version: 66.13
glider: 401
mission: 22
dive: 551
start: 8 5 117 17 22 3
data:
$ID,401
$MISSION,22
$DIVE,551
$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,22
$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
$GPS1,050817,165621,6005.6968,-17309.6250,5,0.8,16,7.3,0.5,117.9,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-2.1
$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,-0.384212,0.006098
$KALMAN_X,62652.550781,-2425.653320,-551.157166,-215081.046875,94.861755
$KALMAN_Y,43525.167969,838.157654,153.753876,48790.875000,25.895996
$MHEAD_RNG_PITCHd_Wd,263.6,8699,-7.8,-8.333,-12.24,10325
$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,-584.7,2392,1946,2375,4092,0.0,0.0,0,21,5.78,0.00,-4.90,0.000,20482,0.024,0.000,1832,1943,2914,2914,4094,0,0,0,0,0,0,26.10,28.83,26.13,10.29,50.86
$GC,24,-1.58,-584.7,1831,1942,2914,4094,0.1,0.0,1,34,0.00,1.17,-2.38,0.000,16644,0.000,1.281,1832,2362,3167,3167,4094,0,0,0,0,0,0,26.28,24.90,26.29,10.40,50.82
$GC,57,-1.58,-585.0,1831,2363,3167,4094,0.2,-0.2,5,65,0.00,1.08,0.00,0.000,1030,0.000,0.036,1832,1951,3167,3167,4094,0,0,0,0,0,0,25.95,25.92,25.99,10.47,51.02
$GC,101,-1.58,-585.0,1831,1952,3167,4094,4.0,-10.7,11,110,0.00,1.12,0.00,0.000,260,0.000,0.045,1831,2369,3168,3168,4094,0,0,0,0,0,0,26.23,25.97,26.25,10.47,50.66
$GC,285,-1.58,-585.0,1831,2368,3172,4094,25.4,-11.4,38,295,0.00,1.08,0.00,0.000,1030,0.000,0.029,1832,1937,3172,3172,4095,0,0,0,0,0,0,26.15,26.11,26.16,10.40,48.93
$GC,331,-1.58,-585.0,1831,1937,3173,4095,31.1,-11.9,44,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1938,3173,3173,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.39,48.03
$GC,375,-1.58,-585.0,1831,1938,3174,4095,36.2,-11.1,50,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1937,3174,3174,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.59
$GC,420,-1.58,-585.0,1831,1938,3175,4095,41.3,-11.4,56,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1938,3175,3175,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.75
$GC,464,-1.58,-585.0,1831,1938,3175,4094,46.1,-10.9,62,472,0.00,1.05,0.00,0.000,516,0.000,0.051,1832,1523,3176,3176,4094,0,0,0,0,0,0,26.47,26.17,26.48,10.38,46.92
$GC,521,-1.58,-585.0,1831,1522,3177,4094,52.5,-10.9,70,530,0.00,1.00,0.00,0.000,1030,0.000,0.026,1832,1953,3177,3177,4095,0,0,0,0,0,0,26.29,26.29,26.32,10.37,46.69
$GC,567,-1.58,-585.0,1831,1953,3178,4095,57.3,-10.8,76,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3178,3178,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.37,46.65
$STATE,590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,596,-0.45,0.0,1831,1953,3178,4094,60.2,-10.7,79,640,3.83,0.00,33.33,1.307,10244,0.054,0.000,2185,1953,2483,2483,4094,0,0,0,0,0,0,26.24,24.96,24.26,10.36,46.45
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,643,1.58,585.0,2184,1953,2484,4094,62.6,0.0,84,688,6.97,0.00,33.38,1.278,11270,0.036,0.000,2832,1956,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.80,10.21,45.66
$GC,725,1.58,585.0,2831,1955,1801,4094,57.2,9.5,94,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.06,44.60
$GC,769,1.58,585.0,2831,1955,1800,4094,52.6,10.1,100,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1801,1801,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.06,44.92
$GC,814,1.58,585.0,2831,1955,1799,4094,48.1,10.0,106,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1799,1799,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.05,45.27
$GC,860,1.58,585.0,2831,1955,1798,4094,43.7,9.9,112,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1798,1798,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.05,46.06
$GC,904,1.58,585.0,2831,1955,1797,4094,39.2,9.8,118,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1797,1797,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.05,45.55
$GC,949,1.58,585.0,2831,1955,1796,4094,34.8,9.8,124,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1796,1796,4094,0,0,0,0,0,0,26.04,26.05,26.05,10.05,45.98
$GC,995,1.58,585.0,2831,1956,1795,4094,30.5,9.6,130,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1795,1795,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.05,45.82
$GC,1040,1.58,585.0,2831,1956,1794,4094,26.1,9.2,136,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1956,1794,1794,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.05,46.45
$GC,1084,1.58,585.0,2831,1956,1793,4094,21.9,9.6,142,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1957,1793,1793,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.05,46.49
$GC,1129,1.58,585.0,2831,1956,1792,4094,17.8,9.1,148,1138,0.00,1.10,0.00,0.000,260,0.000,0.041,2832,2370,1792,1792,4094,0,0,0,0,0,0,26.23,25.95,26.24,10.05,46.73
$GC,1194,1.58,585.0,2831,2370,1790,4094,12.0,8.9,157,1203,0.00,1.08,0.00,0.000,1030,0.000,0.031,2832,1950,1790,1790,4094,0,0,0,0,0,0,26.03,26.03,26.08,10.07,47.08
$GC,1241,1.62,609.6,2831,1950,1790,4094,8.2,8.1,163,1249,0.00,0.00,2.65,0.215,8198,0.000,0.000,2832,1950,1772,1772,4094,0,0,0,0,0,0,26.32,25.75,25.29,10.10,48.50
$GC,1287,1.82,746.4,2831,1950,1771,4094,4.9,7.0,169,1306,0.70,0.00,8.52,0.584,10246,0.028,0.000,2908,1951,1612,1612,4094,0,0,0,0,0,0,26.12,25.72,25.27,10.12,49.44
$STATE,1327,end climb,FINISH_DEPTH_REACHED
$STATE,1327,begin subsurface finish
$FINISH1,1.5,1.024220,96
$GC,1333,0.14,96.2,2907,1950,1612,4094,1.5,8.2,174,1352,5.53,0.00,-6.60,0.000,20486,0.043,0.000,2391,1950,2375,2375,4094,0,0,0,0,0,0,26.00,25.51,26.06,10.10,50.03
$FINISH2,0.3
$STATE,1353,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1353,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,152648
$TT8_MAMPS,0.025466,0.214214
$HUMID,50.82
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.80,14.384
$10V_AH,10.21,17.817
$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,22.800,8.675,77.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,471.707,0.000,148.590,735.279,53.895,33.425,436.976,0.000,264.529,0.000,0.545,0.000
$DEVICE_MAMPS,53.550,1281.375,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.690,478.166,0.000,560.777,728.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17736,176
$CAP_FILE_SIZE,32548,0
$CFSIZE,1024409600,992411648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,165621,6005.697,-17309.625,5,0.8,16,7.3,0.5,117.9,9,4.7