version: 66.13
glider: 401
mission: 22
dive: 536
start: 8 5 117 10 28 10
data:
$ID,401
$MISSION,22
$DIVE,536
$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,45
$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
$GPS1,050817,100150,6004.9888,-17303.6621,5,0.8,18,7.4,0.0,197.2,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.7
$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,-0.366124,0.121701
$KALMAN_X,60481.027344,-2486.819336,-329.424255,-207424.484375,54.691223
$KALMAN_Y,43347.117188,966.581787,73.947113,47609.542969,-110.775780
$MHEAD_RNG_PITCHd_Wd,281.0,14315,-7.7,-8.333,-12.19,10430
$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,-585.0,2395,1962,2365,4092,0.0,0.0,0,21,5.75,0.00,-4.90,0.000,20482,0.024,0.000,1838,1962,2905,2905,4095,0,0,0,0,0,0,26.10,28.83,26.13,10.33,50.78
$GC,24,-1.58,-585.0,1837,1962,2904,4095,0.2,0.0,1,33,0.00,0.00,-2.47,0.000,16390,0.000,0.000,1837,1962,3170,3170,4094,0,0,0,0,0,0,26.30,25.60,26.29,10.44,50.39
$GC,69,-1.58,-585.0,1837,1962,3171,4094,4.0,-13.1,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1962,3171,3171,4095,0,0,0,0,0,0,26.22,26.24,26.24,10.50,51.02
$GC,113,-1.58,-585.0,1837,1962,3172,4095,10.5,-15.1,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1962,3173,3173,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.50,50.31
$GC,158,-1.58,-585.0,1837,1962,3173,4095,16.1,-12.0,19,166,0.00,1.15,0.00,0.000,516,0.000,0.050,1838,1516,3173,3173,4095,0,0,0,0,0,0,26.30,26.01,26.32,10.48,50.03
$GC,217,-1.58,-585.0,1837,1516,3174,4095,22.7,-11.6,27,226,0.00,1.00,0.00,0.000,1030,0.000,0.027,1837,1946,3174,3174,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.46,49.25
$GC,264,-1.58,-585.0,1837,1947,3175,4095,27.9,-10.7,33,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1947,3176,3176,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.43,48.22
$GC,310,-1.58,-585.0,1837,1948,3176,4095,32.6,-10.2,39,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1948,3176,3176,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.42,47.44
$GC,356,-1.58,-585.0,1837,1948,3176,4094,37.4,-10.5,45,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1948,3177,3177,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,47.36
$GC,402,-1.58,-585.0,1837,1949,3178,4095,42.2,-10.4,51,412,0.00,1.10,0.00,0.000,260,0.000,0.044,1837,2367,3178,3178,4095,0,0,0,0,0,0,26.46,26.17,26.46,10.40,46.85
$GC,482,-1.58,-585.0,1837,2366,3179,4095,50.5,-10.2,62,491,0.00,1.02,0.00,0.000,1030,0.000,0.028,1837,1956,3179,3179,4094,0,0,0,0,0,0,26.28,26.25,26.30,10.39,46.33
$GC,529,-1.58,-585.0,1837,1956,3180,4094,55.5,-11.0,68,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1956,3180,3180,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.38,46.22
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,578,-0.45,0.0,1837,1956,3181,4095,60.6,-11.3,74,621,3.70,0.00,33.30,1.301,10244,0.051,0.000,2181,1956,2484,2484,4094,0,0,0,0,0,0,26.25,25.00,24.30,10.38,45.55
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,625,1.58,585.0,2181,1956,2484,4094,63.3,0.0,79,669,6.97,0.00,33.20,1.279,11270,0.036,0.000,2829,1956,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.82,10.23,45.31
$GC,707,1.58,585.0,2828,1956,1801,4094,57.9,8.9,89,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1801,1801,4095,0,0,0,0,0,0,25.48,25.49,25.48,10.08,44.32
$GC,753,1.58,585.0,2828,1956,1801,4095,53.4,10.1,95,763,0.00,1.12,0.00,0.000,260,0.000,0.041,2829,2364,1800,1800,4094,0,0,0,0,0,0,25.68,25.43,25.69,10.07,44.64
$GC,858,1.58,585.0,2828,2364,1798,4094,43.0,9.7,110,868,0.00,1.05,0.03,0.004,9222,0.000,0.032,2829,1960,1798,1798,4094,0,0,0,0,0,0,25.73,25.70,25.75,10.07,45.66
$GC,905,1.58,585.0,2828,1959,1797,4094,38.5,9.7,116,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1959,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.06,46.02
$GC,951,1.58,585.0,2828,1959,1796,4094,33.9,9.6,122,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1959,1796,1796,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.06,45.58
$GC,998,1.58,585.0,2828,1959,1795,4094,29.1,10.4,128,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1960,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.06,45.55
$GC,1044,1.58,585.0,2828,1959,1794,4094,24.2,10.8,134,1053,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2367,1794,1794,4094,0,0,0,0,0,0,26.18,25.91,26.20,10.06,45.98
$GC,1109,1.58,585.0,2828,2367,1792,4094,17.4,10.1,143,1118,0.00,1.02,0.00,0.000,1030,0.000,0.031,2829,1963,1792,1792,4094,0,0,0,0,0,0,26.03,26.00,26.08,10.09,47.08
$GC,1154,1.58,585.0,2828,1963,1791,4094,13.3,8.9,149,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1791,1791,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.10,47.59
$GC,1199,1.58,585.0,2828,1963,1790,4094,9.4,8.4,155,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1790,1790,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.12,48.38
$GC,1243,1.74,690.9,2828,1963,1789,4094,6.2,7.3,161,1253,0.40,0.00,6.55,0.544,10246,0.033,0.000,2879,1963,1677,1677,4094,0,0,0,0,0,0,26.15,25.90,25.31,10.14,49.48
$GC,1291,1.86,770.7,2879,1963,1676,4094,2.8,7.5,167,1300,0.30,0.00,5.72,0.482,10246,0.043,0.000,2915,1964,1584,1584,4094,0,0,0,0,0,0,26.08,25.88,25.31,10.13,49.56
$STATE,1308,end climb,FINISH_DEPTH_REACHED
$STATE,1308,begin subsurface finish
$FINISH1,1.3,1.024078,106
$GC,1314,0.16,106.1,2915,1963,1583,4094,1.3,7.4,169,1334,5.50,0.00,-6.78,0.000,20486,0.035,0.000,2392,1958,2365,2365,4094,0,0,0,0,0,0,26.03,25.52,26.08,10.12,49.84
$FINISH2,0.2
$STATE,1335,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1335,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,095310
$TT8_MAMPS,0.026215,0.253911
$HUMID,50.55
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.82,13.902
$10V_AH,10.17,17.294
$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,22.625,8.575,78.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.221,0.346,146.067,713.003,55.204,33.426,430.748,0.000,413.059,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,50.490,1301.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.571,464.472,367.831,544.980,710.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,17754,171
$CAP_FILE_SIZE,32611,0
$CFSIZE,1024409600,993148928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,100150,6004.989,-17303.662,5,0.8,18,7.4,0.0,197.2,10,4.9