version: 66.13
glider: 401
mission: 22
dive: 544
start: 8 5 117 14 9 36
data:
$ID,401
$MISSION,22
$DIVE,544
$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,48
$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
$GPS1,050817,140057,6005.3306,-17307.7695,8,0.9,28,7.3,0.4,278.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-35.1
$GPS2,050817,140828,6005.3628,-17307.7969,5,0.9,43,7.3,0.2,348.6,9,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.383496,0.026215
$KALMAN_X,61108.265625,-2604.034912,-639.329041,-211518.015625,52.814880
$KALMAN_Y,43157.515625,844.942993,69.260681,48611.980469,23.122849
$MHEAD_RNG_PITCHd_Wd,266.6,10441,-7.8,-8.333,-12.23,10334
$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,-585.0,238,1944,1611,4092,0.0,0.0,0,21,10.77,0.00,0.00,0.000,2049,0.101,0.000,1139,1945,1611,1611,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.20,50.23
$GC,23,-1.58,-585.0,1138,1944,1611,4094,0.8,0.0,1,50,7.47,1.17,-14.32,0.000,19204,0.053,1.294,1826,1519,3171,3171,4095,0,0,0,0,0,0,25.91,24.79,25.99,10.21,50.66
$GC,303,-1.58,-585.0,1825,1519,3176,4095,23.8,-11.4,42,312,0.00,0.98,0.00,0.000,1030,0.000,0.026,1826,1941,3176,3176,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.46,47.91
$GC,348,-1.58,-585.0,1825,1941,3177,4095,28.8,-11.1,48,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3177,3177,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.44,47.55
$GC,392,-1.58,-585.0,1825,1941,3178,4095,33.7,-10.8,54,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1941,3178,3178,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.43,46.61
$GC,437,-1.58,-585.0,1825,1941,3178,4094,38.6,-11.0,60,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3178,3178,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.42,45.94
$GC,481,-1.58,-585.0,1825,1941,3179,4095,43.5,-11.6,66,489,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3179,3179,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.40,45.62
$GC,526,-1.58,-585.0,1825,1941,3180,4095,48.6,-11.3,72,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1941,3180,3180,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.39,45.39
$GC,570,-1.58,-585.0,1825,1941,3181,4094,53.8,-11.3,78,580,0.00,1.10,0.00,0.000,260,0.000,0.044,1826,2363,3181,3181,4095,0,0,0,0,0,0,26.51,26.22,26.51,10.39,45.07
$GC,622,-1.58,-585.0,1825,2363,3182,4095,59.8,-11.5,85,632,0.00,1.02,0.00,0.000,1030,0.000,0.025,1826,1944,3182,3182,4095,0,0,0,0,0,0,26.34,26.30,26.33,10.39,45.55
$STATE,639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,640,begin apogee
$GC,645,-0.45,0.0,1826,1944,3183,4094,62.1,-11.9,87,687,3.85,0.00,33.53,1.323,10244,0.053,0.000,2186,1944,2484,2484,4095,0,0,0,0,0,0,26.25,25.22,24.25,10.38,44.88
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,690,1.58,585.0,2186,1944,2483,4095,64.4,0.0,92,735,6.97,0.00,33.42,1.297,11270,0.037,0.000,2833,1944,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.78,10.24,44.56
$GC,773,1.58,585.0,2832,1943,1801,4094,59.0,10.0,102,782,0.00,1.17,0.00,0.000,260,0.000,0.042,2833,2366,1801,1801,4094,0,0,0,0,0,0,25.46,25.20,25.47,10.09,43.81
$GC,837,1.58,585.0,2832,2365,1800,4094,52.4,10.1,111,847,0.00,1.05,0.00,0.000,1030,0.000,0.029,2833,1962,1800,1800,4094,0,0,0,0,0,0,25.52,25.49,25.55,10.08,44.21
$GC,883,1.58,585.0,2833,1962,1799,4094,48.0,9.7,117,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,1798,1798,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.08,44.72
$GC,927,1.58,585.0,2832,1962,1797,4094,43.5,9.9,123,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,1797,1797,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.07,44.60
$GC,972,1.58,585.0,2833,1962,1796,4094,39.2,9.8,129,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,1796,1796,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.07,44.68
$GC,1017,1.58,585.0,2833,1961,1795,4094,34.6,10.3,135,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,1795,1795,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.07,45.19
$GC,1061,1.58,585.0,2833,1962,1794,4094,30.2,10.0,141,1069,0.00,1.10,0.00,0.000,260,0.000,0.042,2833,2367,1795,1795,4094,0,0,0,0,0,0,26.13,25.84,26.13,10.07,45.31
$GC,1125,1.58,585.0,2832,2367,1793,4094,23.8,10.0,150,1134,0.00,1.02,0.00,0.000,1030,0.000,0.031,2833,1965,1793,1793,4094,0,0,0,0,0,0,25.97,25.94,25.99,10.06,45.94
$GC,1170,1.58,585.0,2833,1965,1792,4094,19.6,9.2,156,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1966,1792,1792,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.07,46.18
$GC,1215,1.58,585.0,2833,1966,1791,4094,15.6,9.0,162,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1966,1790,1790,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.06,46.53
$GC,1260,1.58,585.0,2833,1966,1790,4095,11.7,8.7,168,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1965,1790,1790,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.08,46.53
$GC,1305,1.58,585.0,2833,1966,1789,4094,7.7,8.7,174,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1966,1788,1788,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.10,47.48
$GC,1351,1.75,696.9,2832,1966,1788,4094,4.4,7.2,180,1361,0.43,0.00,6.78,0.538,10246,0.033,0.000,2885,1966,1670,1670,4094,0,0,0,0,0,0,26.17,25.92,25.33,10.13,49.17
$STATE,1382,end climb,FINISH_DEPTH_REACHED
$STATE,1382,begin subsurface finish
$FINISH1,1.9,1.024095,105
$GC,1388,0.16,104.9,2884,1966,1670,4094,1.9,7.4,184,1406,5.28,0.00,-5.62,0.000,20486,0.052,0.000,2397,1965,2363,2363,4095,0,0,0,0,0,0,26.05,25.55,26.11,10.12,50.00
$FINISH2,0.5
$STATE,1407,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1407,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,124205
$TT8_MAMPS,0.025466,0.24717
$HUMID,50.15
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.78,14.167
$10V_AH,10.15,17.577
$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,34.775,8.625,73.725,0.000,0.000,25.088,17.720,252.770,0.000,0.000,44.501,494.363,0.000,151.421,1101.662,132.336,33.457,448.464,0.000,450.872,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1294.380,1323.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,126.975,505.198,400.099,592.677,769.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,17921,186
$CAP_FILE_SIZE,37374,0
$CFSIZE,1024409600,992739328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,140828,6005.363,-17307.797,5,0.9,43,7.3,0.2,348.6,9,4.9