version: 66.13
glider: 401
mission: 22
dive: 542
start: 8 5 117 13 13 19
data:
$ID,401
$MISSION,22
$DIVE,542
$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,23
$R_STBD_OVSHOOT,57
$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
$GPS1,050817,124749,6005.1626,-17306.5332,9,0.9,19,7.3,0.3,274.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-1.5
$GPS2,050817,124749,6005.1626,-17306.5332,9,0.9,19,7.3,0.3,274.5,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.378754,0.052311
$KALMAN_X,60931.316406,-2481.654785,-487.867645,-210442.531250,-1.461212
$KALMAN_Y,43019.289062,823.688477,22.847679,48453.769531,1.561592
$MHEAD_RNG_PITCHd_Wd,270.6,11646,-7.8,-8.333,-12.30,10198
$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,-577.2,2395,1973,2365,4092,0.0,0.0,0,21,5.80,0.00,-4.78,0.000,20482,0.028,0.000,1835,1974,2893,2893,4095,0,0,0,0,0,0,26.09,28.83,26.10,10.31,51.26
$GC,24,-1.58,-577.2,1835,1973,2894,4095,0.1,0.0,1,33,0.00,0.00,-2.47,0.000,16390,0.000,0.000,1835,1974,3157,3157,4095,0,0,0,0,0,0,26.27,25.56,26.27,10.42,50.98
$GC,69,-1.58,-577.2,1834,1973,3158,4095,3.2,-11.4,7,78,0.00,1.17,0.00,0.000,516,0.000,0.049,1834,1516,3158,3158,4095,0,0,0,0,0,0,26.20,25.89,26.21,10.48,51.37
$GC,205,-1.58,-577.2,1834,1516,3161,4095,20.8,-11.4,27,215,0.00,0.95,0.00,0.000,1030,0.000,0.025,1835,1929,3161,3161,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.44,49.84
$GC,253,-1.58,-577.2,1834,1929,3162,4095,25.9,-11.1,33,262,0.00,1.12,0.00,0.000,260,0.000,0.044,1835,2357,3163,3163,4094,0,0,0,0,0,0,26.36,26.07,26.36,10.41,49.84
$GC,317,-1.58,-577.2,1834,2356,3163,4094,33.0,-10.8,42,326,0.00,1.00,0.00,0.000,1030,0.000,0.028,1835,1959,3164,3164,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.39,48.26
$GC,362,-1.58,-577.2,1834,1960,3165,4095,38.0,-11.3,48,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3165,3165,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.38,47.63
$GC,407,-1.58,-577.2,1834,1959,3165,4094,42.9,-11.2,54,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3165,3165,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.38,47.95
$GC,451,-1.58,-577.2,1834,1959,3166,4094,47.9,-11.2,60,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3166,3166,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.38,46.77
$GC,496,-1.58,-577.2,1834,1959,3167,4094,52.9,-11.1,66,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3167,3167,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.37,46.61
$GC,540,-1.58,-577.2,1834,1960,3168,4095,57.7,-11.0,72,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3168,3168,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.37,46.61
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,569,-0.45,0.0,1834,1959,3168,4095,60.2,-10.5,75,612,3.75,0.00,32.75,1.301,10244,0.052,0.000,2186,1959,2484,2484,4095,0,0,0,0,0,0,26.24,24.98,24.29,10.37,47.08
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,615,1.58,577.2,2185,1959,2484,4095,62.8,0.0,80,660,6.97,0.00,32.95,1.274,11270,0.037,0.000,2831,1960,1811,1811,4094,0,0,0,0,0,0,25.48,25.65,23.82,10.22,45.74
$GC,698,1.58,577.2,2830,1959,1810,4094,57.1,10.0,90,707,0.00,1.12,0.00,0.000,260,0.000,0.041,2831,2362,1809,1809,4094,0,0,0,0,0,0,25.47,25.22,25.48,10.08,44.80
$GC,762,1.58,577.2,2830,2362,1809,4094,50.2,10.4,99,772,0.00,1.08,0.00,0.000,1030,0.000,0.030,2831,1950,1808,1808,4094,0,0,0,0,0,0,25.53,25.53,25.56,10.07,45.07
$GC,808,1.58,577.2,2831,1949,1807,4094,45.6,10.3,105,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1950,1807,1807,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.07,45.66
$GC,853,1.58,577.2,2830,1949,1806,4094,41.1,10.1,111,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1950,1807,1807,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.06,45.94
$GC,897,1.58,577.2,2831,1949,1806,4094,36.6,10.0,117,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1949,1805,1805,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.06,45.98
$GC,942,1.58,577.2,2830,1949,1804,4094,32.1,10.0,123,950,0.00,1.10,0.00,0.000,260,0.000,0.042,2831,2359,1804,1804,4094,0,0,0,0,0,0,26.08,25.79,26.09,10.06,45.74
$GC,1012,1.58,577.2,2830,2359,1803,4094,25.3,9.2,133,1021,0.00,1.02,0.00,0.000,1030,0.000,0.031,2831,1960,1803,1803,4094,0,0,0,0,0,0,25.95,25.91,25.97,10.05,46.22
$GC,1059,1.58,577.2,2830,1959,1802,4094,21.2,9.3,139,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1960,1802,1802,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.05,46.33
$GC,1105,1.58,577.2,2831,1959,1801,4094,17.0,9.2,145,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1960,1801,1801,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.06,46.92
$GC,1151,1.58,577.2,2830,1959,1800,4094,12.9,8.6,151,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1959,1800,1800,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.07,47.20
$GC,1197,1.58,577.2,2830,1959,1799,4094,8.9,8.8,157,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1960,1799,1799,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.09,48.66
$GC,1243,1.83,745.0,2830,1959,1798,4094,5.4,6.6,163,1262,0.73,0.00,9.55,0.610,10246,0.030,0.000,2908,1960,1613,1613,4094,0,0,0,0,0,0,26.14,25.69,25.27,10.12,49.80
$STATE,1283,end climb,FINISH_DEPTH_REACHED
$STATE,1283,begin subsurface finish
$FINISH1,2.0,1.024074,106
$GC,1289,0.16,106.3,2908,1959,1613,4094,2.0,8.5,168,1308,5.55,0.00,-6.00,0.000,20486,0.053,0.000,2398,1959,2363,2363,4094,0,0,0,0,0,0,25.99,25.51,26.06,10.10,49.96
$FINISH2,0.6
$STATE,1309,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1309,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,112025
$TT8_MAMPS,0.025466,0.23219
$HUMID,50.35
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,14.096
$10V_AH,10.17,17.504
$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,22.800,8.575,75.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,459.000,0.000,145.516,707.238,53.726,33.425,425.955,0.000,410.134,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,48.960,1301.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.871,461.742,365.687,541.625,705.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17885,170
$CAP_FILE_SIZE,31120,0
$CFSIZE,1024409600,992854016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,124749,6005.163,-17306.533,9,0.9,19,7.3,0.3,274.5,10,5.0