version: 66.13
glider: 401
mission: 22
dive: 553
start: 8 5 117 18 20 53
data:
$ID,401
$MISSION,22
$DIVE,553
$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,20
$R_STBD_OVSHOOT,43
$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
$GPS1,050817,181202,6005.7427,-17310.7305,8,0.8,33,7.3,0.0,118.1,10,4.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-33.7
$GPS2,050817,181946,6005.7227,-17310.6738,5,0.8,15,7.3,0.0,144.2,11,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.379883,0.044553
$KALMAN_X,62906.335938,-2488.214355,-628.978821,-216168.781250,109.917908
$KALMAN_Y,43549.093750,840.366821,166.169434,48799.269531,-29.614441
$MHEAD_RNG_PITCHd_Wd,269.4,7729,-7.8,-8.333,-12.29,10207
$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,-577.7,236,1945,1677,4092,0.0,0.0,0,21,11.12,0.00,0.00,0.000,2049,0.085,0.000,1191,1946,1677,1677,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.20,50.59
$GC,23,-1.58,-577.7,1191,1945,1677,4094,0.7,0.0,1,51,6.82,1.15,-13.60,0.000,18692,0.045,1.277,1828,2363,3160,3160,4095,0,0,0,0,0,0,25.89,24.74,25.96,10.21,49.68
$GC,220,-1.58,-577.7,1827,2362,3164,4095,19.0,-10.9,29,229,0.00,1.05,0.00,0.000,1030,0.000,0.028,1828,1944,3164,3164,4094,0,0,0,0,0,0,26.01,25.98,26.09,10.48,48.70
$GC,266,-1.58,-577.7,1827,1944,3165,4094,24.3,-11.7,35,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1944,3165,3165,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.45,47.99
$GC,310,-1.58,-577.7,1827,1944,3166,4095,29.2,-11.1,41,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1944,3166,3166,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.44,46.88
$GC,355,-1.58,-577.7,1827,1944,3167,4094,34.1,-11.0,47,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1944,3167,3167,4095,0,0,0,0,0,0,26.36,26.36,26.36,10.42,46.49
$GC,401,-1.58,-577.7,1827,1944,3167,4095,38.8,-10.4,53,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1944,3167,3167,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.41,45.66
$GC,446,-1.58,-577.7,1827,1944,3168,4095,43.6,-10.2,59,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1945,3168,3168,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.40,45.27
$GC,491,-1.58,-577.7,1828,1944,3169,4094,48.4,-10.7,65,501,0.00,1.08,0.00,0.000,516,0.000,0.050,1828,1520,3169,3169,4094,0,0,0,0,0,0,26.43,26.13,26.44,10.40,45.11
$GC,542,-1.58,-577.7,1827,1520,3170,4094,54.3,-11.5,72,552,0.00,0.98,0.00,0.000,1030,0.000,0.025,1827,1944,3170,3170,4095,0,0,0,0,0,0,26.25,26.23,26.27,10.39,44.88
$GC,588,-1.58,-577.7,1827,1944,3171,4095,59.2,-10.9,78,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1944,3171,3171,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.38,44.84
$STATE,604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,604,begin apogee
$GC,609,-0.45,0.0,1827,1944,3171,4094,61.2,-11.2,80,653,3.88,0.00,33.00,1.315,10244,0.054,0.000,2185,1947,2484,2484,4094,0,0,0,0,0,0,26.20,24.94,24.23,10.38,44.52
$STATE,654,end apogee,CONTROL_FINISHED_OK
$STATE,654,begin climb
$GC,656,1.58,577.7,2186,1946,2484,4094,63.8,0.0,85,708,6.93,1.12,33.03,1.291,10756,0.037,0.050,2828,1520,1810,1810,4094,0,0,0,0,0,0,25.39,25.34,23.76,10.24,44.44
$GC,961,1.58,577.7,2828,1519,1804,4094,37.5,9.2,129,970,0.00,1.00,0.00,0.000,1030,0.000,0.025,2828,1954,1804,1804,4094,0,0,0,0,0,0,25.86,25.85,25.87,10.07,45.70
$GC,1008,1.58,577.7,2827,1954,1803,4094,33.3,9.4,135,1018,0.00,1.15,0.00,0.000,516,0.000,0.054,2828,1524,1803,1803,4094,0,0,0,0,0,0,26.10,25.80,26.10,10.07,45.51
$GC,1164,1.58,577.7,2828,1523,1800,4094,18.4,9.1,158,1173,0.00,0.98,0.00,0.000,1030,0.000,0.025,2828,1956,1800,1800,4094,0,0,0,0,0,0,26.07,26.03,26.08,10.07,46.49
$GC,1209,1.58,577.7,2828,1955,1799,4094,14.4,9.0,164,1218,0.00,1.05,0.00,0.000,260,0.000,0.043,2828,2355,1799,1799,4094,0,0,0,0,0,0,26.28,26.01,26.29,10.08,46.96
$GC,1281,1.67,641.6,2828,2355,1797,4094,8.3,7.7,174,1292,0.20,1.00,4.43,0.456,11270,0.036,0.029,2858,1956,1735,1735,4094,0,0,0,0,0,0,26.11,26.09,25.28,10.14,48.93
$GC,1330,1.80,723.4,2858,1955,1734,4094,4.8,7.5,180,1340,0.35,0.00,5.88,0.509,10246,0.038,0.000,2897,1956,1639,1639,4094,0,0,0,0,0,0,26.14,25.89,25.29,10.14,49.60
$STATE,1361,end climb,FINISH_DEPTH_REACHED
$STATE,1361,begin subsurface finish
$FINISH1,1.9,1.024216,96
$GC,1368,0.14,96.4,2897,1955,1639,4094,1.9,8.1,184,1386,5.43,0.00,-5.82,0.000,20486,0.048,0.000,2391,1955,2374,2374,4094,0,0,0,0,0,0,26.03,25.53,26.10,10.13,50.47
$FINISH2,0.7
$STATE,1387,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1387,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,165054
$TT8_MAMPS,0.025466,0.208222
$HUMID,50.63
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.76,14.455
$10V_AH,10.22,17.891
$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,34.725,10.550,76.325,0.000,0.000,25.487,22.065,281.796,0.000,0.000,16.973,496.950,0.000,132.457,1119.350,122.547,33.457,408.815,0.000,280.228,0.000,0.542,0.000
$DEVICE_MAMPS,84.915,1276.785,1315.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,127.306,505.366,0.000,592.682,773.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,17940,186
$CAP_FILE_SIZE,34127,0
$CFSIZE,1024409600,992296960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,181946,6005.723,-17310.674,5,0.8,15,7.3,0.0,144.2,11,4.8