version: 66.13
glider: 401
mission: 22
dive: 532
start: 8 5 117 8 34 15
data:
$ID,401
$MISSION,22
$DIVE,532
$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
$GPS1,050817,082510,6005.1978,-17302.7090,4,0.9,35,7.4,0.4,230.1,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-34.9
$GPS2,050817,083307,6005.1299,-17302.6641,8,0.9,53,7.4,0.5,193.1,8,3.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348774,0.162750
$KALMAN_X,59874.894531,-2726.146729,-443.560425,-205506.781250,199.415009
$KALMAN_Y,43943.253906,1189.968872,287.072144,46844.097656,-200.815247
$MHEAD_RNG_PITCHd_Wd,287.6,15196,-7.7,-8.333,-12.22,10366
$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,-585.0,230,1951,1570,4092,0.0,0.0,0,20,10.90,0.00,0.00,0.000,2049,0.085,0.000,1170,1952,1570,1570,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.19,49.72
$GC,23,-1.58,-585.0,1170,1951,1570,4094,0.7,0.0,1,51,7.18,1.15,-14.57,0.000,19204,0.057,1.287,1828,1519,3170,3170,4095,0,0,0,0,0,0,25.92,24.80,26.00,10.20,49.44
$GC,74,-1.58,-585.0,1827,1519,3170,4095,0.0,0.2,7,84,0.00,1.00,0.00,0.000,1030,0.000,0.028,1828,1936,3171,3171,4094,0,0,0,0,0,0,25.93,25.88,25.95,10.54,49.60
$GC,120,-1.58,-585.0,1828,1936,3171,4094,2.2,-8.5,13,129,0.00,1.08,0.00,0.000,516,0.000,0.049,1828,1519,3171,3171,4095,0,0,0,0,0,0,26.20,25.91,26.21,10.54,49.25
$GC,139,-1.58,-585.0,1827,1519,3171,4095,4.5,-12.1,15,148,0.00,0.93,0.00,0.000,1030,0.000,0.024,1828,1925,3173,3173,4095,0,0,0,0,0,0,26.02,26.01,26.04,10.54,48.77
$GC,186,-1.58,-585.0,1828,1925,3173,4095,11.0,-14.7,21,194,0.00,1.05,0.00,0.000,516,0.000,0.047,1828,1520,3173,3173,4095,0,0,0,0,0,0,26.26,25.97,26.27,10.54,48.26
$GC,408,-1.58,-585.0,1828,1520,3177,4095,36.5,-10.8,54,417,0.00,0.88,0.00,0.000,1030,0.000,0.024,1828,1909,3177,3177,4094,0,0,0,0,0,0,26.22,26.20,26.24,10.43,46.06
$GC,455,-1.58,-585.0,1828,1909,3177,4094,41.2,-10.6,60,465,0.00,1.20,0.00,0.000,260,0.000,0.043,1828,2369,3178,3178,4095,0,0,0,0,0,0,26.44,26.17,26.45,10.42,45.78
$GC,514,-1.58,-585.0,1827,2369,3179,4095,47.6,-10.2,68,522,0.00,1.12,0.00,0.000,1030,0.000,0.027,1828,1914,3179,3179,4095,0,0,0,0,0,0,26.28,26.23,26.27,10.41,45.03
$GC,560,-1.58,-585.0,1828,1914,3180,4095,52.4,-10.4,74,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1914,3180,3180,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.40,44.52
$GC,606,-1.58,-585.0,1828,1914,3181,4094,57.7,-11.2,80,615,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1914,3181,3181,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.40,44.52
$STATE,629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,629,begin apogee
$GC,634,-0.45,0.0,1827,1914,3181,4094,60.6,-11.1,83,678,3.85,0.00,33.35,1.304,10244,0.054,0.000,2185,1913,2484,2484,4095,0,0,0,0,0,0,26.24,24.98,24.28,10.39,44.88
$STATE,679,end apogee,CONTROL_FINISHED_OK
$STATE,679,begin climb
$GC,682,1.58,585.0,2185,1913,2484,4095,63.2,0.0,88,726,6.93,0.00,33.40,1.281,11270,0.035,0.000,2831,1913,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.79,10.25,44.01
$GC,763,1.58,585.0,2830,1913,1802,4094,58.2,9.6,98,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1913,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.46,10.10,43.54
$GC,810,1.58,585.0,2830,1913,1800,4094,53.7,10.0,104,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1913,1800,1800,4095,0,0,0,0,0,0,25.67,25.68,25.67,10.09,43.18
$GC,853,1.58,585.0,2830,1913,1799,4095,49.2,9.8,110,863,0.00,1.23,0.00,0.000,260,0.000,0.039,2831,2365,1799,1799,4094,0,0,0,0,0,0,25.79,25.53,25.81,10.09,44.21
$GC,958,1.58,585.0,2831,2364,1797,4094,38.9,9.9,125,967,0.00,1.02,0.00,0.000,1030,0.000,0.030,2831,1965,1796,1796,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.07,44.56
$GC,1005,1.58,585.0,2830,1964,1796,4094,34.5,9.8,131,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1795,1795,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.07,44.44
$GC,1051,1.58,585.0,2830,1964,1795,4094,29.7,10.2,137,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1794,1794,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.07,44.88
$GC,1097,1.58,585.0,2830,1964,1794,4094,25.1,10.0,143,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1793,1793,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.07,45.62
$GC,1143,1.58,585.0,2831,1964,1792,4094,20.6,9.6,149,1153,0.00,1.08,0.00,0.000,260,0.000,0.041,2831,2364,1792,1792,4094,0,0,0,0,0,0,26.22,25.94,26.22,10.08,45.47
$GC,1208,1.58,585.0,2830,2363,1791,4094,14.9,8.6,158,1218,0.00,1.00,0.00,0.000,1030,0.000,0.031,2831,1968,1791,1791,4094,0,0,0,0,0,0,26.05,26.00,26.09,10.11,46.65
$GC,1254,1.60,600.5,2830,1968,1789,4094,11.1,8.2,164,1263,0.00,0.00,1.05,0.004,8198,0.000,0.000,2831,1968,1789,1789,4094,0,0,0,0,0,0,26.30,26.25,26.29,10.13,48.18
$GC,1300,1.65,630.4,2829,1968,1788,4094,7.4,8.0,170,1309,0.10,0.00,3.58,0.360,10246,0.074,0.000,2853,1967,1747,1747,4094,0,0,0,0,0,0,26.14,25.94,25.32,10.15,49.64
$GC,1347,1.70,661.6,2852,1968,1746,4094,3.9,8.0,176,1356,0.00,0.00,3.30,0.310,8198,0.000,0.000,2853,1967,1713,1713,4094,0,0,0,0,0,0,26.34,25.77,25.38,10.16,50.19
$STATE,1370,end climb,FINISH_DEPTH_REACHED
$STATE,1371,begin subsurface finish
$FINISH1,1.8,1.024100,105
$GC,1377,0.16,104.5,2853,1967,1712,4094,1.8,7.6,179,1395,4.95,0.00,-5.50,0.000,20486,0.054,0.000,2397,1967,2365,2365,4094,0,0,0,0,0,0,26.07,25.58,26.13,10.16,49.52
$FINISH2,0.3
$STATE,1396,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1397,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,070330
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.35
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.79,13.771
$10V_AH,10.17,17.153
$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,33.900,12.725,74.675,0.000,0.000,22.482,29.791,259.603,0.000,0.000,54.925,502.752,0.000,150.704,1111.613,130.357,33.485,448.319,0.000,437.250,0.000,0.542,0.000
$DEVICE_MAMPS,84.915,1287.495,1304.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.418,491.641,389.339,576.959,752.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,17746,181
$CAP_FILE_SIZE,38790,0
$CFSIZE,1024409600,993329152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050817,083307,6005.130,-17302.664,8,0.9,53,7.4,0.5,193.1,8,3.0