version: 66.13
glider: 401
mission: 22
dive: 563
start: 8 5 117 22 59 34
data:
$ID,401
$MISSION,22
$DIVE,563
$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,24
$R_STBD_OVSHOOT,61
$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
$GPS1,050817,223308,6007.3037,-17315.3691,6,0.9,6,7.3,0.5,23.2,9,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-2.0
$GPS2,050817,223308,6007.3037,-17315.3691,6,0.9,6,7.3,0.5,23.2,9,0.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.143967,0.355686
$KALMAN_X,61914.480469,-2568.881104,-786.073181,-219401.265625,-133.532410
$KALMAN_Y,42998.191406,850.765808,275.722168,52172.015625,89.870270
$MHEAD_RNG_PITCHd_Wd,330.7,38405,-7.8,-8.333,-12.25,10289
$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,7,-1.58,-582.5,2395,1947,2363,4092,0.0,0.0,0,20,5.80,0.00,-4.25,0.000,20482,0.026,0.000,1835,1947,2837,2837,4095,0,0,0,0,0,0,26.10,28.83,26.12,10.31,51.02
$GC,23,-1.58,-582.5,1835,1947,2837,4095,0.2,0.0,1,32,0.00,0.00,-3.08,0.000,16390,0.000,0.000,1835,1947,3167,3167,4095,0,0,0,0,0,0,26.29,25.59,26.30,10.42,50.86
$GC,68,-1.58,-582.5,1835,1947,3168,4095,3.4,-11.2,7,77,0.00,1.05,0.00,0.000,260,0.000,0.042,1835,2341,3168,3168,4095,0,0,0,0,0,0,26.23,25.96,26.25,10.49,51.26
$GC,165,-1.58,-582.5,1834,2341,3170,4095,15.8,-12.4,21,175,0.00,0.98,0.00,0.000,1030,0.000,0.029,1835,1956,3170,3170,4094,0,0,0,0,0,0,26.10,26.10,26.13,10.47,50.07
$GC,212,-1.58,-582.5,1835,1955,3171,4094,21.0,-11.1,27,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1956,3172,3172,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,49.88
$GC,257,-1.58,-582.5,1835,1955,3172,4095,26.0,-10.5,33,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1956,3172,3172,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.43,49.25
$GC,302,-1.58,-582.5,1835,1956,3173,4094,30.9,-11.1,39,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1955,3173,3173,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.42,48.26
$GC,346,-1.58,-582.5,1835,1955,3174,4094,35.8,-11.3,45,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1955,3174,3174,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,47.59
$GC,392,-1.58,-582.5,1834,1955,3175,4095,40.5,-10.4,51,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1955,3175,3175,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.39,47.83
$GC,435,-1.58,-582.5,1835,1955,3175,4095,45.0,-10.0,57,445,0.00,1.02,0.00,0.000,260,0.000,0.042,1835,2340,3175,3175,4095,0,0,0,0,0,0,26.47,26.19,26.48,10.39,47.44
$GC,487,-1.58,-582.5,1834,2340,3176,4095,50.2,-9.9,64,497,0.00,0.98,0.00,0.000,1030,0.000,0.029,1835,1951,3177,3177,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.38,46.49
$GC,534,-1.58,-582.5,1834,1951,3177,4095,54.9,-10.8,70,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1951,3177,3177,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,46.81
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,583,-0.45,0.0,1835,1951,3178,4094,60.1,-11.7,76,627,3.78,0.00,33.03,1.306,10244,0.054,0.000,2184,1951,2487,2487,4094,0,0,0,0,0,0,26.25,24.99,24.29,10.38,46.37
$STATE,628,end apogee,CONTROL_FINISHED_OK
$STATE,628,begin climb
$GC,630,1.58,582.5,2184,1951,2487,4094,62.8,0.0,81,675,6.97,0.00,33.05,1.284,11270,0.037,0.000,2831,1951,1805,1805,4094,0,0,0,0,0,0,25.49,25.66,23.80,10.22,45.27
$GC,713,1.58,582.5,2830,1951,1804,4094,57.5,9.5,91,721,0.00,1.10,0.00,0.000,260,0.000,0.044,2832,2343,1804,1804,4094,0,0,0,0,0,0,25.47,25.22,25.48,10.07,44.99
$GC,779,1.58,582.5,2831,2343,1803,4094,51.0,10.2,100,787,0.00,1.00,0.00,0.000,1030,0.000,0.031,2832,1960,1802,1802,4094,0,0,0,0,0,0,25.54,25.51,25.56,10.07,45.35
$GC,824,1.58,582.5,2831,1960,1801,4094,46.3,10.4,106,833,0.00,1.17,0.00,0.000,516,0.000,0.054,2832,1516,1801,1801,4094,0,0,0,0,0,0,25.86,25.56,25.86,10.06,44.84
$GC,862,1.58,582.5,2831,1516,1801,4094,42.4,10.0,111,872,0.00,1.00,0.00,0.000,1030,0.000,0.025,2832,1951,1800,1800,4094,0,0,0,0,0,0,25.76,25.74,25.77,10.06,44.99
$GC,909,1.58,582.5,2831,1950,1800,4094,37.9,9.9,117,919,0.00,1.08,0.00,0.000,260,0.000,0.042,2832,2355,1799,1799,4094,0,0,0,0,0,0,26.01,25.72,26.02,10.06,45.11
$GC,1008,1.58,582.5,2831,2355,1797,4094,28.4,9.2,131,1018,0.00,0.95,0.00,0.000,1030,0.000,0.030,2832,1980,1797,1797,4094,0,0,0,0,0,0,25.93,25.90,25.95,10.06,46.29
$GC,1054,1.58,582.5,2831,1980,1796,4094,24.1,9.2,137,1063,0.00,1.20,0.00,0.000,516,0.000,0.055,2832,1523,1796,1796,4094,0,0,0,0,0,0,26.19,25.88,26.20,10.06,46.96
$GC,1107,1.58,582.5,2831,1522,1795,4094,19.3,9.2,144,1115,0.00,1.02,0.00,0.000,1030,0.000,0.025,2832,1969,1795,1795,4094,0,0,0,0,0,0,26.05,26.02,26.06,10.07,47.63
$GC,1152,1.58,582.5,2831,1968,1794,4094,15.3,8.5,150,1161,0.00,1.02,0.00,0.000,260,0.000,0.044,2831,2357,1794,1794,4094,0,0,0,0,0,0,26.27,25.98,26.28,10.08,47.40
$GC,1210,1.58,582.5,2831,2356,1793,4094,10.1,8.8,158,1219,0.00,0.98,0.00,0.000,1030,0.000,0.031,2832,1973,1793,1793,4094,0,0,0,0,0,0,26.10,26.06,26.11,10.11,48.26
$GC,1257,1.61,603.0,2830,1972,1792,4094,6.3,8.1,164,1266,0.00,0.00,2.38,0.146,8198,0.000,0.000,2832,1972,1780,1780,4094,0,0,0,0,0,0,26.34,25.79,25.34,10.12,49.72
$GC,1304,1.76,699.3,2831,1972,1779,4094,2.7,7.4,170,1315,0.45,1.05,6.53,0.519,10500,0.032,0.041,2885,2362,1666,1666,4094,0,0,0,0,0,0,26.17,25.96,25.34,10.15,49.72
$STATE,1323,end climb,FINISH_DEPTH_REACHED
$STATE,1323,begin subsurface finish
$FINISH1,0.9,1.024065,107
$GC,1331,0.16,107.0,2885,1940,1667,4094,0.9,7.5,172,1349,5.05,0.00,-6.05,0.000,20742,0.025,0.000,2394,1935,2363,2363,4095,0,0,0,0,0,0,26.06,25.55,26.12,10.13,50.55
$FINISH2,0.3
$STATE,1350,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1350,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,210226
$TT8_MAMPS,0.026215,0.210469
$HUMID,51.06
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.80,14.771
$10V_AH,10.23,18.246
$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,22.050,17.725,74.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,480.837,0.158,145.929,727.381,53.862,33.426,430.431,0.000,261.644,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,55.080,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.298,472.811,0.000,554.304,720.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330900
$DATA_FILE_SIZE,17852,174
$CAP_FILE_SIZE,34593,0
$CFSIZE,1024409600,991805440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,223308,6007.304,-17315.369,6,0.9,6,7.3,0.5,23.2,9,0.0