version: 66.13
glider: 401
mission: 22
dive: 548
start: 8 5 117 15 58 58
data:
$ID,401
$MISSION,22
$DIVE,548
$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
$GPS1,050817,153257,6005.5332,-17308.7520,5,0.8,21,7.3,0.5,53.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-1.2
$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,-0.382433,0.014605
$KALMAN_X,62003.761719,-2479.381836,-575.620361,-213527.515625,84.080322
$KALMAN_Y,43319.375000,833.729004,121.163048,48730.878906,25.817696
$MHEAD_RNG_PITCHd_Wd,264.9,9529,-7.8,-8.333,-12.28,10222
$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,-578.6,2393,1960,2369,4092,0.0,0.0,0,21,5.75,0.00,-5.15,0.000,20482,0.024,0.000,1835,1960,2932,2932,4095,0,0,0,0,0,0,26.11,28.83,26.13,10.29,50.55
$GC,24,-1.58,-578.6,1835,1960,2932,4095,0.2,0.0,1,33,0.00,0.00,-2.15,0.000,16390,0.000,0.000,1835,1960,3162,3162,4094,0,0,0,0,0,0,26.29,25.62,26.29,10.41,51.06
$GC,69,-1.58,-578.6,1835,1960,3163,4094,3.8,-12.1,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3163,3163,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.46,50.66
$GC,113,-1.58,-578.6,1835,1960,3164,4095,9.7,-13.0,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3165,3165,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.46,50.59
$GC,158,-1.58,-578.6,1835,1960,3165,4094,14.8,-12.0,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3165,3165,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.44,49.96
$GC,202,-1.58,-578.6,1834,1960,3166,4094,19.8,-11.3,25,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3166,3166,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.41,50.47
$GC,246,-1.58,-578.6,1834,1960,3167,4095,24.5,-10.7,31,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3167,3167,4095,0,0,0,0,0,0,26.36,26.36,26.37,10.40,49.17
$GC,290,-1.58,-578.6,1835,1960,3167,4095,29.4,-11.1,37,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3168,3168,4094,0,0,0,0,0,0,26.38,26.40,26.39,10.39,48.22
$GC,335,-1.58,-578.6,1834,1960,3169,4094,34.2,-10.7,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3169,3169,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,47.67
$GC,379,-1.58,-578.6,1834,1960,3170,4095,38.9,-10.6,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3170,3170,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.38,47.71
$GC,424,-1.58,-578.6,1834,1960,3170,4095,43.6,-10.8,55,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1960,3171,3171,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.38,47.36
$GC,468,-1.58,-578.6,1835,1960,3171,4095,48.5,-11.2,61,478,0.00,1.15,0.00,0.000,516,0.000,0.050,1835,1512,3171,3171,4095,0,0,0,0,0,0,26.48,26.20,26.48,10.38,46.81
$GC,534,-1.58,-578.6,1835,1512,3173,4095,55.8,-11.4,70,543,0.00,1.02,0.00,0.000,1030,0.000,0.027,1835,1952,3172,3172,4094,0,0,0,0,0,0,26.33,26.27,26.32,10.36,47.00
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,577,-0.45,0.0,1835,1951,3173,4095,60.1,-10.9,75,621,3.80,0.00,33.10,1.309,10246,0.054,0.000,2185,1953,2484,2484,4094,0,0,0,0,0,0,26.23,24.98,24.27,10.36,46.25
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,625,1.58,578.6,2185,1953,2483,4094,62.7,0.0,80,669,6.95,0.00,33.00,1.281,10246,0.036,0.000,2831,1955,1810,1810,4095,0,0,0,0,0,0,25.48,24.70,23.81,10.22,45.98
$GC,707,1.58,578.6,2830,1955,1809,4095,57.5,9.4,90,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1810,1810,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.07,44.92
$GC,753,1.58,578.6,2830,1954,1808,4094,53.1,9.6,96,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1808,1808,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.06,45.35
$GC,799,1.58,578.6,2830,1954,1807,4094,48.7,9.7,102,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1807,1807,4095,0,0,0,0,0,0,25.80,25.82,25.82,10.06,45.31
$GC,845,1.58,578.6,2830,1954,1806,4095,44.2,9.7,108,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1806,1806,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.06,45.66
$GC,891,1.58,578.6,2830,1955,1805,4094,39.8,9.7,114,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1806,1806,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.05,46.22
$GC,938,1.58,578.6,2830,1955,1804,4094,35.1,10.0,120,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1955,1804,1804,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.05,46.25
$GC,984,1.58,578.6,2830,1954,1803,4094,30.7,9.1,126,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1955,1803,1803,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.04,46.10
$GC,1027,1.58,578.6,2830,1955,1803,4094,26.5,9.2,132,1037,0.00,1.10,0.00,0.000,260,0.000,0.043,2830,2367,1802,1802,4094,0,0,0,0,0,0,26.15,25.87,26.17,10.05,46.33
$GC,1088,1.58,578.6,2830,2366,1801,4094,21.1,9.2,140,1096,0.00,1.08,0.00,0.000,1030,0.000,0.031,2831,1947,1800,1800,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.05,47.20
$GC,1132,1.58,578.6,2830,1947,1800,4094,16.9,9.3,146,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1947,1800,1800,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.06,47.24
$GC,1176,1.58,578.6,2830,1947,1799,4094,13.1,8.6,152,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1947,1799,1799,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.06,47.79
$GC,1221,1.59,586.4,2830,1947,1798,4094,9.4,8.3,158,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1947,1798,1798,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.08,47.83
$GC,1265,1.59,586.4,2830,1947,1797,4094,5.5,8.4,164,1274,0.00,1.12,0.00,0.000,516,0.000,0.063,2831,1521,1797,1797,4094,0,0,0,0,0,0,26.34,26.03,26.35,10.11,48.89
$GC,1298,1.78,715.1,2830,1520,1796,4094,3.2,7.0,168,1317,0.55,1.00,7.97,0.562,11270,0.027,0.026,2891,1959,1649,1649,4094,0,0,0,0,0,0,26.15,26.15,25.32,10.12,49.96
$STATE,1325,end climb,FINISH_DEPTH_REACHED
$STATE,1325,begin subsurface finish
$FINISH1,1.0,1.024192,98
$GC,1332,0.15,98.1,2891,1965,1649,4094,1.0,7.4,171,1349,5.20,0.00,-6.35,0.000,20486,0.030,0.000,2392,1965,2373,2373,4094,0,0,0,0,0,0,26.06,25.53,26.10,10.10,49.72
$FINISH2,0.2
$STATE,1350,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1350,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,140249
$TT8_MAMPS,0.026964,0.247919
$HUMID,50.55
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.81,14.289
$10V_AH,10.14,17.716
$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,22.250,6.475,74.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,466.749,0.000,160.665,719.694,59.915,33.429,461.482,0.000,417.408,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,62.730,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.468,469.882,372.138,551.214,716.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330888
$DATA_FILE_SIZE,17799,173
$CAP_FILE_SIZE,33416,0
$CFSIZE,1024409600,992542720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,153257,6005.533,-17308.752,5,0.8,21,7.3,0.5,53.8,10,4.8