version: 66.13
glider: 401
mission: 22
dive: 547
start: 8 5 117 15 34 4
data:
$ID,401
$MISSION,22
$DIVE,547
$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,31
$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
$GPS1,050817,152451,6005.5083,-17308.8164,8,0.8,14,7.3,0.0,85.7,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-35.8
$GPS2,050817,153257,6005.5332,-17308.7520,5,0.8,21,7.3,0.5,53.8,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.382737,0.015365
$KALMAN_X,61749.535156,-2589.300049,-668.577698,-213052.953125,120.670044
$KALMAN_Y,43314.632812,850.273376,119.397919,48715.871094,21.224319
$MHEAD_RNG_PITCHd_Wd,265.0,9529,-7.8,-8.333,-12.27,10244
$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,-579.9,230,1954,1663,4092,0.0,0.0,0,21,11.07,0.00,0.00,0.000,2049,0.083,0.000,1184,1954,1663,1663,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.19,50.35
$GC,23,-1.58,-579.9,1184,1954,1663,4094,0.6,0.0,1,50,6.88,1.20,-13.80,0.000,18948,0.044,1.289,1826,1515,3165,3165,4095,0,0,0,0,0,0,25.88,24.75,25.95,10.19,50.31
$GC,303,-1.58,-579.9,1825,1514,3170,4095,28.5,-11.5,42,312,0.00,1.02,0.00,0.000,1030,0.000,0.025,1826,1954,3170,3170,4095,0,0,0,0,0,0,26.13,26.19,26.15,10.43,48.26
$GC,350,-1.58,-579.9,1825,1954,3171,4095,33.6,-11.4,48,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1954,3170,3170,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.42,47.04
$GC,395,-1.58,-579.9,1825,1954,3172,4095,38.7,-11.3,54,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1954,3172,3172,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.41,46.41
$GC,439,-1.58,-579.9,1825,1954,3173,4095,43.9,-11.6,60,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1954,3173,3173,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.40,45.82
$GC,484,-1.58,-579.9,1825,1954,3174,4095,49.2,-11.9,66,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1955,3174,3174,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.39,46.25
$GC,531,-1.58,-579.9,1825,1954,3175,4094,54.5,-12.0,72,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1954,3175,3175,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.39,45.43
$GC,576,-1.58,-579.9,1825,1954,3175,4095,60.0,-12.0,78,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1954,3175,3175,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.38,45.47
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,596,-0.45,0.0,1825,1954,3176,4094,61.9,-11.3,80,640,3.88,0.00,33.33,1.326,10244,0.053,0.000,2184,1958,2483,2483,4095,0,0,0,0,0,0,26.21,24.93,24.21,10.38,45.15
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,643,1.58,579.9,2184,1957,2483,4095,64.5,0.0,85,687,6.97,0.00,33.17,1.296,11270,0.034,0.000,2832,1958,1807,1807,4094,0,0,0,0,0,0,25.45,25.60,23.76,10.23,45.55
$GC,725,1.58,579.9,2832,1958,1807,4094,59.0,9.9,95,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1806,1806,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.09,43.77
$GC,770,1.58,579.9,2832,1958,1806,4094,54.3,10.0,101,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1806,1806,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.08,44.52
$GC,815,1.58,579.9,2832,1958,1804,4094,49.9,9.9,107,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1804,1804,4095,0,0,0,0,0,0,25.79,25.80,25.79,10.08,45.27
$GC,859,1.58,579.9,2832,1958,1803,4095,45.6,9.6,113,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1803,1803,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.07,45.27
$GC,906,1.58,579.9,2832,1957,1803,4094,41.3,9.8,119,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1802,1802,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.07,45.47
$GC,950,1.58,579.9,2832,1958,1802,4094,36.8,9.4,125,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1801,1801,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.06,45.11
$GC,995,1.58,579.9,2832,1958,1801,4094,32.6,9.4,131,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1800,1800,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.06,46.10
$GC,1040,1.58,579.9,2832,1958,1799,4094,28.5,9.2,137,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1799,1799,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.06,46.06
$GC,1084,1.58,579.9,2832,1958,1798,4094,24.5,9.0,143,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1798,1798,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.06,46.33
$GC,1128,1.58,579.9,2832,1958,1797,4094,20.3,9.1,149,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1797,1797,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.06,46.69
$GC,1172,1.58,579.9,2832,1958,1796,4094,16.4,8.9,155,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1796,1796,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.07,46.81
$GC,1215,1.58,579.9,2832,1958,1795,4094,12.6,8.6,161,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1958,1795,1795,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.09,47.28
$GC,1260,1.58,579.9,2832,1958,1794,4094,8.7,8.8,167,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1959,1794,1794,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.10,48.34
$GC,1305,1.66,632.6,2832,1958,1794,4094,5.1,7.8,173,1315,0.12,0.00,3.88,0.385,10246,0.063,0.000,2856,1959,1745,1745,4094,0,0,0,0,0,0,26.16,25.79,25.35,10.14,49.48
$STATE,1343,end climb,FINISH_DEPTH_REACHED
$STATE,1343,begin subsurface finish
$FINISH1,1.8,1.024185,99
$GC,1349,0.15,98.6,2856,1959,1744,4094,1.8,8.3,178,1368,5.00,0.00,-5.22,0.000,20486,0.052,0.000,2394,1960,2369,2369,4094,0,0,0,0,0,0,26.08,25.59,26.15,10.13,49.60
$FINISH2,0.4
$STATE,1369,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1369,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,140249
$TT8_MAMPS,0.025466,0.211967
$HUMID,50.47
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.76,14.264
$10V_AH,10.21,17.678
$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,33.925,2.225,70.375,0.000,0.000,23.638,27.170,299.723,0.000,0.000,23.035,478.567,1.003,150.355,1117.108,128.076,33.456,447.034,0.000,271.705,0.000,0.543,0.000
$DEVICE_MAMPS,83.385,1289.025,1325.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.574,489.066,0.000,573.558,746.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,17725,180
$CAP_FILE_SIZE,35657,0
$CFSIZE,1024409600,992591872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,153257,6005.533,-17308.752,5,0.8,21,7.3,0.5,53.8,10,4.8