version: 66.13
glider: 401
mission: 22
dive: 538
start: 8 5 117 11 27 12
data:
$ID,401
$MISSION,22
$DIVE,538
$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,20
$R_STBD_OVSHOOT,47
$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
$GPS1,050817,111834,6005.0049,-17305.0273,7,1.0,52,7.3,0.3,291.9,8,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-31.3
$GPS2,050817,112604,6004.9976,-17305.0996,9,0.8,16,7.3,0.0,0.0,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.366667,0.116493
$KALMAN_X,60420.386719,-2571.523926,-460.049316,-208485.265625,16.337219
$KALMAN_Y,43113.550781,916.964661,40.650768,47941.699219,-91.461182
$MHEAD_RNG_PITCHd_Wd,280.3,13000,-7.7,-8.333,-12.22,10356
$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,-585.0,229,1966,1589,4092,0.0,0.0,0,20,10.10,0.00,0.00,0.000,2049,0.076,0.000,1115,1967,1589,1589,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.20,50.43
$GC,22,-1.58,-585.0,1114,1966,1590,4094,0.6,0.0,1,51,7.70,1.25,-14.40,0.000,18948,0.049,1.297,1826,1519,3171,3171,4095,0,0,0,0,0,0,25.92,24.78,25.98,10.21,49.64
$GC,303,-1.58,-585.0,1826,1519,3175,4095,27.1,-12.0,42,313,0.00,0.98,0.00,0.000,1030,0.000,0.024,1826,1944,3177,3177,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.47,47.99
$GC,349,-1.58,-585.0,1826,1944,3177,4094,32.3,-11.2,48,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1944,3177,3177,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.46,46.85
$GC,393,-1.58,-585.0,1826,1944,3178,4095,37.1,-10.5,54,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1944,3178,3178,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.45,46.53
$GC,438,-1.58,-585.0,1826,1944,3178,4095,41.9,-11.1,60,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1944,3179,3179,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.43,45.70
$GC,483,-1.58,-585.0,1826,1944,3179,4094,47.0,-11.3,66,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1944,3180,3180,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.42,45.27
$GC,527,-1.58,-585.0,1826,1945,3180,4094,52.1,-11.5,72,537,0.00,1.10,0.00,0.000,260,0.000,0.041,1827,2367,3180,3180,4095,0,0,0,0,0,0,26.48,26.20,26.49,10.42,44.60
$GC,587,-1.58,-585.0,1826,2367,3181,4095,58.6,-10.8,80,597,0.00,1.02,0.00,0.000,1030,0.000,0.029,1827,1951,3182,3182,4095,0,0,0,0,0,0,26.29,26.25,26.31,10.41,45.27
$STATE,605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,605,begin apogee
$GC,610,-0.45,0.0,1826,1951,3182,4095,60.9,-11.0,82,652,3.83,0.00,33.45,1.296,10244,0.052,0.000,2186,1951,2483,2483,4094,0,0,0,0,0,0,26.23,25.22,24.28,10.40,44.56
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,653,begin climb
$GC,655,1.58,585.0,2185,1950,2483,4094,63.4,0.0,87,699,6.95,0.00,33.40,1.272,11270,0.036,0.000,2832,1951,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.80,10.25,43.93
$GC,737,1.58,585.0,2831,1950,1801,4094,57.9,9.9,97,747,0.00,1.12,0.00,0.000,260,0.000,0.038,2832,2363,1801,1801,4094,0,0,0,0,0,0,25.46,25.21,25.47,10.11,43.18
$GC,817,1.58,585.0,2831,2362,1800,4094,49.7,11.0,108,826,0.00,1.05,0.00,0.000,1030,0.000,0.031,2832,1959,1799,1799,4095,0,0,0,0,0,0,25.58,25.51,25.60,10.10,43.73
$GC,864,1.58,585.0,2832,1958,1798,4095,44.9,10.0,114,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,1798,1798,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.08,44.52
$GC,910,1.58,585.0,2831,1959,1797,4094,40.3,9.5,120,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,1797,1797,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.08,44.72
$GC,956,1.58,585.0,2831,1958,1796,4094,35.7,10.0,126,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,1796,1796,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,44.48
$GC,1002,1.58,585.0,2831,1959,1795,4094,31.1,10.2,132,1012,0.00,1.10,0.00,0.000,260,0.000,0.040,2832,2364,1795,1795,4094,0,0,0,0,0,0,26.10,25.84,26.12,10.08,44.76
$GC,1107,1.58,585.0,2832,2364,1792,4094,20.3,9.8,147,1116,0.00,1.02,0.00,0.000,1030,0.000,0.031,2832,1963,1792,1792,4094,0,0,0,0,0,0,25.99,25.97,26.06,10.09,45.86
$GC,1153,1.58,585.0,2832,1962,1791,4094,15.9,9.8,153,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1963,1791,1791,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.10,46.88
$GC,1199,1.58,585.0,2832,1962,1790,4094,11.4,9.6,159,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1963,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.12,47.91
$GC,1246,1.71,670.3,2832,1962,1789,4094,7.8,7.5,165,1256,0.25,0.00,5.53,0.504,10246,0.042,0.000,2869,1962,1701,1701,4094,0,0,0,0,0,0,26.13,25.91,25.31,10.13,47.99
$GC,1294,1.81,740.8,2868,1962,1701,4094,4.2,7.6,171,1305,0.28,0.00,5.30,0.465,10246,0.041,0.000,2902,1962,1619,1619,4094,0,0,0,0,0,0,26.08,25.89,25.32,10.14,48.89
$STATE,1319,end climb,FINISH_DEPTH_REACHED
$STATE,1319,begin subsurface finish
$FINISH1,1.9,1.024067,107
$GC,1325,0.16,106.8,2902,1961,1618,4094,1.9,8.1,174,1344,5.45,0.00,-5.70,0.000,20486,0.050,0.000,2399,1962,2361,2361,4094,0,0,0,0,0,0,26.01,25.53,26.07,10.13,49.56
$FINISH2,0.8
$STATE,1345,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1345,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,095944
$TT8_MAMPS,0.025466,0.249417
$HUMID,50.23
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.80,13.973
$10V_AH,10.18,17.368
$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,34.550,8.650,77.675,0.000,0.000,24.198,17.719,275.246,0.000,0.000,17.379,485.748,0.000,140.574,1063.466,127.008,33.480,420.691,0.000,426.356,0.000,0.542,0.000
$DEVICE_MAMPS,76.500,1297.440,1295.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.143,478.032,378.591,561.270,732.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329428
$DATA_FILE_SIZE,17863,176
$CAP_FILE_SIZE,35202,0
$CFSIZE,1024409600,993034240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050817,112604,6004.998,-17305.100,9,0.8,16,7.3,0.0,0.0,10,4.6