version: 66.13
glider: 401
mission: 22
dive: 530
start: 8 5 117 7 34 55
data:
$ID,401
$MISSION,22
$DIVE,530
$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,51
$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
$GPS1,050817,070853,6005.3682,-17302.0820,8,0.8,16,7.4,0.4,156.8,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-1.7
$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,-0.372483,0.093137
$KALMAN_X,59463.398438,-2788.841553,-481.986664,-204451.218750,233.003326
$KALMAN_Y,44409.347656,1276.959106,387.543671,46625.195312,-109.873871
$MHEAD_RNG_PITCHd_Wd,276.6,15688,-7.8,-8.333,-12.25,10304
$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,-583.5,2395,1952,2366,4092,0.0,0.0,0,21,5.80,0.00,-4.40,0.000,20482,0.026,0.000,1834,1952,2847,2847,4095,0,0,0,0,0,0,26.14,28.83,26.13,10.31,50.66
$GC,24,-1.58,-583.5,1834,1952,2846,4095,0.1,0.0,1,32,0.00,0.00,-3.03,0.000,16390,0.000,0.000,1834,1952,3169,3169,4095,0,0,0,0,0,0,26.30,25.61,26.31,10.41,51.37
$GC,68,-1.58,-583.5,1834,1952,3170,4095,3.6,-11.9,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1952,3170,3170,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.48,50.47
$GC,112,-1.58,-583.5,1834,1952,3171,4095,9.9,-14.2,13,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1952,3172,3172,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.49,50.35
$GC,157,-1.58,-583.5,1834,1952,3172,4095,15.6,-12.9,19,166,0.00,1.08,0.00,0.000,260,0.000,0.044,1834,2350,3173,3173,4094,0,0,0,0,0,0,26.33,26.04,26.34,10.49,49.80
$GC,195,-1.58,-583.5,1833,2350,3173,4094,20.2,-11.5,24,205,0.00,1.02,0.00,0.000,1030,0.000,0.029,1834,1942,3173,3173,4094,0,0,0,0,0,0,26.13,26.10,26.14,10.48,49.92
$GC,242,-1.58,-583.5,1834,1942,3174,4094,24.9,-10.3,30,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1942,3175,3175,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.45,49.21
$GC,289,-1.58,-583.5,1833,1942,3175,4094,29.6,-10.6,36,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1942,3175,3175,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.41,48.30
$GC,335,-1.58,-583.5,1833,1942,3175,4095,34.2,-9.9,42,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1942,3176,3176,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.40,47.48
$GC,381,-1.58,-583.5,1833,1942,3177,4094,38.8,-10.1,48,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1942,3177,3177,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.39,46.88
$GC,425,-1.58,-583.5,1833,1942,3177,4094,43.5,-10.8,54,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1942,3178,3178,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.39,46.61
$GC,469,-1.58,-583.5,1834,1942,3178,4095,48.0,-10.2,60,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1942,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,46.22
$GC,513,-1.58,-583.5,1833,1942,3179,4095,52.7,-10.4,66,523,0.00,1.08,0.00,0.000,260,0.000,0.044,1834,2345,3179,3179,4094,0,0,0,0,0,0,26.51,26.23,26.52,10.38,46.41
$GC,578,-1.58,-583.5,1834,2345,3180,4094,59.8,-11.0,75,588,0.00,0.98,0.00,0.000,1030,0.000,0.030,1834,1953,3180,3180,4095,0,0,0,0,0,0,26.32,26.28,26.35,10.37,45.70
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,601,-0.45,0.0,1834,1953,3180,4095,61.9,-11.1,77,645,3.80,0.00,33.42,1.323,10244,0.053,0.000,2186,1953,2483,2483,4095,0,0,0,0,0,0,26.25,25.00,24.27,10.37,46.33
$STATE,646,end apogee,CONTROL_FINISHED_OK
$STATE,646,begin climb
$GC,648,1.58,583.5,2186,1952,2483,4095,64.7,0.0,82,692,6.93,0.00,33.35,1.301,11270,0.036,0.000,2829,1952,1803,1803,4094,0,0,0,0,0,0,25.48,25.64,23.77,10.21,44.95
$GC,730,1.58,583.5,2828,1952,1803,4094,59.7,9.5,92,740,0.00,1.10,0.00,0.000,260,0.000,0.040,2828,2348,1803,1803,4094,0,0,0,0,0,0,25.45,25.20,25.46,10.07,44.09
$GC,867,1.58,583.5,2828,2347,1799,4094,45.6,10.1,112,876,0.00,1.00,0.00,0.000,1030,0.000,0.029,2829,1958,1799,1799,4094,0,0,0,0,0,0,25.67,25.65,25.74,10.05,44.99
$GC,914,1.58,583.5,2828,1958,1798,4094,40.8,10.7,118,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1798,1798,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.06,45.86
$GC,960,1.58,583.5,2828,1958,1797,4094,36.0,9.8,124,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1958,1798,1798,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.05,45.90
$GC,1006,1.58,583.5,2828,1958,1796,4094,31.6,9.3,130,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1958,1796,1796,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.04,45.55
$GC,1053,1.58,583.5,2828,1958,1795,4094,27.1,9.8,136,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1958,1795,1795,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.05,46.10
$GC,1099,1.58,583.5,2828,1958,1794,4094,22.6,9.5,142,1108,0.00,1.08,0.00,0.000,260,0.000,0.041,2828,2356,1794,1794,4094,0,0,0,0,0,0,26.20,25.93,26.21,10.05,46.25
$GC,1164,1.63,614.6,2828,2356,1793,4094,17.1,8.0,151,1175,0.08,1.05,3.00,0.318,11270,0.056,0.031,2844,1945,1766,1766,4094,0,0,0,0,0,0,26.00,26.01,25.17,10.09,46.92
$GC,1213,1.68,652.3,2844,1945,1766,4094,13.3,8.0,157,1223,0.10,0.00,3.70,0.405,10246,0.074,0.000,2866,1945,1723,1723,4094,0,0,0,0,0,0,26.09,25.68,25.21,10.10,48.46
$GC,1260,1.68,652.3,2865,1945,1722,4094,9.3,8.5,163,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1945,1722,1722,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.11,49.25
$GC,1307,1.80,727.8,2865,1944,1721,4094,5.6,7.6,169,1317,0.28,0.00,5.57,0.500,10246,0.042,0.000,2898,1945,1634,1634,4094,0,0,0,0,0,0,26.10,25.89,25.29,10.13,49.64
$STATE,1353,end climb,FINISH_DEPTH_REACHED
$STATE,1353,begin subsurface finish
$FINISH1,1.7,1.024100,105
$GC,1359,0.16,104.5,2898,1945,1633,4094,1.7,8.1,175,1378,5.40,0.00,-6.40,0.000,20486,0.047,0.000,2394,1945,2367,2367,4094,0,0,0,0,0,0,26.03,25.55,26.09,10.12,50.39
$FINISH2,0.2
$STATE,1379,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1379,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,054005
$TT8_MAMPS,0.026215,0.244923
$HUMID,50.63
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.77,13.701
$10V_AH,10.16,17.079
$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,22.375,9.450,79.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,490.725,0.000,149.474,739.150,56.874,33.425,442.523,0.000,426.503,0.000,0.542,0.000
$DEVICE_MAMPS,74.205,44.370,1323.450,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.752,480.772,380.732,563.922,736.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,17768,177
$CAP_FILE_SIZE,33959,0
$CFSIZE,1024409600,993427456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,070853,6005.368,-17302.082,8,0.8,16,7.4,0.4,156.8,10,4.5