version: 66.13
glider: 401
mission: 22
dive: 540
start: 8 5 117 12 15 38
data:
$ID,401
$MISSION,22
$DIVE,540
$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,34
$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,0.87
$_SM_ANGLEo,-2.3
$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,-0.372276,0.093717
$KALMAN_X,61132.023438,-2457.409668,-411.224243,-209384.843750,135.086517
$KALMAN_Y,42938.335938,845.092896,6.475276,48223.941406,-75.077026
$MHEAD_RNG_PITCHd_Wd,276.8,13000,-7.8,-8.333,-12.25,10300
$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,-583.2,2395,1950,2362,4092,0.0,0.0,0,21,5.78,0.00,-4.88,0.000,20482,0.024,0.000,1834,1950,2898,2898,4094,0,0,0,0,0,0,26.08,28.83,26.08,10.30,50.94
$GC,24,-1.58,-583.2,1833,1950,2898,4094,0.2,0.0,1,33,0.00,0.00,-2.35,0.000,16390,0.000,0.000,1833,1950,3163,3163,4094,0,0,0,0,0,0,26.25,25.56,26.25,10.42,51.18
$GC,69,-1.58,-583.2,1832,1950,3165,4094,4.7,-13.0,7,78,0.00,1.12,0.00,0.000,260,0.000,0.044,1833,2368,3164,3164,4095,0,0,0,0,0,0,26.17,25.89,26.19,10.48,51.06
$GC,96,-1.58,-583.2,1833,2368,3165,4095,8.2,-13.1,10,105,0.00,1.05,0.00,0.000,1030,0.000,0.027,1833,1956,3165,3165,4095,0,0,0,0,0,0,26.01,25.97,26.02,10.47,51.33
$GC,143,-1.58,-583.2,1832,1956,3166,4095,14.0,-12.0,16,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1956,3166,3166,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.45,50.63
$GC,189,-1.58,-583.2,1832,1955,3167,4095,19.2,-11.3,22,198,0.00,1.12,0.00,0.000,516,0.000,0.051,1833,1517,3167,3167,4094,0,0,0,0,0,0,26.29,25.99,26.30,10.43,49.84
$GC,241,-1.58,-583.2,1833,1517,3168,4094,25.0,-10.9,29,249,0.00,1.00,0.00,0.000,1030,0.000,0.026,1833,1947,3168,3168,4094,0,0,0,0,0,0,26.13,26.11,26.15,10.40,48.93
$GC,286,-1.58,-583.2,1832,1946,3169,4094,29.7,-10.2,35,295,0.00,1.08,0.00,0.000,260,0.000,0.044,1833,2355,3169,3169,4095,0,0,0,0,0,0,26.36,26.07,26.37,10.39,48.18
$GC,344,-1.58,-583.2,1833,2355,3170,4095,35.7,-10.1,43,353,0.00,1.00,0.00,0.000,1030,0.000,0.028,1833,1958,3170,3170,4095,0,0,0,0,0,0,26.18,26.15,26.22,10.38,47.59
$GC,390,-1.58,-583.2,1833,1958,3171,4095,40.3,-10.4,49,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1958,3171,3171,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.38,47.59
$GC,436,-1.58,-583.2,1832,1958,3172,4095,45.5,-11.5,55,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1959,3172,3172,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.37,46.77
$GC,483,-1.58,-583.2,1833,1958,3173,4095,50.7,-11.1,61,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1958,3173,3173,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.37,46.81
$GC,529,-1.58,-583.2,1833,1958,3174,4095,55.7,-10.8,67,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1958,3174,3174,4094,0,0,0,0,0,0,26.49,26.50,26.50,10.37,46.49
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,578,-0.45,0.0,1833,1957,3175,4095,60.7,-10.7,73,622,3.80,0.00,33.10,1.303,10244,0.054,0.000,2184,1958,2485,2485,4094,0,0,0,0,0,0,26.23,24.98,24.28,10.36,46.29
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.58,583.2,2184,1958,2484,4094,63.2,0.0,78,670,6.97,0.00,33.38,1.278,11270,0.037,0.000,2830,1958,1803,1803,4094,0,0,0,0,0,0,25.48,25.64,23.81,10.21,46.29
$GC,708,1.58,583.2,2829,1958,1802,4094,57.7,9.4,88,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1958,1803,1803,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.07,45.07
$GC,754,1.58,583.2,2829,1958,1802,4094,53.1,10.0,94,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1958,1802,1802,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.06,45.98
$GC,800,1.58,583.2,2829,1958,1801,4094,48.7,9.2,100,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1958,1801,1801,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.05,45.39
$GC,847,1.58,583.2,2829,1958,1799,4094,44.3,10.0,106,855,0.00,1.10,0.00,0.000,260,0.000,0.042,2830,2359,1799,1799,4094,0,0,0,0,0,0,25.91,25.64,25.92,10.05,46.22
$GC,911,1.58,583.2,2829,2359,1798,4094,37.9,9.8,115,920,0.00,1.02,0.00,0.000,1030,0.000,0.031,2830,1962,1798,1798,4094,0,0,0,0,0,0,25.81,25.77,25.82,10.05,46.22
$GC,956,1.58,583.2,2829,1962,1796,4094,33.2,10.4,121,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1797,1797,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.05,46.29
$GC,1001,1.58,583.2,2829,1962,1796,4094,28.7,10.1,127,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1796,1796,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.04,46.22
$GC,1045,1.58,583.2,2829,1962,1796,4094,24.2,9.9,133,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1795,1795,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.05,46.69
$GC,1090,1.58,583.2,2829,1962,1794,4094,19.9,9.7,139,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1794,1794,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.05,47.40
$GC,1135,1.58,583.2,2829,1962,1793,4094,15.8,9.1,145,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1793,1793,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.06,47.67
$GC,1180,1.58,584.8,2829,1962,1792,4094,12.0,8.3,151,1189,0.00,1.05,0.00,0.000,260,0.000,0.041,2830,2353,1792,1792,4095,0,0,0,0,0,0,26.29,26.02,26.30,10.08,47.40
$GC,1232,1.61,605.2,2829,2352,1791,4095,7.6,8.1,158,1241,0.00,1.02,2.42,0.159,9222,0.000,0.031,2830,1951,1777,1777,4094,0,0,0,0,0,0,26.10,26.10,25.33,10.09,48.34
$GC,1279,1.84,757.0,2829,1950,1776,4094,4.6,6.8,164,1298,0.75,1.12,9.18,0.591,10756,0.028,0.056,2910,1517,1601,1601,4094,0,0,0,0,0,0,26.13,25.72,25.29,10.12,49.88
$STATE,1312,end climb,SURFACE_DEPTH_REACHED
$STATE,1312,begin surface coast
$FINISH,0.5,1.024079
$STATE,1327,end surface coast,CONTROL_FINISHED_OK
$STATE,1327,begin surface
$SM_CCo,1426,0.00,0.000,0,0,1600,759.86
$SM_GC,0.79,28.05,1.05,0.00,0.022,0.028,0.000,237,1944,1600,-6.55,-2.00,759.86,0,0,0,0,0,0,26.07,26.05,26.10
$IRIDIUM_FIX,5925.93,-17425.36,050817,095944
$TT8_MAMPS,0.025466,0.249417
$HUMID,51.14
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.81,14.025
$10V_AH,10.16,17.433
$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,45.350,12.750,78.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.636,60.263,177.726,709.321,60.512,33.413,468.330,0.000,410.886,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,55.845,1302.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.731,461.769,365.692,541.922,706.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,17798,170
$CAP_FILE_SIZE,35650,0
$CFSIZE,1024409600,992935936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,124014,6005.142,-17306.463,7,0.9,15,7.3,0.0,300.7,10,5.0