version: 66.13
glider: 401
mission: 22
dive: 558
start: 8 5 117 20 36 28
data:
$ID,401
$MISSION,22
$DIVE,558
$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,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
$GPS1,050817,194430,6005.7764,-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,0.20
$_SM_ANGLEo,-2.0
$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,-0.151931,0.347526
$KALMAN_X,63426.652344,-2413.140137,-605.039978,-218211.375000,30.183899
$KALMAN_Y,42892.050781,705.358093,73.286201,49791.976562,-188.925415
$MHEAD_RNG_PITCHd_Wd,329.1,42310,-8.0,-8.333,-12.39,9996
$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,-565.3,2388,1951,2363,4092,0.0,0.0,0,21,5.65,0.00,-5.18,0.000,20482,0.020,0.000,1837,1951,2946,2946,4095,0,0,0,0,0,0,26.12,28.83,26.13,10.30,51.41
$GC,24,-1.57,-565.3,1837,1951,2946,4095,0.4,0.0,1,34,0.00,1.12,-1.80,0.000,16644,0.000,1.274,1837,2359,3149,3149,4094,0,0,0,0,0,0,26.29,24.91,26.27,10.42,51.26
$GC,109,-1.57,-565.3,1836,2359,3151,4094,11.6,-16.9,13,118,0.00,1.05,0.00,0.000,1030,0.000,0.029,1837,1947,3151,3151,4095,0,0,0,0,0,0,26.01,26.03,26.05,10.46,51.61
$GC,155,-1.57,-565.3,1836,1947,3152,4095,17.9,-13.2,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1947,3151,3151,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.44,50.86
$GC,198,-1.57,-565.3,1836,1946,3153,4095,23.5,-12.6,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1947,3154,3154,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.42,50.27
$GC,245,-1.57,-565.3,1836,1947,3154,4095,29.0,-12.1,31,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1947,3154,3154,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.40,49.40
$GC,291,-1.57,-565.3,1836,1946,3155,4094,34.5,-11.5,37,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1946,3155,3155,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,49.25
$GC,337,-1.57,-565.3,1836,1947,3156,4095,39.9,-11.9,43,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1947,3156,3156,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.38,48.14
$GC,383,-1.57,-565.3,1836,1946,3157,4095,45.2,-11.4,49,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1946,3157,3157,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.38,47.48
$GC,429,-1.57,-565.3,1836,1946,3158,4095,50.4,-11.3,55,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1947,3158,3158,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.37,47.83
$GC,476,-1.57,-565.3,1836,1946,3158,4094,55.7,-11.5,61,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1946,3159,3159,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.37,46.85
$STATE,512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,512,begin apogee
$GC,517,-0.45,0.0,1836,1946,3159,4095,60.3,-11.5,66,561,3.78,0.00,32.55,1.307,10244,0.054,0.000,2184,1947,2483,2483,4094,0,0,0,0,0,0,26.21,24.97,24.25,10.36,47.40
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,562,begin climb
$GC,564,1.57,565.3,2184,1946,2483,4094,63.0,0.0,71,608,6.95,0.00,32.38,1.281,11270,0.037,0.000,2828,1946,1824,1824,4094,0,0,0,0,0,0,25.47,25.63,23.80,10.21,46.14
$GC,646,1.57,565.3,2827,1946,1824,4094,57.8,8.9,81,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1947,1823,1823,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.07,45.11
$GC,692,1.57,565.3,2827,1946,1824,4094,53.2,10.0,87,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1947,1822,1822,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.07,45.43
$GC,739,1.57,565.3,2828,1946,1822,4094,48.7,9.5,93,748,0.00,1.12,0.00,0.000,260,0.000,0.041,2828,2357,1821,1821,4094,0,0,0,0,0,0,25.80,25.56,25.82,10.06,45.35
$GC,810,1.57,565.3,2828,2356,1820,4094,41.4,9.9,103,820,0.00,1.00,0.00,0.000,1030,0.000,0.030,2828,1967,1820,1820,4094,0,0,0,0,0,0,25.75,25.70,25.76,10.06,45.70
$GC,857,1.57,565.3,2827,1966,1819,4094,37.2,9.1,109,866,0.00,1.17,0.00,0.000,516,0.000,0.055,2828,1521,1819,1819,4094,0,0,0,0,0,0,26.02,25.72,26.03,10.05,46.37
$GC,915,1.57,565.3,2827,1521,1818,4094,31.8,9.0,117,923,0.00,1.05,0.00,0.000,1030,0.000,0.025,2828,1970,1818,1818,4094,0,0,0,0,0,0,25.91,25.89,25.92,10.05,46.88
$GC,961,1.57,565.3,2828,1970,1817,4094,27.9,8.6,123,970,0.00,1.05,0.00,0.000,260,0.000,0.044,2828,2365,1816,1816,4094,0,0,0,0,0,0,26.15,25.88,26.16,10.05,46.49
$GC,1052,1.57,565.3,2827,2365,1815,4094,19.2,9.0,136,1062,0.00,0.95,0.00,0.000,1030,0.000,0.030,2828,1988,1815,1815,4094,0,0,0,0,0,0,26.05,26.00,26.05,10.05,46.88
$GC,1099,1.57,565.3,2827,1988,1814,4094,15.4,8.4,142,1108,0.00,1.23,0.00,0.000,516,0.000,0.057,2828,1520,1814,1814,4094,0,0,0,0,0,0,26.27,25.96,26.28,10.07,48.26
$GC,1157,1.65,617.2,2827,1519,1813,4094,10.4,7.8,150,1168,0.15,1.08,3.90,0.420,11270,0.043,0.027,2850,1983,1763,1763,4094,0,0,0,0,0,0,26.08,26.10,25.25,10.11,48.70
$GC,1206,1.79,712.8,2850,1985,1762,4094,6.9,7.4,156,1217,0.40,1.02,6.60,0.555,10500,0.035,0.043,2895,2371,1651,1651,4094,0,0,0,0,0,0,26.10,25.90,25.25,10.11,49.56
$STATE,1264,end climb,SURFACE_DEPTH_REACHED
$STATE,1265,begin surface coast
$FINISH,0.2,1.024103
$STATE,1287,end surface coast,CONTROL_FINISHED_OK
$STATE,1287,begin surface
$SM_CCo,1386,0.00,0.000,0,0,1648,717.79
$SM_GC,0.94,27.98,1.10,0.00,0.023,0.029,0.000,230,1954,1648,-6.59,1.37,717.79,0,0,0,0,0,0,25.99,26.04,26.08
$IRIDIUM_FIX,5925.93,-17425.36,050817,181356
$TT8_MAMPS,0.026215,0.234437
$HUMID,51.10
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.80,14.607
$10V_AH,10.18,18.070
$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,44.900,12.950,75.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.111,60.365,159.891,696.159,57.312,33.412,423.754,0.000,403.290,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1274.490,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.140,453.661,359.236,532.148,693.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,17765,167
$CAP_FILE_SIZE,32916,0
$CFSIZE,1024409600,992051200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,210034,6006.411,-17313.422,8,0.8,25,7.3,0.5,260.8,10,4.8