version: 66.13
glider: 401
mission: 22
dive: 561
start: 8 5 117 22 0 52
data:
$ID,401
$MISSION,22
$DIVE,561
$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,45
$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,0.20
$_SM_ANGLEo,-2.0
$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,-0.150738,0.353564
$KALMAN_X,62948.476562,-2477.781006,-688.442139,-218899.015625,-5.004517
$KALMAN_Y,42543.820312,740.880981,142.786682,51183.160156,-131.437988
$MHEAD_RNG_PITCHd_Wd,329.6,40684,-7.8,-8.333,-12.23,10331
$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,-585.0,2392,1958,2361,4092,0.0,0.0,0,21,5.78,0.00,-4.70,0.000,20482,0.025,0.000,1833,1960,2881,2881,4094,0,0,0,0,0,0,26.09,28.83,26.11,10.30,51.57
$GC,24,-1.58,-585.0,1832,1959,2881,4094,0.1,0.0,1,34,0.00,1.10,-2.55,0.000,16644,0.000,1.274,1832,2358,3169,3169,4095,0,0,0,0,0,0,26.27,24.89,26.29,10.41,51.57
$GC,136,-1.58,-585.0,1832,2357,3172,4095,13.1,-13.0,17,146,0.00,1.02,0.00,0.000,1030,0.000,0.028,1832,1954,3172,3172,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.47,51.41
$GC,182,-1.58,-585.0,1832,1954,3173,4094,18.4,-10.6,23,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1954,3174,3174,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.45,50.94
$GC,226,-1.58,-585.0,1832,1953,3173,4095,23.1,-10.7,29,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3174,3174,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.43,51.06
$GC,271,-1.58,-585.0,1832,1954,3175,4095,28.1,-11.4,35,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3175,3175,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.41,49.09
$GC,317,-1.58,-585.0,1832,1953,3175,4095,33.1,-11.4,41,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3176,3176,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.40,48.58
$GC,362,-1.58,-585.0,1832,1954,3176,4094,38.1,-10.7,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3176,3176,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.39,47.91
$GC,407,-1.58,-585.0,1832,1954,3177,4095,42.8,-10.6,53,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3178,3178,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.38,47.79
$GC,452,-1.58,-585.0,1832,1954,3178,4095,47.5,-10.3,59,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3178,3178,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.38,47.04
$GC,498,-1.58,-585.0,1832,1954,3179,4094,52.3,-10.9,65,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1954,3179,3179,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.38,46.77
$GC,543,-1.58,-585.0,1832,1954,3180,4095,57.4,-10.6,71,552,0.00,1.08,0.00,0.000,260,0.000,0.042,1832,2358,3180,3180,4095,0,0,0,0,0,0,26.50,26.22,26.51,10.37,47.12
$STATE,566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,573,-0.45,0.0,1832,1943,3180,4095,60.3,-11.2,74,617,3.80,0.00,33.33,1.309,10244,0.053,0.000,2183,1943,2484,2484,4094,0,0,0,0,0,0,26.23,24.97,24.27,10.38,46.45
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,621,1.58,585.0,2183,1943,2484,4094,63.0,0.0,79,665,7.00,0.00,33.33,1.281,11270,0.037,0.000,2831,1943,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.79,10.22,46.06
$GC,702,1.58,585.0,2830,1942,1801,4094,57.7,9.5,89,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1943,1802,1802,4094,0,0,0,0,0,0,25.46,25.47,25.46,10.07,44.64
$GC,747,1.58,585.0,2830,1942,1800,4094,53.0,9.9,95,757,0.00,1.15,0.00,0.000,260,0.000,0.041,2831,2360,1800,1800,4094,0,0,0,0,0,0,25.66,25.38,25.67,10.07,44.84
$GC,806,1.58,585.0,2830,2360,1799,4094,47.0,10.4,103,814,0.00,1.02,0.00,0.000,1030,0.000,0.029,2831,1963,1799,1799,4094,0,0,0,0,0,0,25.62,25.58,25.65,10.06,45.78
$GC,852,1.58,585.0,2830,1963,1798,4094,42.5,9.9,109,861,0.00,1.17,0.00,0.000,516,0.000,0.055,2831,1520,1798,1798,4095,0,0,0,0,0,0,25.92,25.62,25.94,10.06,45.74
$GC,897,1.58,585.0,2830,1520,1797,4095,38.1,9.6,115,907,0.00,1.02,0.00,0.000,1030,0.000,0.026,2831,1958,1797,1797,4094,0,0,0,0,0,0,25.80,25.79,25.83,10.06,45.66
$GC,943,1.58,585.0,2830,1958,1796,4094,33.8,9.5,121,952,0.00,1.10,0.00,0.000,260,0.000,0.042,2831,2371,1796,1796,4094,0,0,0,0,0,0,26.06,25.79,26.07,10.05,45.98
$GC,1027,1.58,585.0,2830,2370,1794,4094,25.7,9.7,133,1036,0.00,1.00,0.00,0.000,1030,0.000,0.029,2831,1978,1794,1794,4094,0,0,0,0,0,0,25.95,25.91,25.96,10.05,46.49
$GC,1073,1.58,585.0,2830,1977,1793,4094,21.5,9.0,139,1082,0.00,1.20,0.00,0.000,516,0.000,0.056,2831,1520,1793,1793,4094,0,0,0,0,0,0,26.20,25.89,26.21,10.06,47.40
$GC,1113,1.58,585.0,2831,1520,1792,4094,18.0,8.9,144,1122,0.00,1.10,0.00,0.000,1030,0.000,0.026,2831,1988,1792,1792,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.07,47.08
$GC,1159,1.58,585.0,2830,1987,1791,4094,14.0,8.3,150,1168,0.00,1.00,0.00,0.000,260,0.000,0.044,2831,2368,1791,1791,4094,0,0,0,0,0,0,26.27,25.97,26.28,10.08,47.71
$GC,1217,1.58,585.0,2830,2368,1789,4094,8.9,8.8,158,1226,0.00,0.98,0.00,0.000,1030,0.000,0.031,2831,1983,1789,1789,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.11,48.62
$GC,1264,1.63,614.5,2830,1982,1789,4094,5.1,8.0,164,1274,0.00,0.00,2.53,0.182,8198,0.000,0.000,2831,1983,1773,1773,4094,0,0,0,0,0,0,26.34,25.78,25.35,10.13,49.72
$STATE,1309,end climb,SURFACE_DEPTH_REACHED
$STATE,1309,begin surface coast
$FINISH,0.2,1.020617
$STATE,1337,end surface coast,CONTROL_FINISHED_OK
$STATE,1337,begin surface
$SM_CCo,1434,0.00,0.000,0,0,1772,612.18
$SM_GC,1.09,27.25,0.00,0.00,0.021,0.000,0.000,230,1976,1772,-6.59,1.18,612.18,0,0,0,0,0,0,26.05,26.39,26.15
$IRIDIUM_FIX,5952.82,-17420.78,050817,193802
$TT8_MAMPS,0.026215,0.20972
$HUMID,51.06
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.79,14.701
$10V_AH,10.22,18.173
$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,43.825,16.050,69.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,481.778,59.994,165.942,732.023,56.103,33.414,447.592,0.000,261.485,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1273.725,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.438,472.805,0.000,554.362,725.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330860
$DATA_FILE_SIZE,17730,174
$CAP_FILE_SIZE,34673,0
$CFSIZE,1024409600,991903744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,222601,6007.294,-17315.180,4,0.9,40,7.3,0.0,266.4,9,4.3