version: 66.13
glider: 401
mission: 22
dive: 560
start: 8 5 117 21 35 2
data:
$ID,401
$MISSION,22
$DIVE,560
$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,50
$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
$GPS1,050817,210752,6006.3955,-17313.5488,5,0.8,21,7.3,0.4,269.7,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-4.7
$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,-0.160536,0.349832
$KALMAN_X,62746.191406,-2472.893555,-680.762634,-218710.187500,-76.335693
$KALMAN_Y,43022.109375,722.519958,116.426735,50751.476562,19.272377
$MHEAD_RNG_PITCHd_Wd,328.0,40684,-7.7,-8.333,-12.22,10368
$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,6,begin dive
$GC,8,-1.58,-585.0,2396,1944,2365,4092,0.0,0.0,0,21,5.78,0.00,-4.45,0.000,20482,0.040,0.000,1850,1944,2860,2860,4095,0,0,0,0,0,0,26.12,28.83,26.15,10.31,51.29
$GC,24,-1.58,-585.0,1849,1944,2860,4095,0.1,0.0,1,34,0.00,1.12,-2.88,0.000,16644,0.000,1.274,1850,2351,3169,3169,4095,0,0,0,0,0,0,26.32,24.94,26.33,10.42,51.26
$GC,148,-1.58,-585.0,1849,2351,3172,4095,12.6,-11.2,19,157,0.00,1.00,0.00,0.000,1030,0.000,0.028,1849,1957,3172,3172,4095,0,0,0,0,0,0,26.10,26.07,26.13,10.48,50.70
$GC,195,-1.58,-585.0,1849,1956,3172,4095,17.2,-10.0,25,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3173,3173,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.46,50.47
$GC,241,-1.58,-585.0,1849,1956,3173,4094,21.6,-9.8,31,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3173,3173,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.44,49.48
$GC,287,-1.58,-585.0,1849,1956,3174,4095,26.2,-9.5,37,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3174,3174,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.42,48.70
$GC,331,-1.58,-585.0,1849,1956,3175,4095,30.7,-10.0,43,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3175,3175,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.41,47.95
$GC,376,-1.58,-585.0,1849,1956,3176,4094,35.0,-9.7,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3176,3176,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.40,47.44
$GC,420,-1.58,-585.0,1849,1956,3177,4095,39.3,-9.7,55,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3177,3177,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.39,47.16
$GC,464,-1.58,-585.0,1849,1956,3177,4094,43.5,-9.6,61,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3178,3178,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.38,46.96
$GC,509,-1.58,-585.0,1849,1956,3178,4094,47.7,-9.4,67,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3178,3178,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.38,46.88
$GC,553,-1.58,-585.0,1849,1956,3179,4095,52.0,-9.8,73,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3179,3179,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,46.57
$GC,597,-1.58,-585.0,1849,1956,3179,4095,56.5,-10.3,79,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1956,3180,3180,4095,0,0,0,0,0,0,26.54,26.56,26.56,10.37,46.73
$STATE,633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,633,begin apogee
$GC,638,-0.45,0.0,1849,1956,3180,4095,60.4,-9.9,84,682,3.60,0.00,33.28,1.308,10244,0.050,0.000,2184,1956,2485,2485,4095,0,0,0,0,0,0,26.28,25.01,24.30,10.37,46.02
$STATE,683,end apogee,CONTROL_FINISHED_OK
$STATE,683,begin climb
$GC,686,1.58,585.0,2184,1955,2484,4095,62.8,0.0,89,731,6.95,1.10,33.40,1.281,10756,0.037,0.050,2830,1526,1802,1802,4094,0,0,0,0,0,0,25.46,25.41,23.82,10.21,45.62
$GC,754,1.58,585.0,2829,1526,1801,4094,58.6,9.3,97,764,0.00,1.00,0.00,0.000,1030,0.000,0.025,2830,1951,1801,1801,4094,0,0,0,0,0,0,25.22,25.19,25.23,10.07,45.23
$GC,800,1.58,585.0,2829,1954,1800,4094,54.6,8.8,103,809,0.00,1.08,0.00,0.000,260,0.000,0.041,2830,2351,1801,1801,4094,0,0,0,0,0,0,25.62,25.37,25.63,10.07,44.68
$GC,871,1.58,585.0,2829,2351,1798,4094,47.3,10.3,113,881,0.00,0.98,0.00,0.000,1030,0.000,0.030,2830,1972,1798,1798,4094,0,0,0,0,0,0,25.63,25.60,25.65,10.06,45.78
$GC,918,1.58,585.0,2830,1972,1798,4094,42.9,9.5,119,928,0.00,1.17,0.00,0.000,516,0.000,0.054,2830,1525,1798,1798,4094,0,0,0,0,0,0,25.94,25.64,25.94,10.06,45.43
$GC,970,1.58,585.0,2829,1525,1797,4094,38.1,8.9,126,980,0.00,1.00,0.00,0.000,1030,0.000,0.025,2830,1958,1797,1797,4094,0,0,0,0,0,0,25.84,25.82,25.85,10.06,46.18
$GC,1016,1.58,585.0,2830,1957,1796,4094,34.0,8.7,132,1026,0.00,1.05,0.00,0.000,260,0.000,0.043,2830,2353,1796,1796,4095,0,0,0,0,0,0,26.08,25.80,26.09,10.05,45.98
$GC,1107,1.58,585.0,2829,2353,1794,4095,25.7,9.2,145,1117,0.00,0.98,0.00,0.000,1030,0.000,0.030,2830,1969,1794,1794,4094,0,0,0,0,0,0,25.97,25.94,26.02,10.04,47.24
$GC,1153,1.58,585.0,2829,1968,1793,4094,21.5,9.0,151,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1969,1793,1793,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.05,46.81
$GC,1198,1.58,585.0,2829,1968,1792,4094,17.5,8.9,157,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1969,1791,1791,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.07,47.24
$GC,1242,1.60,598.2,2829,1968,1791,4094,13.7,8.2,163,1252,0.00,0.00,0.57,0.003,8198,0.000,0.000,2830,1968,1791,1791,4094,0,0,0,0,0,0,26.29,26.28,26.29,10.08,48.34
$GC,1288,1.69,655.3,2829,1968,1790,4094,10.0,7.8,169,1298,0.25,0.00,4.85,0.496,10246,0.044,0.000,2867,1969,1718,1718,4095,0,0,0,0,0,0,26.13,25.90,25.26,10.11,48.85
$GC,1336,1.83,753.5,2867,1968,1717,4095,6.7,7.4,175,1347,0.35,1.05,6.65,0.552,10500,0.040,0.039,2906,2360,1604,1604,4095,0,0,0,0,0,0,26.07,25.90,25.25,10.11,49.76
$STATE,1394,end climb,FINISH_DEPTH_REACHED
$STATE,1394,begin subsurface finish
$FINISH1,1.7,1.024058,107
$GC,1402,0.16,107.4,2906,1950,1602,4094,1.7,8.0,183,1422,5.45,1.15,-6.32,0.000,20996,0.046,1.294,2392,1523,2362,2362,4095,0,0,0,0,0,0,26.06,24.87,26.10,10.11,50.23
$FINISH2,0.5
$STATE,1423,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1423,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,193802
$TT8_MAMPS,0.026215,0.245672
$HUMID,51.41
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,14.676
$10V_AH,10.16,18.146
$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,22.375,13.750,78.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,498.577,0.973,149.945,770.901,58.336,33.426,448.211,0.000,445.154,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1294.380,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,126.193,502.535,397.956,589.001,768.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330860
$DATA_FILE_SIZE,17642,185
$CAP_FILE_SIZE,34846,0
$CFSIZE,1024409600,991952896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,210752,6006.396,-17313.549,5,0.8,21,7.3,0.4,269.7,9,4.9