.3,-9.6,38,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3175,3175,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.41,48.81
$GC,329,-1.58,-585.0,1837,1941,3175,4095,32.7,-9.3,44,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3175,3175,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.40,48.11
$GC,373,-1.58,-585.0,1837,1941,3176,4095,36.8,-9.5,50,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3176,3176,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.39,47.55
$GC,418,-1.58,-585.0,1837,1941,3177,4094,41.1,-9.7,56,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3177,3177,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.38,46.53
$GC,464,-1.58,-585.0,1837,1941,3178,4095,45.6,-10.3,62,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3178,3178,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,47.00
$GC,508,-1.58,-585.0,1837,1941,3178,4095,50.2,-10.3,68,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3178,3178,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.38,46.10
$GC,552,-1.58,-585.0,1837,1941,3179,4094,54.9,-10.1,74,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3179,3179,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.37,46.29
$GC,599,-1.58,-585.0,1837,1941,3180,4094,59.7,-10.9,80,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1941,3181,3181,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.37,46.41
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,620,-0.45,0.0,1838,1941,3181,4095,62.1,-12.1,82,664,3.75,0.00,33.22,1.327,10244,0.053,0.000,2185,1941,2486,2486,4094,0,0,0,0,0,0,26.24,24.96,24.26,10.37,46.14
$STATE,665,end apogee,CONTROL_FINISHED_OK
$STATE,665,begin climb
$GC,668,1.58,585.0,2185,1941,2486,4094,64.4,0.0,87,712,6.93,0.00,33.47,1.303,11270,0.035,0.000,2828,1941,1802,1802,4094,0,0,0,0,0,0,25.46,25.63,23.76,10.21,45.23
$GC,749,1.58,585.0,2827,1940,1801,4094,59.0,9.7,97,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1941,1801,1801,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.07,44.13
$GC,794,1.58,585.0,2827,1941,1800,4094,54.2,9.5,103,804,0.00,1.12,0.00,0.000,260,0.000,0.041,2828,2349,1800,1800,4095,0,0,0,0,0,0,25.65,25.38,25.66,10.06,44.60
$GC,885,1.58,585.0,2827,2348,1797,4095,45.4,10.1,116,894,0.00,0.98,0.00,0.000,1030,0.000,0.028,2828,1962,1798,1798,4094,0,0,0,0,0,0,25.70,25.66,25.71,10.05,45.43
$GC,931,1.58,585.0,2827,1962,1797,4094,41.0,9.2,122,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1962,1797,1797,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.05,45.27
$GC,976,1.58,585.0,2827,1962,1796,4094,36.6,9.6,128,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1962,1796,1796,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.04,45.51
$GC,1020,1.58,585.0,2827,1962,1795,4094,32.6,8.9,134,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1962,1795,1795,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.04,46.02
$GC,1065,1.58,585.0,2827,1962,1794,4094,28.5,9.1,140,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1962,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.04,45.86
$GC,1111,1.58,585.0,2827,1962,1793,4094,24.6,8.4,146,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1962,1793,1793,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.04,45.86
$GC,1156,1.58,585.0,2827,1962,1793,4094,20.6,8.4,152,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1962,1792,1792,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.05,46.45
$GC,1201,1.62,615.7,2827,1962,1791,4094,17.0,8.0,158,1210,0.00,0.00,3.03,0.321,8198,0.000,0.000,2828,1962,1764,1764,4094,0,0,0,0,0,0,26.26,25.66,25.16,10.07,47.04
$GC,1247,1.79,725.8,2827,1962,1764,4094,13.7,7.3,164,1258,0.57,0.00,7.32,0.631,10246,0.030,0.000,2892,1962,1637,1637,4094,0,0,0,0,0,0,26.06,25.80,25.15,10.08,48.11
$GC,1295,1.79,725.8,2891,1962,1636,4094,9.7,8.9,170,1305,0.00,1.05,0.00,0.000,260,0.000,0.040,2892,2353,1635,1635,4094,0,0,0,0,0,0,26.21,25.94,26.22,10.08,49.13
$GC,1380,1.79,725.8,2891,2352,1633,4094,2.2,8.5,182,1389,0.00,0.98,0.00,0.000,1030,0.000,0.032,2892,1970,1633,1633,4094,0,0,0,0,0,0,26.08,26.03,26.12,10.11,50.47
$STATE,1397,end climb,FINISH_DEPTH_REACHED
$STATE,1397,begin subsurface finish
$FINISH1,0.7,1.024071,107
$GC,1404,0.16,106.5,2892,1969,1633,4094,0.7,8.3,184,1422,5.10,1.17,-6.53,0.000,20996,0.023,1.291,2395,1517,2364,2364,4095,0,0,0,0,0,0,26.08,24.91,26.13,10.11,50.27
$FINISH2,0.1
$STATE,1423,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1423,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,041800
$TT8_MAMPS,0.025466,0.21721
$HUMID,51.65
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.76,13.605
$10V_AH,10.20,16.967
$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,22.050,8.425,77.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,498.557,0.985,149.345,778.264,54.357,33.428,445.748,0.000,278.704,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1290.555,1327.275,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,126.785,505.358,0.000,592.376,770.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17695,186
$CAP_FILE_SIZE,33377,0
$CFSIZE,1024409600,993574912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,054519,6005.521,-17302.135,8,0.9,16,7.4,0.0,88.9,10,4.9