version: 66.13
glider: 401
mission: 22
dive: 539
start: 8 5 117 11 51 42
data:
$ID,401
$MISSION,22
$DIVE,539
$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,22
$R_STBD_OVSHOOT,41
$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
$GPS1,050817,112604,6004.9976,-17305.0996,9,0.8,16,7.3,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-2.1
$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,-0.373698,0.097119
$KALMAN_X,60656.367188,-2462.126709,-394.689026,-208922.375000,-6.157562
$KALMAN_Y,43043.460938,863.870911,11.379058,48095.394531,-58.582222
$MHEAD_RNG_PITCHd_Wd,277.3,13000,-7.7,-8.333,-12.18,10449
$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,-585.0,2398,1962,2361,4092,0.0,0.0,0,21,5.80,0.00,-4.57,0.000,20482,0.023,0.000,1837,1962,2983,2983,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.32,50.51
$GC,24,-1.58,-585.0,1837,1962,2983,4094,1.1,0.0,1,33,0.00,0.00,-1.23,0.000,16390,0.000,0.000,1837,1962,3168,3168,4095,0,0,0,0,0,0,26.27,25.55,26.24,10.45,50.55
$GC,69,-1.58,-585.0,1836,1962,3169,4095,6.2,-12.7,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1962,3169,3169,4095,0,0,0,0,0,0,26.17,26.18,26.17,10.49,50.43
$GC,114,-1.58,-585.0,1836,1961,3170,4095,12.3,-14.2,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1962,3171,3171,4095,0,0,0,0,0,0,26.22,26.23,26.22,10.47,50.47
$GC,159,-1.58,-585.0,1836,1962,3171,4095,17.9,-11.6,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1962,3171,3171,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,49.72
$GC,203,-1.58,-585.0,1836,1962,3172,4095,22.7,-10.6,25,213,0.00,1.15,0.00,0.000,516,0.000,0.050,1837,1514,3172,3172,4095,0,0,0,0,0,0,26.29,26.00,26.31,10.44,49.56
$GC,255,-1.58,-585.0,1836,1513,3173,4095,28.3,-10.7,32,265,0.00,1.00,0.00,0.000,1030,0.000,0.025,1837,1945,3174,3174,4095,0,0,0,0,0,0,26.16,26.12,26.15,10.42,48.34
$GC,301,-1.58,-585.0,1836,1945,3174,4095,32.8,-9.6,38,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1946,3174,3174,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.41,48.34
$GC,347,-1.58,-585.0,1836,1945,3175,4094,36.8,-9.2,44,357,0.00,1.12,0.00,0.000,260,0.000,0.044,1837,2373,3174,3174,4095,0,0,0,0,0,0,26.39,26.10,26.41,10.40,47.16
$GC,405,-1.58,-585.0,1836,2372,3176,4095,42.9,-10.5,52,415,0.00,1.05,0.00,0.000,1030,0.000,0.028,1837,1952,3176,3176,4094,0,0,0,0,0,0,26.21,26.17,26.22,10.38,46.22
$GC,451,-1.58,-585.0,1836,1952,3177,4094,47.9,-11.0,58,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3177,3177,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,46.06
$GC,497,-1.58,-585.0,1836,1952,3178,4094,52.9,-10.7,64,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3178,3178,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.38,46.33
$GC,542,-1.58,-585.0,1836,1951,3178,4095,57.8,-10.5,70,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3179,3179,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,45.66
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,570,-0.45,0.0,1836,1952,3179,4095,60.4,-10.5,73,614,3.78,0.00,33.30,1.291,10244,0.053,0.000,2186,1952,2484,2484,4095,0,0,0,0,0,0,26.22,24.98,24.29,10.37,46.61
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,618,1.58,585.0,2185,1951,2484,4095,62.6,0.0,78,662,6.95,0.00,33.35,1.267,11270,0.037,0.000,2829,1952,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.82,10.22,45.82
$GC,700,1.58,585.0,2829,1951,1801,4094,57.3,9.7,88,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1952,1801,1801,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.07,44.36
$GC,745,1.58,585.0,2828,1951,1800,4094,52.6,9.7,94,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1952,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.06,44.92
$GC,789,1.58,585.0,2829,1951,1799,4094,48.2,9.8,100,799,0.00,1.15,0.00,0.000,260,0.000,0.041,2829,2371,1799,1799,4094,0,0,0,0,0,0,25.80,25.57,25.82,10.06,44.60
$GC,854,1.58,585.0,2828,2370,1798,4094,41.6,10.4,109,864,0.00,1.08,0.00,0.000,1030,0.000,0.029,2829,1954,1797,1797,4094,0,0,0,0,0,0,25.73,25.70,25.75,10.06,44.88
$GC,901,1.58,585.0,2828,1954,1796,4094,37.3,9.8,115,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.06,45.66
$GC,946,1.58,585.0,2829,1954,1795,4094,32.6,9.9,121,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1795,1795,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.05,45.51
$GC,990,1.58,585.0,2829,1953,1795,4094,28.2,10.1,127,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.05,45.98
$GC,1035,1.58,585.0,2829,1953,1794,4094,23.7,9.9,133,1045,0.00,1.12,0.00,0.000,260,0.000,0.041,2829,2371,1794,1794,4094,0,0,0,0,0,0,26.18,25.91,26.20,10.06,46.45
$GC,1120,1.58,585.0,2829,2370,1791,4094,15.3,10.0,145,1129,0.00,1.08,0.00,0.000,1030,0.000,0.031,2829,1951,1791,1791,4094,0,0,0,0,0,0,26.05,26.03,26.07,10.07,47.00
$GC,1166,1.58,585.0,2829,1950,1790,4094,11.2,8.9,151,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1950,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.09,47.87
$GC,1211,1.65,632.1,2829,1950,1789,4094,7.3,7.9,157,1221,0.12,0.00,3.70,0.373,10246,0.064,0.000,2852,1951,1745,1745,4094,0,0,0,0,0,0,26.13,25.75,25.32,10.10,48.77
$GC,1259,1.92,812.8,2852,1950,1744,4094,4.2,6.6,163,1278,0.80,0.00,10.68,0.603,10246,0.031,0.000,2936,1950,1534,1534,4094,0,0,0,0,0,0,26.10,25.67,25.27,10.12,49.21
$STATE,1286,end climb,FINISH_DEPTH_REACHED
$STATE,1286,begin subsurface finish
$FINISH1,1.8,1.024061,107
$GC,1292,0.16,107.3,2936,1949,1534,4095,1.8,7.8,166,1311,5.80,0.00,-6.60,0.000,20486,0.047,0.000,2395,1950,2363,2363,4094,0,0,0,0,0,0,25.98,25.48,26.03,10.09,50.47
$FINISH2,0.6
$STATE,1312,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1312,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,095944
$TT8_MAMPS,0.026215,0.20972
$HUMID,50.43
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.82,13.999
$10V_AH,10.23,17.395
$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,23.250,8.750,81.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.032,0.000,152.048,709.208,52.493,33.422,447.323,0.000,253.229,0.000,0.542,0.000
$DEVICE_MAMPS,64.260,49.725,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.043,456.441,0.000,535.179,700.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,14277,168
$CAP_FILE_SIZE,32569,0
$CFSIZE,1024409600,993017856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,112604,6004.998,-17305.100,9,0.8,16,7.3,0.0,0.0,10,4.6