version: 66.13
glider: 401
mission: 22
dive: 533
start: 8 5 117 8 59 37
data:
$ID,401
$MISSION,22
$DIVE,533
$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,40
$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
$GPS1,050817,083307,6005.1299,-17302.6641,8,0.9,53,7.4,0.5,193.1,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.5
$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,-0.361675,0.127745
$KALMAN_X,60077.964844,-2590.888672,-345.420807,-205954.281250,121.217255
$KALMAN_Y,43859.339844,1117.578125,210.348160,47071.019531,-139.504211
$MHEAD_RNG_PITCHd_Wd,282.1,15196,-7.8,-8.333,-12.26,10279
$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,-582.0,2397,1960,2365,4092,0.0,0.0,0,21,5.80,0.00,-4.62,0.000,20482,0.025,0.000,1831,1965,2875,2875,4094,0,0,0,0,0,0,26.11,28.83,26.13,10.32,51.02
$GC,24,-1.58,-582.0,1831,1965,2875,4094,0.1,0.0,1,33,0.00,0.00,-2.75,0.000,16390,0.000,0.000,1831,1965,3166,3166,4095,0,0,0,0,0,0,26.29,25.58,26.29,10.43,51.14
$GC,69,-1.59,-585.0,1830,1962,3166,4095,2.1,-8.1,7,79,0.00,1.05,0.00,0.000,260,0.000,0.043,1831,2362,3166,3166,4095,0,0,0,0,0,0,26.22,25.91,26.23,10.49,50.66
$GC,140,-1.59,-585.0,1830,2362,3168,4095,12.2,-14.5,17,149,0.00,1.05,0.00,0.000,1030,0.000,0.028,1831,1945,3168,3168,4095,0,0,0,0,0,0,26.08,26.03,26.08,10.49,50.23
$GC,185,-1.59,-585.0,1830,1945,3169,4095,17.7,-11.8,23,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1945,3169,3169,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.47,50.66
$GC,231,-1.59,-585.0,1830,1945,3170,4095,22.7,-11.1,29,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1945,3170,3170,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.45,49.96
$GC,276,-1.59,-585.0,1830,1945,3171,4094,27.4,-10.4,35,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1945,3171,3171,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.43,48.22
$GC,320,-1.59,-585.0,1830,1945,3172,4095,31.8,-10.1,41,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1945,3171,3171,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.41,47.71
$GC,365,-1.59,-585.0,1830,1945,3173,4095,36.6,-10.7,47,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1945,3173,3173,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,47.67
$GC,411,-1.59,-585.0,1830,1945,3174,4095,41.8,-11.7,53,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1945,3173,3173,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.20
$GC,455,-1.59,-585.0,1830,1945,3175,4094,46.8,-10.7,59,464,0.00,1.12,0.00,0.000,260,0.000,0.044,1831,2365,3175,3175,4095,0,0,0,0,0,0,26.47,26.19,26.48,10.38,46.41
$GC,520,-1.59,-585.0,1830,2365,3175,4095,54.0,-10.6,68,530,0.00,1.02,0.00,0.000,1030,0.000,0.027,1831,1957,3175,3175,4094,0,0,0,0,0,0,26.30,26.27,26.32,10.38,46.02
$GC,566,-1.59,-585.0,1830,1956,3177,4094,59.2,-11.4,74,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1956,3177,3177,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,45.74
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,586,-0.45,0.0,1831,1956,3177,4095,61.2,-11.7,76,630,3.83,0.00,33.17,1.307,10244,0.053,0.000,2185,1957,2483,2483,4094,0,0,0,0,0,0,26.24,24.98,24.28,10.37,46.33
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,634,1.59,585.0,2184,1956,2483,4094,63.5,0.0,81,678,6.97,0.00,33.35,1.280,11270,0.036,0.000,2831,1956,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.80,10.22,45.03
$GC,716,1.59,585.0,2831,1956,1801,4094,57.8,10.0,91,726,0.00,1.12,0.00,0.000,260,0.000,0.040,2832,2361,1801,1801,4094,0,0,0,0,0,0,25.46,25.20,25.47,10.07,44.29
$GC,807,1.59,585.0,2831,2361,1799,4094,48.2,10.2,104,817,0.00,1.08,0.00,0.000,1030,0.000,0.029,2832,1948,1799,1799,4094,0,0,0,0,0,0,25.60,25.58,25.61,10.06,44.80
$GC,853,1.59,585.0,2831,1948,1797,4094,43.6,10.0,110,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1948,1798,1798,4094,0,0,0,0,0,0,25.91,25.92,25.91,10.06,45.58
$GC,897,1.59,585.0,2831,1947,1797,4094,39.7,9.1,116,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1947,1797,1797,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.06,45.19
$GC,941,1.59,585.0,2831,1948,1796,4094,35.6,9.2,122,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1948,1796,1796,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.05,45.58
$GC,986,1.59,585.0,2831,1948,1795,4094,31.4,9.6,128,995,0.00,1.12,0.00,0.000,260,0.000,0.041,2832,2363,1795,1795,4094,0,0,0,0,0,0,26.10,25.83,26.11,10.05,45.98
$GC,1071,1.59,585.0,2831,2363,1793,4094,22.7,10.0,140,1080,0.00,1.00,0.00,0.000,1030,0.000,0.031,2832,1971,1793,1793,4094,0,0,0,0,0,0,25.96,25.95,25.99,10.06,46.33
$GC,1117,1.59,585.0,2831,1971,1792,4094,18.4,9.2,146,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1971,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.08,46.92
$GC,1161,1.59,585.0,2831,1971,1791,4094,14.5,8.4,152,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1971,1791,1791,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.09,47.48
$GC,1206,1.59,585.0,2831,1970,1790,4094,10.6,8.8,158,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1971,1790,1790,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.10,48.62
$GC,1252,1.81,734.8,2831,1971,1789,4094,7.4,6.8,164,1271,0.65,0.00,8.73,0.607,10246,0.029,0.000,2901,1970,1626,1626,4094,0,0,0,0,0,0,26.12,25.70,25.26,10.13,49.40
$GC,1308,1.81,734.8,2901,1970,1625,4094,2.8,8.5,171,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1970,1625,1625,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,50.59
$STATE,1324,end climb,FINISH_DEPTH_REACHED
$STATE,1325,begin subsurface finish
$FINISH1,1.1,1.024088,105
$GC,1331,0.16,105.3,2901,1970,1624,4094,1.1,8.5,173,1350,5.22,0.00,-6.30,0.000,20486,0.021,0.000,2390,1970,2365,2365,4094,0,0,0,0,0,0,26.07,25.54,26.11,10.12,50.31
$FINISH2,0.3
$STATE,1351,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1351,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,070330
$TT8_MAMPS,0.024717,0.205226
$HUMID,50.63
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.80,13.797
$10V_AH,10.23,17.180
$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,22.475,8.575,75.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,467.781,0.407,152.178,733.981,52.721,33.424,448.758,0.000,263.123,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,43.605,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.921,475.468,0.000,557.769,726.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330888
$DATA_FILE_SIZE,17819,175
$CAP_FILE_SIZE,32853,0
$CFSIZE,1024409600,993280000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,083307,6005.130,-17302.664,8,0.9,53,7.4,0.5,193.1,8,3.0