version: 66.13
glider: 401
mission: 22
dive: 545
start: 8 5 117 14 35 9
data:
$ID,401
$MISSION,22
$DIVE,545
$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,38
$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
$GPS1,050817,140828,6005.3628,-17307.7969,5,0.9,43,7.3,0.2,348.6,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-1.1
$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,-0.382248,0.023872
$KALMAN_X,61362.843750,-2498.190430,-557.733215,-211983.093750,32.890198
$KALMAN_Y,43151.496094,825.040527,73.503769,48639.699219,28.543175
$MHEAD_RNG_PITCHd_Wd,266.3,10441,-7.8,-8.333,-12.28,10240
$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,-579.7,2397,1964,2363,4092,0.0,0.0,0,21,5.68,0.00,-5.12,0.000,20482,0.024,0.000,1847,1964,2925,2925,4094,0,0,0,0,0,0,26.11,28.83,26.13,10.30,51.10
$GC,24,-1.58,-579.7,1846,1964,2925,4094,0.1,0.0,1,33,0.00,0.00,-2.22,0.000,16390,0.000,0.000,1847,1964,3162,3162,4095,0,0,0,0,0,0,26.30,25.60,26.29,10.42,51.02
$GC,69,-1.58,-579.7,1846,1964,3163,4095,3.4,-11.2,7,81,0.00,1.05,0.00,0.000,260,0.000,0.045,1847,2361,3163,3163,4095,0,0,0,0,0,0,26.22,25.94,26.23,10.47,51.06
$GC,130,-1.58,-579.7,1846,2361,3165,4095,11.1,-11.9,15,139,0.00,1.05,0.00,0.000,1030,0.000,0.028,1847,1947,3165,3165,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.47,50.47
$GC,175,-1.58,-579.7,1846,1948,3165,4095,16.1,-11.0,21,184,0.00,1.10,0.00,0.000,516,0.000,0.050,1847,1518,3165,3165,4095,0,0,0,0,0,0,26.31,26.01,26.32,10.43,50.78
$GC,226,-1.58,-579.7,1846,1518,3166,4095,21.5,-10.2,28,236,0.00,1.00,0.00,0.000,1030,0.000,0.026,1847,1947,3166,3166,4094,0,0,0,0,0,0,26.14,26.13,26.16,10.41,49.17
$GC,272,-1.58,-579.7,1847,1946,3167,4094,26.1,-9.9,34,282,0.00,1.10,0.00,0.000,260,0.000,0.044,1847,2364,3167,3167,4095,0,0,0,0,0,0,26.38,26.13,26.39,10.40,48.26
$GC,319,-1.58,-579.7,1846,2364,3168,4095,30.4,-9.5,40,328,0.00,1.02,0.00,0.000,1030,0.000,0.029,1847,1956,3168,3168,4095,0,0,0,0,0,0,26.20,26.15,26.20,10.39,48.07
$GC,365,-1.58,-579.7,1846,1955,3169,4095,34.9,-9.6,46,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1956,3169,3169,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.24
$GC,409,-1.58,-579.7,1846,1956,3170,4095,39.2,-9.5,52,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1956,3169,3169,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.71
$GC,454,-1.58,-579.7,1846,1956,3170,4095,43.7,-10.1,58,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1956,3170,3170,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.38,47.55
$GC,500,-1.58,-579.7,1846,1956,3171,4094,48.2,-10.3,64,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1956,3171,3171,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.37,46.33
$GC,545,-1.58,-579.7,1846,1955,3172,4095,53.0,-10.6,70,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1956,3172,3172,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.38,46.49
$GC,590,-1.58,-579.7,1846,1955,3173,4095,57.7,-10.2,76,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1956,3173,3173,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.36,46.33
$STATE,614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,614,begin apogee
$GC,620,-0.45,0.0,1846,1955,3173,4095,60.4,-10.8,79,664,3.65,0.00,33.08,1.307,10244,0.052,0.000,2185,1956,2483,2483,4094,0,0,0,0,0,0,26.28,25.00,24.30,10.36,46.10
$STATE,665,end apogee,CONTROL_FINISHED_OK
$STATE,665,begin climb
$GC,667,1.58,579.7,2185,1955,2483,4094,63.0,0.0,84,712,6.95,0.00,33.08,1.282,11270,0.035,0.000,2831,1955,1807,1807,4094,0,0,0,0,0,0,25.50,25.66,23.80,10.20,45.62
$GC,749,1.58,579.7,2830,1955,1807,4094,57.7,9.9,94,759,0.00,1.12,0.00,0.000,260,0.000,0.040,2831,2360,1807,1807,4094,0,0,0,0,0,0,25.47,25.22,25.48,10.06,45.03
$GC,821,1.58,579.7,2830,2360,1805,4094,50.2,10.3,104,830,0.00,1.05,0.00,0.000,1030,0.000,0.031,2831,1958,1805,1805,4094,0,0,0,0,0,0,25.56,25.50,25.58,10.06,45.62
$GC,868,1.58,579.7,2830,1958,1804,4094,45.6,9.9,110,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1804,1804,4094,0,0,0,0,0,0,25.86,25.89,25.88,10.05,45.35
$GC,912,1.58,579.7,2830,1958,1803,4094,41.0,10.2,116,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1803,1803,4094,0,0,0,0,0,0,25.96,25.97,25.96,10.06,45.70
$GC,955,1.58,579.7,2830,1958,1802,4094,36.6,9.9,122,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1803,1803,4094,0,0,0,0,0,0,26.03,26.03,26.03,10.05,46.06
$GC,1001,1.58,579.7,2830,1958,1802,4094,32.2,9.9,128,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1801,1801,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.05,46.45
$GC,1046,1.58,579.7,2830,1958,1800,4094,27.7,9.6,134,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1800,1800,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.05,46.41
$GC,1091,1.58,579.7,2830,1958,1799,4094,23.3,9.6,140,1101,0.00,1.10,0.00,0.000,260,0.000,0.041,2831,2364,1799,1799,4094,0,0,0,0,0,0,26.18,25.91,26.20,10.04,46.37
$GC,1163,1.58,579.7,2830,2364,1797,4094,16.4,9.9,150,1172,0.00,1.02,0.00,0.000,1030,0.000,0.032,2831,1963,1797,1797,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.05,46.85
$GC,1208,1.58,579.7,2830,1963,1796,4094,12.2,9.2,156,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1963,1796,1796,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.06,47.67
$GC,1253,1.58,579.7,2830,1963,1796,4094,8.4,8.4,162,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1963,1796,1796,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.08,48.46
$GC,1298,1.74,686.7,2830,1963,1795,4094,5.0,7.3,168,1309,0.40,1.15,6.55,0.537,10756,0.034,0.056,2881,1522,1683,1683,4094,0,0,0,0,0,0,26.15,25.94,25.31,10.11,49.13
$STATE,1337,end climb,FINISH_DEPTH_REACHED
$STATE,1337,begin subsurface finish
$FINISH1,1.6,1.024108,104
$GC,1345,0.16,104.0,2881,1970,1682,4094,1.6,8.4,173,1364,5.25,0.00,-5.90,0.000,20998,0.050,0.000,2395,1976,2367,2367,4094,0,0,0,0,0,0,26.04,25.55,26.10,10.10,49.88
$FINISH2,0.3
$STATE,1365,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1365,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,124205
$TT8_MAMPS,0.025466,0.215712
$HUMID,50.59
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.80,14.192
$10V_AH,10.20,17.604
$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,21.925,12.825,72.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.876,0.973,154.747,735.271,56.627,33.428,454.406,0.000,263.148,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,55.845,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.026,475.458,0.000,557.859,727.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,17836,175
$CAP_FILE_SIZE,34474,0
$CFSIZE,1024409600,992690176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,69.68,0x236164,0,24
$GPS,050817,140828,6005.363,-17307.797,5,0.9,43,7.3,0.2,348.6,9,4.9