version: 66.13
glider: 401
mission: 22
dive: 557
start: 8 5 117 20 11 39
data:
$ID,401
$MISSION,22
$DIVE,557
$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,27
$R_STBD_OVSHOOT,51
$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
$GPS1,050817,194430,6005.7764,-17312.1621,4,1.0,29,7.3,0.2,247.4,9,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-2.4
$GPS2,050817,194430,6005.7764,-17312.1621,4,1.0,29,7.3,0.2,247.4,9,3.2
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.174371,0.345822
$KALMAN_X,63202.996094,-2411.653564,-597.189331,-217997.718750,-20.904175
$KALMAN_Y,43313.488281,717.060059,77.873940,49355.910156,-48.713577
$MHEAD_RNG_PITCHd_Wd,325.9,42310,-7.6,-8.333,-12.14,10529
$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,-1.57,-585.0,2393,1956,2375,4092,0.0,0.0,0,21,5.72,0.00,-4.57,0.000,20482,0.023,0.000,1840,1956,2885,2885,4094,0,0,0,0,0,0,26.09,28.83,26.13,10.31,50.70
$GC,24,-1.57,-585.0,1839,1956,2885,4094,0.2,0.0,1,34,0.00,1.10,-2.67,0.000,16644,0.000,1.276,1839,2354,3174,3174,4095,0,0,0,0,0,0,26.29,24.91,26.30,10.42,50.63
$GC,108,-1.57,-585.0,1839,2354,3175,4095,9.0,-13.7,13,117,0.00,1.02,0.00,0.000,1030,0.000,0.030,1839,1951,3175,3175,4095,0,0,0,0,0,0,26.05,26.01,26.07,10.50,50.94
$GC,155,-1.57,-585.0,1839,1950,3176,4095,14.8,-12.2,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3176,3176,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.47,50.82
$GC,198,-1.57,-585.0,1839,1950,3177,4094,19.7,-10.9,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3177,3177,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.45,50.51
$GC,243,-1.57,-585.0,1838,1950,3178,4094,24.7,-11.3,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3178,3178,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.43,49.01
$GC,289,-1.57,-585.0,1839,1950,3179,4095,29.7,-11.0,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3179,3179,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.41,48.66
$GC,334,-1.57,-585.0,1838,1950,3180,4094,34.7,-10.6,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1950,3180,3180,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.40,47.63
$GC,379,-1.57,-585.0,1838,1950,3181,4095,39.4,-10.5,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3180,3180,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.39,47.51
$GC,423,-1.57,-585.0,1839,1950,3181,4094,44.1,-10.5,55,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3181,3181,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,46.41
$GC,470,-1.57,-585.0,1839,1950,3182,4095,48.8,-10.3,61,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1951,3183,3183,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.38,46.29
$GC,513,-1.57,-585.0,1839,1950,3183,4094,53.5,-10.7,67,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1950,3183,3183,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,46.41
$GC,558,-1.57,-585.0,1839,1950,3183,4095,58.3,-10.9,73,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1950,3184,3184,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.37,46.02
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,579,-0.45,0.0,1839,1950,3184,4095,60.2,-10.4,75,623,3.75,0.00,33.55,1.306,10244,0.053,0.000,2186,1950,2484,2484,4094,0,0,0,0,0,0,26.25,24.97,24.26,10.37,46.14
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.57,585.0,2186,1950,2484,4094,62.7,0.0,80,671,6.93,0.00,33.35,1.281,11270,0.038,0.000,2825,1950,1802,1802,4095,0,0,0,0,0,0,25.46,25.63,23.80,10.22,45.39
$GC,709,1.57,585.0,2825,1951,1802,4095,57.5,9.5,90,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1951,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.47,10.07,44.84
$GC,753,1.57,585.0,2825,1950,1801,4094,53.1,9.9,96,761,0.00,1.10,0.00,0.000,260,0.000,0.043,2825,2351,1800,1800,4094,0,0,0,0,0,0,25.67,25.40,25.67,10.07,44.84
$GC,817,1.57,585.0,2824,2351,1799,4094,46.7,10.1,105,826,0.00,1.00,0.00,0.000,1030,0.000,0.031,2825,1963,1799,1799,4094,0,0,0,0,0,0,25.64,25.60,25.65,10.06,45.07
$GC,863,1.57,585.0,2825,1963,1798,4094,42.3,9.8,111,872,0.00,1.15,0.00,0.000,516,0.000,0.054,2825,1527,1798,1798,4094,0,0,0,0,0,0,25.94,25.63,25.94,10.06,45.86
$GC,929,1.57,585.0,2825,1526,1797,4094,36.2,9.0,120,938,0.00,0.98,0.00,0.000,1030,0.000,0.025,2825,1953,1796,1796,4094,0,0,0,0,0,0,25.85,25.84,25.87,10.06,46.22
$GC,974,1.57,585.0,2825,1952,1796,4094,32.1,8.9,126,984,0.00,1.08,0.00,0.000,260,0.000,0.043,2825,2357,1795,1795,4094,0,0,0,0,0,0,26.10,25.82,26.10,10.05,46.22
$GC,1066,1.57,585.0,2825,2356,1795,4094,24.0,8.8,139,1075,0.00,0.98,0.00,0.000,1030,0.000,0.030,2825,1974,1794,1794,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.05,46.25
$GC,1112,1.57,585.0,2824,1973,1793,4094,20.1,8.6,145,1122,0.00,1.17,0.00,0.000,516,0.000,0.056,2826,1524,1793,1793,4094,0,0,0,0,0,0,26.23,25.93,26.25,10.05,46.57
$GC,1158,1.59,599.7,2825,1524,1792,4094,16.1,8.2,151,1168,0.00,1.02,2.17,0.095,9222,0.000,0.025,2825,1970,1785,1785,4095,0,0,0,0,0,0,26.08,26.06,25.18,10.06,47.91
$GC,1204,1.59,599.7,2825,1970,1785,4095,12.4,8.4,157,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1971,1784,1784,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.08,47.83
$GC,1249,1.76,713.2,2825,1972,1784,4094,9.0,7.2,163,1268,0.55,1.00,7.47,0.601,10500,0.030,0.041,2888,2360,1651,1651,4094,0,0,0,0,0,0,26.12,25.90,25.23,10.10,48.85
$STATE,1336,end climb,FINISH_DEPTH_REACHED
$STATE,1336,begin subsurface finish
$FINISH1,1.8,1.024162,100
$GC,1344,0.15,100.2,2889,1954,1649,4094,1.8,8.8,175,1363,5.30,0.00,-6.20,0.000,20486,0.047,0.000,2388,1949,2363,2363,4094,0,0,0,0,0,0,26.09,25.56,26.13,10.11,50.43
$FINISH2,0.2
$STATE,1364,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1364,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050817,181356
$TT8_MAMPS,0.025466,0.212716
$HUMID,51.14
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.80,14.581
$10V_AH,10.21,18.033
$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,22.250,12.675,76.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.495,0.000,148.934,739.296,53.227,33.427,438.325,0.000,265.941,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1276.020,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.459,480.940,0.000,563.884,732.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,17860,177
$CAP_FILE_SIZE,33575,0
$CFSIZE,1024409600,992100352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,194430,6005.776,-17312.162,4,1.0,29,7.3,0.2,247.4,9,3.2