version: 66.13
glider: 401
mission: 22
dive: 529
start: 8 5 117 7 10 1
data:
$ID,401
$MISSION,22
$DIVE,529
$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,22
$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
$GPS1,050817,070138,6005.4312,-17302.1855,4,0.8,13,7.4,0.0,138.6,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-41.2
$GPS2,050817,070853,6005.3682,-17302.0820,8,0.8,16,7.4,0.4,156.8,10,4.5
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.361675,0.130132
$KALMAN_X,59259.199219,-2937.824463,-617.520874,-203963.187500,344.650970
$KALMAN_Y,44452.968750,1338.132812,470.918854,46441.175781,-173.361572
$MHEAD_RNG_PITCHd_Wd,282.4,15688,-7.8,-8.333,-12.23,10333
$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,-585.0,231,1957,1704,4091,0.0,0.0,0,21,10.90,0.00,0.00,0.000,2049,0.083,0.000,1172,1957,1703,1703,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.21,49.68
$GC,23,-1.58,-585.0,1172,1957,1703,4094,0.6,0.0,1,50,7.07,1.12,-13.57,0.000,18692,0.050,1.282,1826,2357,3170,3170,4095,0,0,0,0,0,0,25.90,24.77,25.96,10.21,50.35
$GC,270,-1.58,-585.0,1826,2357,3175,4095,25.8,-10.5,37,280,0.00,1.02,0.00,0.000,1030,0.000,0.028,1826,1947,3175,3175,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.46,47.95
$GC,317,-1.58,-585.0,1825,1946,3176,4094,30.6,-10.5,43,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1947,3176,3176,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.44,46.96
$GC,362,-1.58,-585.0,1826,1946,3177,4094,35.5,-10.7,49,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1947,3177,3177,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.42,45.94
$GC,407,-1.58,-585.0,1826,1947,3178,4095,40.3,-10.9,55,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1947,3178,3178,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.41,46.14
$GC,451,-1.58,-585.0,1826,1946,3179,4094,45.1,-10.7,61,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1947,3179,3179,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.41,45.23
$GC,497,-1.58,-585.0,1826,1946,3180,4095,49.9,-10.9,67,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1947,3179,3179,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.39,45.35
$GC,542,-1.58,-585.0,1825,1947,3181,4094,54.7,-10.1,73,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1947,3180,3180,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.38,45.27
$GC,587,-1.58,-585.0,1826,1946,3180,4095,59.7,-11.4,79,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1946,3181,3181,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.38,44.52
$STATE,603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,603,begin apogee
$GC,609,-0.45,0.0,1826,1946,3181,4094,61.8,-11.2,81,652,3.88,0.00,33.53,1.320,10244,0.054,0.000,2185,1946,2483,2483,4094,0,0,0,0,0,0,26.21,24.94,24.23,10.38,44.48
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,654,begin climb
$GC,656,1.58,585.0,2185,1946,2483,4094,64.4,0.0,86,707,6.90,1.10,33.42,1.295,10756,0.031,0.053,2829,1524,1803,1803,4094,0,0,0,0,0,0,25.41,25.34,23.74,10.24,43.97
$GC,717,1.63,616.9,2829,1524,1802,4094,61.1,8.0,93,728,0.00,1.00,3.62,0.615,9222,0.000,0.024,2829,1955,1765,1765,4094,0,0,0,0,0,0,25.13,25.10,23.97,10.09,43.26
$GC,765,1.63,616.9,2829,1955,1764,4094,56.9,9.1,99,775,0.10,0.00,0.00,0.000,2054,0.074,0.000,2845,1957,1764,1764,4094,0,0,0,0,0,0,25.34,25.39,25.37,10.08,43.42
$GC,811,1.63,616.9,2845,1956,1763,4094,52.2,10.3,105,820,0.00,1.05,0.00,0.000,260,0.000,0.041,2845,2348,1762,1762,4094,0,0,0,0,0,0,25.71,25.46,25.72,10.07,43.42
$GC,882,1.63,616.9,2845,2347,1761,4094,44.9,10.3,115,891,0.00,1.02,0.00,0.000,1030,0.000,0.030,2846,1949,1761,1761,4094,0,0,0,0,0,0,25.68,25.65,25.70,10.06,44.17
$GC,929,1.63,616.9,2845,1949,1760,4094,40.2,10.3,121,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1949,1759,1759,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.06,44.84
$GC,974,1.63,616.9,2845,1949,1758,4094,35.3,10.5,127,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1949,1758,1758,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.06,45.27
$GC,1018,1.63,616.9,2845,1949,1757,4094,30.6,10.4,133,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1949,1757,1757,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.05,45.11
$GC,1063,1.63,616.9,2845,1949,1756,4094,26.2,9.7,139,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1949,1756,1756,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.05,45.86
$GC,1109,1.63,616.9,2845,1950,1755,4094,21.8,10.1,145,1119,0.00,1.10,0.00,0.000,260,0.000,0.040,2845,2357,1755,1755,4094,0,0,0,0,0,0,26.18,25.90,26.20,10.06,45.43
$GC,1168,1.63,616.9,2845,2356,1753,4094,16.4,9.3,153,1177,0.00,1.00,0.00,0.000,1030,0.000,0.031,2845,1964,1753,1753,4094,0,0,0,0,0,0,26.03,25.98,26.04,10.09,46.81
$GC,1214,1.69,658.1,2845,1964,1752,4094,12.6,7.9,159,1223,0.10,0.00,3.45,0.372,10246,0.073,0.000,2866,1965,1716,1716,4094,0,0,0,0,0,0,26.08,25.87,25.22,10.12,48.70
$GC,1260,1.69,658.1,2866,1964,1715,4094,8.9,8.3,165,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1965,1715,1715,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.13,48.93
$GC,1305,1.71,669.7,2866,1964,1714,4094,5.0,8.2,171,1314,0.00,0.00,2.35,0.135,8198,0.000,0.000,2867,1965,1702,1702,4094,0,0,0,0,0,0,26.31,25.76,25.34,10.14,49.56
$STATE,1342,end climb,FINISH_DEPTH_REACHED
$STATE,1342,begin subsurface finish
$FINISH1,1.9,1.024085,106
$GC,1348,0.16,105.6,2866,1964,1702,4094,1.9,7.9,176,1367,5.07,1.10,-5.32,0.000,20740,0.051,1.288,2395,2354,2366,2366,4094,0,0,0,0,0,0,26.07,24.93,26.13,10.15,50.59
$FINISH2,0.6
$STATE,1368,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1368,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,054005
$TT8_MAMPS,0.026215,0.210469
$HUMID,50.43
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.74,13.675
$10V_AH,10.22,17.039
$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,34.025,9.525,76.375,0.000,0.000,22.910,21.049,262.840,0.000,0.000,18.149,482.847,0.407,153.984,1061.203,126.126,33.483,454.081,0.000,268.973,0.000,0.543,0.000
$DEVICE_MAMPS,82.620,1288.260,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.913,483.604,0.000,567.112,738.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,17758,178
$CAP_FILE_SIZE,37678,0
$CFSIZE,1024409600,993476608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050817,070853,6005.368,-17302.082,8,0.8,16,7.4,0.4,156.8,10,4.5