version: 66.13
glider: 401
mission: 22
dive: 559
start: 8 5 117 21 8 59
data:
$ID,401
$MISSION,22
$DIVE,559
$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,23
$R_STBD_OVSHOOT,39
$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
$GPS1,050817,210034,6006.4111,-17313.4219,8,0.8,25,7.3,0.5,260.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-34.6
$GPS2,050817,210752,6006.3955,-17313.5488,5,0.8,21,7.3,0.4,269.7,9,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.174392,0.340636
$KALMAN_X,62679.660156,-2530.627686,-732.231445,-218510.906250,-52.245911
$KALMAN_Y,43273.976562,793.434814,169.014725,50352.054688,25.239975
$MHEAD_RNG_PITCHd_Wd,325.6,40684,-7.8,-8.333,-12.29,10220
$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,-578.5,230,1951,1649,4091,0.0,0.0,0,21,11.02,0.00,0.00,0.000,2049,0.081,0.000,1185,1952,1648,1648,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,50.35
$GC,23,-1.58,-578.5,1185,1951,1649,4094,0.7,0.0,1,50,6.90,1.17,-13.73,0.000,18692,0.044,1.277,1828,2375,3163,3163,4094,0,0,0,0,0,0,25.90,24.77,25.97,10.20,50.51
$GC,205,-1.58,-578.5,1827,2374,3166,4094,15.0,-12.2,27,214,0.00,1.10,0.00,0.000,1030,0.000,0.028,1828,1934,3166,3166,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.51,49.17
$GC,252,-1.58,-578.5,1827,1934,3167,4095,20.0,-11.3,33,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3167,3167,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.47,48.66
$GC,297,-1.58,-578.5,1827,1934,3168,4094,25.2,-11.3,39,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3168,3168,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.45,47.55
$GC,342,-1.58,-578.5,1827,1934,3169,4095,30.1,-10.7,45,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3169,3169,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.44,46.57
$GC,386,-1.58,-578.5,1827,1934,3169,4095,35.0,-11.1,51,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3170,3170,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.42,46.37
$GC,433,-1.58,-578.5,1827,1934,3170,4094,39.9,-11.0,57,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3170,3170,4095,0,0,0,0,0,0,26.41,26.44,26.43,10.41,45.55
$GC,477,-1.58,-578.5,1827,1934,3171,4095,45.0,-10.5,63,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3172,3172,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.41,45.98
$GC,522,-1.58,-578.5,1827,1933,3172,4095,49.8,-10.7,69,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3172,3172,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.40,45.31
$GC,567,-1.58,-578.5,1827,1934,3173,4095,55.0,-11.4,75,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1934,3173,3173,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.39,44.68
$GC,613,-1.58,-578.5,1827,1934,3174,4094,59.8,-10.4,81,623,0.00,1.15,0.00,0.000,260,0.000,0.046,1828,2363,3174,3174,4095,0,0,0,0,0,0,26.51,26.21,26.51,10.38,44.95
$STATE,630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,631,begin apogee
$GC,637,-0.45,0.0,1828,1957,3175,4095,61.9,-9.9,83,681,3.85,0.00,33.17,1.320,10244,0.051,0.000,2185,1957,2483,2483,4094,0,0,0,0,0,0,26.23,24.96,24.25,10.38,44.95
$STATE,682,end apogee,CONTROL_FINISHED_OK
$STATE,682,begin climb
$GC,684,1.58,578.5,2185,1957,2483,4094,64.6,0.0,88,729,6.97,0.00,33.00,1.291,11270,0.037,0.000,2832,1957,1810,1810,4094,0,0,0,0,0,0,25.47,25.63,23.77,10.24,44.40
$GC,767,1.58,578.5,2831,1956,1810,4094,59.2,8.5,98,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1957,1809,1809,4094,0,0,0,0,0,0,25.46,25.48,25.47,10.09,44.05
$GC,812,1.58,578.5,2830,1957,1808,4094,54.5,10.6,104,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1957,1807,1807,4094,0,0,0,0,0,0,25.67,25.67,25.67,10.09,43.66
$GC,856,1.58,578.5,2831,1957,1807,4094,50.3,9.5,110,866,0.00,1.12,0.00,0.000,260,0.000,0.041,2831,2367,1807,1807,4094,0,0,0,0,0,0,25.79,25.53,25.81,10.09,43.89
$GC,916,1.58,578.5,2831,2367,1806,4094,44.4,10.2,118,926,0.00,1.02,0.00,0.000,1030,0.000,0.028,2832,1967,1805,1805,4094,0,0,0,0,0,0,25.72,25.69,25.74,10.07,44.64
$GC,962,1.58,578.5,2831,1966,1804,4094,39.7,9.7,124,972,0.00,1.17,0.00,0.000,516,0.000,0.055,2832,1520,1804,1804,4094,0,0,0,0,0,0,26.00,25.72,26.01,10.07,45.15
$GC,1027,1.58,578.5,2831,1520,1803,4094,33.6,9.2,133,1037,0.00,1.02,0.00,0.000,1030,0.000,0.025,2832,1964,1803,1803,4094,0,0,0,0,0,0,25.89,25.89,25.92,10.07,45.39
$GC,1073,1.58,578.5,2831,1963,1802,4094,29.5,9.0,139,1082,0.00,1.05,0.00,0.000,260,0.000,0.042,2832,2360,1802,1802,4094,0,0,0,0,0,0,26.15,25.86,26.15,10.07,45.35
$GC,1170,1.58,578.5,2831,2360,1799,4094,20.7,8.8,153,1180,0.00,1.00,0.00,0.000,1030,0.000,0.030,2831,1967,1800,1800,4094,0,0,0,0,0,0,26.03,25.98,26.08,10.07,46.37
$GC,1216,1.60,592.0,2831,1967,1799,4094,16.9,8.2,159,1226,0.00,1.15,1.73,0.004,8708,0.000,0.052,2831,1522,1799,1799,4094,0,0,0,0,0,0,26.27,25.94,26.25,10.08,46.69
$GC,1275,1.60,592.0,2831,1521,1798,4094,11.9,8.6,167,1284,0.00,1.00,0.00,0.000,1030,0.000,0.024,2831,1962,1797,1797,4094,0,0,0,0,0,0,26.11,26.11,26.15,10.10,47.67
$GC,1320,1.61,597.9,2831,1964,1797,4094,8.2,8.3,173,1330,0.00,1.00,2.20,0.096,8452,0.000,0.037,2832,2352,1789,1789,4094,0,0,0,0,0,0,26.34,25.79,25.32,10.13,49.60
$STATE,1410,end climb,FINISH_DEPTH_REACHED
$STATE,1410,begin subsurface finish
$FINISH1,1.5,1.024082,106
$GC,1418,0.16,105.8,2831,1947,1787,4094,1.5,7.1,186,1436,4.70,0.00,-5.00,0.000,20486,0.050,0.000,2396,1945,2365,2365,4094,0,0,0,0,0,0,26.13,25.63,26.20,10.16,50.19
$FINISH2,0.2
$STATE,1437,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1437,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,193802
$TT8_MAMPS,0.026215,0.202979
$HUMID,50.51
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.77,14.649
$10V_AH,10.23,18.105
$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,33.450,15.075,70.100,0.000,0.000,23.689,16.665,259.789,0.000,0.000,22.563,508.110,0.000,151.397,1105.454,130.754,33.453,456.262,0.000,282.929,0.000,0.542,0.000
$DEVICE_MAMPS,81.090,1276.785,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,128.059,510.792,0.000,598.789,784.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,17736,188
$CAP_FILE_SIZE,38665,0
$CFSIZE,1024409600,992002048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,210752,6006.396,-17313.549,5,0.8,21,7.3,0.4,269.7,9,4.9