version: 66.13
glider: 401
mission: 22
dive: 528
start: 8 5 117 6 37 9
data:
$ID,401
$MISSION,22
$DIVE,528
$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,20
$R_STBD_OVSHOOT,47
$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,0.11
$_SM_ANGLEo,-1.9
$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,-0.382183,0.043381
$KALMAN_X,58749.500000,-2972.188721,-651.897583,-203435.515625,288.571289
$KALMAN_Y,44692.644531,1373.149292,516.988586,46400.179688,-46.140808
$MHEAD_RNG_PITCHd_Wd,269.1,15619,-7.7,-8.333,-12.22,10350
$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,-585.0,2394,1951,2364,4092,0.0,0.0,0,21,5.78,0.00,-4.70,0.000,20482,0.024,0.000,1836,1952,2876,2876,4095,0,0,0,0,0,0,26.10,28.83,26.13,10.29,51.61
$GC,24,-1.58,-585.0,1835,1952,2876,4095,0.1,0.0,1,34,0.00,1.12,-2.55,0.000,16644,0.000,1.278,1835,2360,3169,3169,4095,0,0,0,0,0,0,26.30,24.93,26.31,10.41,52.16
$GC,234,-1.58,-585.0,1835,2360,3173,4095,23.9,-9.7,32,244,0.00,1.05,0.00,0.000,1030,0.000,0.029,1835,1941,3174,3174,4094,0,0,0,0,0,0,26.13,26.09,26.14,10.42,50.03
$GC,281,-1.58,-585.0,1834,1941,3176,4094,28.7,-11.1,38,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3175,3175,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.40,49.52
$GC,327,-1.58,-585.0,1835,1941,3175,4095,33.2,-9.6,44,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3175,3175,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.39,47.91
$GC,371,-1.58,-585.0,1835,1941,3176,4094,37.6,-10.2,50,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3176,3176,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.38,47.44
$GC,416,-1.58,-585.0,1835,1941,3177,4095,42.1,-9.9,56,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3177,3177,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.38,47.12
$GC,460,-1.58,-585.0,1835,1941,3178,4095,46.9,-11.2,62,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3178,3178,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,47.44
$GC,504,-1.58,-585.0,1835,1941,3178,4094,51.6,-10.6,68,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.37,46.37
$GC,549,-1.58,-585.0,1835,1941,3179,4095,56.7,-11.7,74,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1941,3179,3179,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.36,47.00
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,583,-0.45,0.0,1835,1941,3180,4094,60.2,-10.9,78,627,3.78,0.00,33.30,1.307,10244,0.054,0.000,2184,1941,2483,2483,4094,0,0,0,0,0,0,26.25,24.97,24.27,10.36,46.06
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.58,585.0,2184,1941,2484,4094,62.8,0.0,83,675,7.00,0.00,33.40,1.291,11270,0.037,0.000,2831,1941,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.77,10.21,46.29
$GC,712,1.58,585.0,2831,1941,1801,4094,57.8,10.1,93,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1941,1801,1801,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.06,44.60
$GC,759,1.58,585.0,2831,1940,1800,4094,53.3,9.8,99,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1941,1800,1800,4095,0,0,0,0,0,0,25.65,25.67,25.67,10.06,44.68
$GC,805,1.58,585.0,2831,1940,1800,4095,48.7,9.8,105,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1941,1799,1799,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.05,45.35
$GC,851,1.58,585.0,2830,1941,1798,4094,44.1,10.1,111,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1941,1798,1798,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.05,45.15
$GC,897,1.58,585.0,2831,1941,1797,4094,39.3,10.3,117,909,0.00,1.10,0.00,0.000,260,0.000,0.042,2831,2353,1797,1797,4095,0,0,0,0,0,0,25.97,25.70,25.98,10.04,45.66
$GC,979,1.58,585.0,2831,2352,1795,4095,30.5,10.7,128,989,0.00,1.02,0.00,0.000,1030,0.000,0.031,2832,1954,1795,1795,4095,0,0,0,0,0,0,25.86,25.84,25.90,10.04,45.55
$GC,1027,1.58,585.0,2831,1954,1794,4095,25.6,10.5,134,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.04,45.90
$GC,1073,1.58,585.0,2831,1954,1793,4094,21.1,9.4,140,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1954,1793,1793,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.04,45.98
$GC,1119,1.58,585.0,2830,1954,1792,4094,16.7,9.5,146,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1954,1791,1791,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.07,46.77
$GC,1165,1.63,620.6,2831,1954,1790,4094,12.8,8.0,152,1175,0.00,0.00,3.05,0.314,8198,0.000,0.000,2831,1954,1762,1762,4094,0,0,0,0,0,0,26.26,25.68,25.20,10.10,48.03
$GC,1212,1.70,666.1,2831,1954,1762,4094,9.1,7.9,158,1222,0.28,1.08,4.20,0.438,10500,0.040,0.038,2870,2360,1706,1706,4094,0,0,0,0,0,0,26.08,25.90,25.24,10.10,49.25
$GC,1285,1.70,666.1,2870,2360,1705,4094,2.7,8.5,168,1294,0.00,1.02,0.00,0.000,1030,0.000,0.032,2871,1960,1704,1704,4095,0,0,0,0,0,0,26.07,26.03,26.10,10.12,50.43
$STATE,1302,end climb,SURFACE_DEPTH_REACHED
$STATE,1302,begin surface coast
$FINISH,0.1,1.014765
$STATE,1323,end surface coast,CONTROL_FINISHED_OK
$STATE,1324,begin surface
$SM_CCo,1420,0.00,0.000,0,0,1703,671.43
$SM_GC,0.91,27.62,0.00,0.00,0.021,0.000,0.000,231,1953,1703,-6.59,0.14,671.43,0,0,0,0,0,0,26.01,26.33,26.09
$IRIDIUM_FIX,5952.82,-17420.78,050817,041800
$TT8_MAMPS,0.025466,0.235186
$HUMID,50.78
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.77,13.631
$10V_AH,10.17,17.006
$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,44.450,7.400,73.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,482.415,60.150,160.267,721.784,56.882,33.415,429.675,0.000,417.316,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1277.550,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.607,469.935,372.138,551.378,719.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17765,173
$CAP_FILE_SIZE,32220,0
$CFSIZE,1024409600,993542144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,897.36,0x236164,1,24
$GPS,050817,070138,6005.431,-17302.186,4,0.8,13,7.4,0.0,138.6,11,4.9