version: 66.13
glider: 401
mission: 22
dive: 535
start: 8 5 117 10 2 58
data:
$ID,401
$MISSION,22
$DIVE,535
$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,24
$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
$GPS1,050817,094908,6005.0503,-17303.6152,4,0.8,17,7.4,0.0,74.5,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-37.7
$GPS2,050817,100150,6004.9888,-17303.6621,5,0.8,18,7.4,0.0,197.2,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.353082,0.150841
$KALMAN_X,60259.109375,-2607.552246,-403.198212,-206989.718750,101.378754
$KALMAN_Y,43434.093750,1034.067627,128.758087,47403.429688,-161.823761
$MHEAD_RNG_PITCHd_Wd,285.7,14315,-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,5,begin dive
$GC,8,-1.58,-583.5,230,1957,1666,4092,0.0,0.0,0,20,10.85,0.00,0.00,0.000,2049,0.083,0.000,1168,1957,1666,1666,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.23,48.85
$GC,23,-1.58,-583.5,1167,1957,1666,4094,0.6,0.0,1,51,7.03,1.15,-13.77,0.000,18948,0.041,1.287,1828,1522,3168,3168,4095,0,0,0,0,0,0,25.91,24.77,25.98,10.23,48.81
$GC,303,-1.58,-583.5,1827,1522,3172,4095,27.1,-11.1,42,313,0.00,0.98,0.00,0.000,1030,0.000,0.024,1828,1950,3173,3173,4094,0,0,0,0,0,0,26.15,26.13,26.15,10.48,46.92
$GC,350,-1.58,-583.5,1827,1949,3173,4094,31.7,-9.8,48,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1949,3173,3173,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.46,46.06
$GC,395,-1.58,-583.5,1828,1949,3174,4094,36.4,-10.6,54,403,0.00,1.08,0.00,0.000,260,0.000,0.042,1828,2362,3175,3175,4094,0,0,0,0,0,0,26.39,26.11,26.41,10.44,45.31
$GC,459,-1.58,-583.5,1827,2361,3175,4094,43.0,-10.1,63,468,0.00,1.02,0.00,0.000,1030,0.000,0.028,1828,1946,3175,3175,4095,0,0,0,0,0,0,26.20,26.19,26.22,10.43,44.95
$GC,505,-1.58,-583.5,1827,1945,3177,4095,47.9,-11.3,69,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1945,3176,3176,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,44.64
$GC,550,-1.58,-583.5,1827,1945,3177,4095,53.2,-11.6,75,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1945,3177,3177,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.42,44.21
$GC,596,-1.58,-583.5,1827,1945,3178,4094,58.5,-12.0,81,604,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1945,3179,3179,4094,0,0,0,0,0,0,26.48,26.51,26.51,10.40,43.93
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,612,begin apogee
$GC,617,-0.45,0.0,1827,1945,3179,4095,60.8,-11.3,83,661,3.85,0.00,33.22,1.297,10244,0.052,0.000,2185,1945,2483,2483,4094,0,0,0,0,0,0,26.22,24.98,24.28,10.40,43.69
$STATE,662,end apogee,CONTROL_FINISHED_OK
$STATE,662,begin climb
$GC,664,1.58,583.5,2185,1945,2483,4094,63.2,0.0,88,709,6.93,0.00,33.28,1.271,11270,0.034,0.000,2830,1945,1803,1803,4094,0,0,0,0,0,0,25.47,25.63,23.80,10.26,44.17
$GC,747,1.58,583.5,2830,1945,1803,4094,57.9,8.7,98,756,0.00,1.12,0.00,0.000,260,0.000,0.037,2830,2358,1802,1802,4094,0,0,0,0,0,0,25.46,25.22,25.47,10.11,43.66
$GC,831,1.58,583.5,2830,2358,1801,4094,49.4,9.5,110,841,0.00,1.00,0.00,0.000,1030,0.000,0.028,2830,1968,1801,1801,4094,0,0,0,0,0,0,25.61,25.56,25.60,10.10,43.81
$GC,878,1.58,583.5,2830,1968,1800,4094,44.6,10.8,116,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1968,1800,1800,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.09,43.89
$GC,923,1.58,583.5,2830,1968,1798,4094,39.9,10.6,122,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1969,1798,1798,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.09,44.05
$GC,967,1.58,583.5,2830,1968,1797,4094,35.3,10.1,128,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1968,1797,1797,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.09,44.29
$GC,1012,1.58,583.5,2830,1968,1796,4095,31.0,9.2,134,1021,0.00,1.05,0.00,0.000,260,0.000,0.040,2830,2358,1796,1796,4094,0,0,0,0,0,0,26.10,25.84,26.11,10.08,45.07
$GC,1103,1.58,583.5,2830,2357,1795,4094,22.8,8.9,147,1112,0.00,1.00,0.00,0.000,1030,0.000,0.030,2831,1965,1794,1794,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.08,45.58
$GC,1148,1.58,583.5,2830,1964,1794,4094,18.9,8.8,153,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1794,1794,4093,0,0,0,0,0,0,26.24,26.25,26.25,10.09,45.90
$GC,1193,1.59,587.3,2830,1964,1793,4093,15.1,8.3,159,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1793,1793,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.11,46.81
$GC,1239,1.59,590.7,2830,1964,1792,4094,11.4,8.3,165,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1965,1791,1791,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.13,47.71
$GC,1284,1.71,666.1,2830,1964,1790,4094,7.8,7.6,171,1295,0.30,0.00,5.32,0.502,10246,0.039,0.000,2872,1964,1706,1706,4094,0,0,0,0,0,0,26.14,25.91,25.30,10.15,49.29
$GC,1332,1.71,666.1,2872,1964,1706,4094,4.0,8.5,177,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1965,1705,1705,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.15,49.17
$STATE,1361,end climb,FINISH_DEPTH_REACHED
$STATE,1361,begin subsurface finish
$FINISH1,1.6,1.024085,106
$GC,1367,0.16,105.6,2872,1965,1705,4094,1.6,7.7,181,1386,5.12,0.00,-5.50,0.000,20486,0.050,0.000,2395,1965,2365,2365,4094,0,0,0,0,0,0,26.08,25.60,26.15,10.16,49.37
$FINISH2,0.3
$STATE,1387,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1387,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,095310
$TT8_MAMPS,0.025466,0.211218
$HUMID,50.11
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.80,13.876
$10V_AH,10.24,17.256
$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,34.075,8.400,71.825,0.000,0.000,77.464,90.978,348.207,0.000,0.000,19.843,493.128,90.257,142.618,1312.882,131.289,33.455,432.866,0.000,276.023,0.000,0.543,0.000
$DEVICE_MAMPS,82.620,1286.730,1296.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.779,497.202,0.000,583.173,762.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,17766,183
$CAP_FILE_SIZE,38279,0
$CFSIZE,1024409600,993181696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,100150,6004.989,-17303.662,5,0.8,18,7.4,0.0,197.2,10,4.9