version: 66.13
glider: 401
mission: 22
dive: 549
start: 8 5 117 16 23 34
data:
$ID,401
$MISSION,22
$DIVE,549
$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,44
$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,0.19
$_SM_ANGLEo,-1.8
$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,-0.384863,0.012180
$KALMAN_X,62468.394531,-2463.933105,-568.148987,-214013.984375,203.707581
$KALMAN_Y,43302.117188,830.781128,126.740364,48745.472656,17.643440
$MHEAD_RNG_PITCHd_Wd,264.5,9529,-7.7,-8.333,-12.21,10378
$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,7,-1.58,-585.0,2391,1966,2373,4092,0.0,0.0,0,20,5.78,0.00,-4.25,0.000,20482,0.026,0.000,1837,1966,2842,2842,4095,0,0,0,0,0,0,26.09,28.83,26.12,10.28,51.77
$GC,23,-1.58,-585.0,1836,1966,2843,4095,0.2,0.0,1,33,0.00,1.10,-3.10,0.000,16644,0.000,1.284,1836,2359,3170,3170,4094,0,0,0,0,0,0,26.29,24.91,26.30,10.38,51.65
$GC,135,-1.58,-585.0,1835,2359,3172,4094,11.7,-11.6,17,144,0.00,1.05,0.00,0.000,1030,0.000,0.029,1836,1945,3173,3173,4095,0,0,0,0,0,0,26.07,26.04,26.09,10.45,51.06
$GC,181,-1.58,-585.0,1836,1945,3173,4095,17.1,-11.4,23,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1945,3173,3173,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.42,51.02
$GC,225,-1.58,-585.0,1835,1945,3174,4094,21.8,-10.5,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1945,3175,3175,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.41,49.88
$GC,270,-1.58,-585.0,1835,1945,3175,4095,26.4,-10.4,35,279,0.00,1.08,0.00,0.000,516,0.000,0.052,1836,1523,3175,3175,4095,0,0,0,0,0,0,26.39,26.09,26.39,10.39,49.52
$GC,328,-1.58,-585.0,1836,1523,3176,4095,32.7,-11.1,43,337,0.00,0.95,0.00,0.000,1030,0.000,0.026,1836,1935,3176,3176,4095,0,0,0,0,0,0,26.22,26.20,26.22,10.38,48.18
$GC,373,-1.58,-585.0,1836,1935,3177,4095,37.7,-10.8,49,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3177,3177,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.38,47.63
$GC,418,-1.58,-585.0,1835,1935,3178,4094,42.5,-10.7,55,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3178,3178,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.38,47.40
$GC,464,-1.58,-585.0,1836,1935,3179,4094,47.4,-11.0,61,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3179,3179,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.37,47.32
$GC,509,-1.58,-585.0,1835,1935,3180,4095,52.5,-10.8,67,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3180,3180,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.36,46.88
$GC,554,-1.58,-585.0,1835,1935,3180,4094,57.4,-10.9,73,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1935,3181,3181,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,46.61
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,584,-0.45,0.0,1836,1935,3181,4095,60.1,-10.6,76,628,3.80,0.00,33.38,1.309,10244,0.054,0.000,2186,1936,2484,2484,4094,0,0,0,0,0,0,26.25,24.98,24.27,10.36,46.53
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.58,585.0,2186,1936,2484,4094,62.5,0.0,81,676,6.95,0.00,33.33,1.278,11270,0.036,0.000,2830,1939,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.80,10.21,46.41
$GC,713,1.58,585.0,2830,1938,1801,4094,57.1,9.5,91,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.06,45.23
$GC,758,1.58,585.0,2829,1938,1800,4094,52.6,9.5,97,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1800,1800,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.05,45.35
$GC,803,1.58,585.0,2830,1938,1799,4094,48.3,9.8,103,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1938,1799,1799,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.06,45.66
$GC,848,1.58,585.0,2829,1938,1798,4094,43.9,9.8,109,857,0.00,1.15,0.00,0.000,260,0.000,0.041,2830,2365,1798,1798,4094,0,0,0,0,0,0,25.89,25.61,25.90,10.04,45.78
$GC,906,1.58,585.0,2830,2365,1797,4094,38.3,9.6,117,916,0.00,1.08,0.00,0.000,1030,0.000,0.031,2830,1949,1796,1796,4094,0,0,0,0,0,0,25.78,25.75,25.80,10.04,45.94
$GC,952,1.58,585.0,2829,1949,1796,4094,33.9,9.5,123,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1796,1796,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.04,46.22
$GC,996,1.58,585.0,2829,1949,1795,4094,29.8,9.1,129,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1795,1795,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.04,46.81
$GC,1042,1.58,585.0,2830,1949,1794,4094,25.8,8.7,135,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1794,1794,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.04,46.69
$GC,1087,1.58,585.0,2830,1949,1793,4094,21.7,8.6,141,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1793,1793,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.05,47.44
$GC,1132,1.58,585.0,2830,1949,1792,4094,17.8,8.9,147,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.05,47.20
$GC,1177,1.58,585.0,2830,1949,1791,4094,13.9,8.6,153,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1791,1791,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.06,48.18
$GC,1223,1.60,598.8,2830,1949,1790,4094,10.2,8.2,159,1232,0.00,0.00,0.28,0.003,8198,0.000,0.000,2830,1949,1791,1791,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.07,47.91
$GC,1269,1.64,628.5,2829,1949,1789,4094,6.4,8.0,165,1279,0.12,0.00,3.42,0.344,10246,0.063,0.000,2854,1949,1752,1752,4094,0,0,0,0,0,0,26.15,25.76,25.32,10.10,49.29
$GC,1316,1.64,628.5,2853,1949,1751,4094,2.6,8.5,171,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1949,1750,1750,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.11,49.60
$STATE,1333,end climb,SURFACE_DEPTH_REACHED
$STATE,1333,begin surface coast
$FINISH,0.2,1.001662
$STATE,1361,end surface coast,CONTROL_FINISHED_OK
$STATE,1361,begin surface
$SM_CCo,1458,0.00,0.000,0,0,1750,631.93
$SM_GC,0.99,27.55,0.00,0.00,0.023,0.000,0.000,231,1949,1750,-6.59,-0.05,631.93,0,0,0,0,0,0,26.08,26.39,26.15
$IRIDIUM_FIX,5925.93,-17425.36,050817,140249
$TT8_MAMPS,0.025466,0.211967
$HUMID,51.10
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.80,14.314
$10V_AH,10.21,17.744
$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,44.200,6.400,70.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,482.266,60.210,171.521,746.866,58.123,33.414,466.440,0.000,265.923,0.000,0.540,0.000
$DEVICE_MAMPS,63.495,1283.670,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.565,480.882,0.000,564.165,738.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330888
$DATA_FILE_SIZE,17759,177
$CAP_FILE_SIZE,34349,0
$CFSIZE,1024409600,992493568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,164902,6005.697,-17309.703,8,0.9,35,7.3,0.4,112.2,9,5.0