version: 66.13
glider: 401
mission: 22
dive: 550
start: 8 5 117 16 57 28
data:
$ID,401
$MISSION,22
$DIVE,550
$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,25
$R_STBD_OVSHOOT,37
$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
$GPS1,050817,164902,6005.6968,-17309.7031,8,0.9,35,7.3,0.4,112.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-34.4
$GPS2,050817,165621,6005.6968,-17309.6250,5,0.8,16,7.3,0.5,117.9,9,4.7
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.383735,0.009413
$KALMAN_X,62402.542969,-2539.314697,-650.227722,-214601.921875,140.053528
$KALMAN_Y,43510.890625,853.673279,156.437881,48782.269531,17.809357
$MHEAD_RNG_PITCHd_Wd,264.1,8699,-7.8,-8.333,-12.25,10298
$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,-583.1,230,1949,1749,4092,0.0,0.0,0,20,11.10,0.00,0.00,0.000,2049,0.088,0.000,1178,1949,1749,1749,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.20,50.82
$GC,23,-1.58,-583.1,1178,1949,1749,4094,0.8,0.0,1,51,6.93,1.15,-13.02,0.000,19204,0.042,1.294,1828,1525,3167,3167,4094,0,0,0,0,0,0,25.93,24.76,25.98,10.21,50.31
$GC,304,-1.58,-583.1,1827,1525,3173,4094,27.7,-11.6,42,313,0.00,1.00,0.00,0.000,1030,0.000,0.024,1828,1954,3173,3173,4095,0,0,0,0,0,0,26.14,26.11,26.15,10.43,48.42
$GC,349,-1.58,-583.1,1827,1954,3173,4095,32.7,-11.1,48,359,0.00,1.10,0.00,0.000,260,0.000,0.044,1828,2371,3173,3173,4094,0,0,0,0,0,0,26.36,26.08,26.37,10.42,47.63
$GC,401,-1.58,-583.1,1827,2371,3174,4094,38.3,-10.4,55,410,0.00,1.02,0.00,0.000,1030,0.000,0.028,1828,1961,3175,3175,4095,0,0,0,0,0,0,26.18,26.15,26.21,10.41,46.45
$GC,448,-1.58,-583.1,1827,1961,3175,4095,43.0,-10.6,61,458,0.00,1.12,0.00,0.000,516,0.000,0.050,1828,1517,3175,3175,4094,0,0,0,0,0,0,26.41,26.13,26.43,10.40,46.06
$GC,513,-1.58,-583.1,1827,1517,3176,4094,50.4,-11.3,70,523,0.00,1.00,0.00,0.000,1030,0.000,0.025,1828,1948,3177,3177,4094,0,0,0,0,0,0,26.25,26.22,26.29,10.39,45.51
$GC,559,-1.58,-583.1,1827,1948,3177,4094,55.5,-11.3,76,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1948,3177,3177,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.38,45.74
$STATE,602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,602,begin apogee
$GC,607,-0.45,0.0,1828,1948,3178,4094,60.6,-11.3,82,650,3.88,0.00,33.38,1.310,10244,0.054,0.000,2186,1948,2484,2484,4095,0,0,0,0,0,0,26.20,25.20,24.24,10.38,45.43
$STATE,651,end apogee,CONTROL_FINISHED_OK
$STATE,651,begin climb
$GC,653,1.58,583.1,2186,1948,2484,4095,63.0,0.0,87,697,6.97,0.00,33.12,1.283,11270,0.035,0.000,2832,1951,1803,1803,4094,0,0,0,0,0,0,25.46,25.60,23.77,10.24,44.80
$GC,735,1.58,583.1,2832,1950,1803,4094,57.4,9.6,97,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1950,1803,1803,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.08,44.01
$GC,781,1.58,583.1,2832,1950,1802,4094,52.8,10.1,103,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1951,1802,1802,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.08,44.01
$GC,828,1.58,583.1,2832,1950,1801,4094,48.2,9.7,109,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1950,1801,1801,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.08,44.25
$GC,874,1.58,583.1,2831,1950,1800,4094,43.6,10.1,115,883,0.00,1.10,0.00,0.000,260,0.000,0.043,2832,2364,1800,1800,4094,0,0,0,0,0,0,25.89,25.63,25.91,10.07,45.07
$GC,921,1.58,583.1,2832,2364,1799,4094,38.9,10.3,121,930,0.00,1.08,0.00,0.000,1030,0.000,0.030,2832,1947,1798,1798,4095,0,0,0,0,0,0,25.77,25.73,25.78,10.07,44.76
$GC,968,1.58,583.1,2832,1947,1797,4095,34.2,9.9,127,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1797,1797,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.07,44.99
$GC,1014,1.58,583.1,2832,1946,1796,4094,29.7,9.7,133,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1796,1796,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.06,45.62
$GC,1060,1.58,583.1,2832,1947,1795,4094,25.2,9.6,139,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1795,1795,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.06,45.66
$GC,1106,1.58,583.1,2832,1947,1794,4094,20.8,9.6,145,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1948,1794,1794,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.06,45.98
$GC,1150,1.58,583.1,2832,1947,1794,4094,16.6,9.1,151,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1793,1793,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.07,46.25
$GC,1195,1.58,583.1,2832,1947,1792,4094,12.4,9.2,157,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1792,1792,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.08,46.96
$GC,1239,1.58,583.1,2832,1947,1791,4094,8.6,8.4,163,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1947,1791,1791,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.10,47.67
$GC,1284,1.72,678.7,2832,1947,1790,4094,5.1,7.4,169,1295,0.35,1.12,5.95,0.518,10500,0.035,0.038,2878,2370,1692,1692,4094,0,0,0,0,0,0,26.14,25.94,25.30,10.13,49.52
$STATE,1323,end climb,FINISH_DEPTH_REACHED
$STATE,1323,begin subsurface finish
$FINISH1,1.9,1.024201,98
$GC,1330,0.15,97.5,2878,1949,1690,4094,1.9,8.1,174,1348,5.18,0.00,-5.57,0.000,20486,0.044,0.000,2392,1949,2375,2375,4094,0,0,0,0,0,0,26.05,25.55,26.10,10.12,49.64
$FINISH2,0.5
$STATE,1349,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1349,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,152648
$TT8_MAMPS,0.026215,0.246421
$HUMID,50.51
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.77,14.358
$10V_AH,10.15,17.789
$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,34.400,10.825,72.450,0.000,0.000,25.150,18.107,262.987,0.000,0.000,17.861,484.724,0.000,144.797,1049.992,129.386,33.454,428.348,0.000,426.389,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,1294.380,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.123,478.052,378.587,560.896,731.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,17873,176
$CAP_FILE_SIZE,35674,0
$CFSIZE,1024409600,992444416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,165621,6005.697,-17309.625,5,0.8,16,7.3,0.5,117.9,9,4.7