version: 66.13
glider: 401
mission: 22
dive: 531
start: 8 5 117 7 59 59
data:
$ID,401
$MISSION,22
$DIVE,531
$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,25
$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,0.15
$_SM_ANGLEo,-1.8
$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,-0.375532,0.084391
$KALMAN_X,59830.171875,-2718.856689,-425.227905,-204946.109375,271.074493
$KALMAN_Y,44353.890625,1242.954468,346.238739,46755.984375,-99.974884
$MHEAD_RNG_PITCHd_Wd,275.3,15688,-7.7,-8.333,-12.22,10368
$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,-585.0,2394,1944,2367,4092,0.0,0.0,0,21,5.78,0.00,-4.90,0.000,20482,0.024,0.000,1834,1945,2902,2902,4095,0,0,0,0,0,0,26.10,28.83,26.11,10.29,50.78
$GC,24,-1.58,-585.0,1834,1945,2903,4095,0.0,0.0,1,33,0.00,0.00,-2.40,0.000,16390,0.000,0.000,1834,1945,3169,3169,4095,0,0,0,0,0,0,26.28,25.58,26.28,10.41,51.10
$GC,69,-1.58,-585.0,1833,1945,3170,4095,4.6,-12.4,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3169,3169,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.48,51.53
$GC,115,-1.58,-585.0,1833,1944,3170,4094,11.1,-14.9,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3171,3171,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.47,50.86
$GC,159,-1.58,-585.0,1833,1945,3172,4095,17.4,-13.0,19,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1945,3172,3172,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.47,50.31
$GC,204,-1.58,-585.0,1833,1945,3173,4095,22.5,-11.1,25,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3173,3173,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.46,49.76
$GC,249,-1.58,-585.0,1833,1945,3173,4094,27.1,-9.9,31,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3174,3174,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.43,49.88
$GC,295,-1.58,-585.0,1833,1944,3175,4095,31.8,-10.5,37,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3175,3175,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.41,48.30
$GC,340,-1.58,-585.0,1833,1945,3175,4094,36.8,-10.6,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3176,3176,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.39,47.79
$GC,384,-1.58,-585.0,1833,1945,3176,4095,41.5,-9.9,49,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3176,3176,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.39,46.81
$GC,429,-1.58,-585.0,1833,1944,3177,4095,46.1,-10.8,55,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1945,3177,3177,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.28
$GC,475,-1.58,-585.0,1833,1944,3178,4095,50.5,-10.1,61,485,0.00,1.10,0.00,0.000,260,0.000,0.042,1834,2357,3178,3178,4095,0,0,0,0,0,0,26.47,26.19,26.48,10.38,46.73
$GC,527,-1.58,-585.0,1833,2356,3179,4095,55.8,-10.0,68,537,0.00,1.05,0.00,0.000,1030,0.000,0.029,1833,1934,3179,3179,4095,0,0,0,0,0,0,26.30,26.24,26.28,10.37,46.92
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,564,begin apogee
$GC,569,-0.45,0.0,1833,1934,3180,4095,60.0,-10.6,73,613,3.78,0.00,33.30,1.300,10246,0.052,0.000,2184,1934,2483,2483,4095,0,0,0,0,0,0,26.24,24.97,24.27,10.37,46.10
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.58,585.0,2184,1934,2484,4095,62.2,0.0,78,662,6.95,1.17,33.33,1.275,10500,0.037,0.038,2829,2354,1802,1802,4094,0,0,0,0,0,0,25.46,24.73,23.80,10.21,45.47
$GC,732,1.58,585.0,2829,2353,1801,4094,53.8,9.4,93,742,0.00,1.02,0.00,0.000,1030,0.000,0.028,2829,1956,1801,1801,4094,0,0,0,0,0,0,25.42,25.39,25.48,10.06,44.52
$GC,778,1.58,585.0,2829,1956,1800,4094,48.9,10.3,99,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1799,1799,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.05,44.95
$GC,822,1.58,585.0,2829,1956,1798,4094,44.6,9.4,105,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1798,1798,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.05,44.92
$GC,867,1.58,585.0,2829,1956,1797,4094,39.9,10.4,111,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1956,1797,1797,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.05,44.99
$GC,913,1.58,585.0,2829,1956,1796,4094,35.7,9.5,117,922,0.00,1.08,0.00,0.000,260,0.000,0.042,2829,2352,1796,1796,4094,0,0,0,0,0,0,26.02,25.75,26.03,10.05,46.14
$GC,1016,1.58,585.0,2829,2352,1794,4094,25.7,9.6,132,1026,0.00,1.02,0.00,0.000,1030,0.000,0.031,2829,1952,1794,1794,4094,0,0,0,0,0,0,25.94,25.89,25.98,10.05,46.10
$GC,1063,1.58,585.0,2829,1952,1794,4094,21.7,8.5,138,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1952,1793,1793,4095,0,0,0,0,0,0,26.20,26.20,26.20,10.06,46.61
$GC,1108,1.58,585.0,2829,1952,1792,4095,17.8,8.6,144,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1953,1792,1792,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.07,46.96
$GC,1153,1.67,646.0,2829,1952,1792,4094,14.3,7.7,150,1163,0.20,0.00,4.43,0.487,10246,0.047,0.000,2861,1952,1730,1730,4095,0,0,0,0,0,0,26.06,25.84,25.18,10.09,47.91
$GC,1201,1.71,674.8,2861,1951,1729,4095,10.6,8.0,156,1210,0.00,0.00,3.30,0.340,8198,0.000,0.000,2861,1952,1697,1697,4094,0,0,0,0,0,0,26.25,25.69,25.24,10.09,48.62
$GC,1248,1.80,729.4,2860,1951,1696,4094,6.9,7.8,162,1258,0.25,0.00,4.55,0.448,10246,0.042,0.000,2893,1951,1632,1632,4094,0,0,0,0,0,0,26.06,25.86,25.26,10.11,49.37
$GC,1296,1.87,780.5,2892,1951,1632,4094,3.2,7.8,168,1306,0.22,0.00,4.35,0.411,10246,0.050,0.000,2922,1952,1571,1571,4094,0,0,0,0,0,0,26.05,25.86,25.29,10.11,50.47
$STATE,1313,end climb,SURFACE_DEPTH_REACHED
$STATE,1313,begin surface coast
$FINISH,0.1,1.012723
$STATE,1343,end surface coast,CONTROL_FINISHED_OK
$STATE,1343,begin surface
$SM_CCo,1441,0.00,0.000,0,0,1570,785.62
$SM_GC,0.68,28.27,0.00,0.00,0.021,0.000,0.000,230,1952,1570,-6.59,0.05,785.62,0,0,0,0,0,0,25.98,26.28,26.06
$IRIDIUM_FIX,5925.93,-17425.36,050817,054005
$TT8_MAMPS,0.025466,0.210469
$HUMID,50.94
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.80,13.728
$10V_AH,10.22,17.106
$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,45.450,6.450,83.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,482.425,59.981,170.260,733.216,55.661,33.414,457.405,0.000,261.688,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,42.075,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.533,472.700,0.000,554.341,726.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,17688,174
$CAP_FILE_SIZE,34397,0
$CFSIZE,1024409600,993378304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,082510,6005.198,-17302.709,4,0.9,35,7.4,0.4,230.1,9,4.3