version: 66.13
glider: 401
mission: 22
dive: 564
start: 8 5 117 23 24 9
data:
$ID,401
$MISSION,22
$DIVE,564
$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,28
$R_STBD_OVSHOOT,48
$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,0.22
$_SM_ANGLEo,-3.3
$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,-0.127029,0.357894
$KALMAN_X,62103.429688,-2583.704834,-799.128357,-219561.125000,-55.701416
$KALMAN_Y,42481.207031,892.350708,320.217896,52600.312500,-93.895111
$MHEAD_RNG_PITCHd_Wd,333.2,38405,-7.9,-8.333,-12.38,10028
$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,-567.2,2394,1938,2363,4092,0.0,0.0,0,21,5.72,0.00,-4.90,0.000,20482,0.026,0.000,1841,1938,2904,2904,4094,0,0,0,0,0,0,26.10,28.83,26.13,10.30,51.37
$GC,24,-1.57,-567.2,1841,1938,2904,4094,0.2,0.0,1,33,0.00,1.12,-2.25,0.000,16644,0.000,1.277,1842,2360,3148,3148,4095,0,0,0,0,0,0,26.30,24.91,26.30,10.42,51.81
$GC,160,-1.57,-567.2,1840,2360,3149,4095,15.0,-12.6,21,169,0.00,1.05,0.00,0.000,1030,0.000,0.029,1841,1942,3151,3151,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.45,50.66
$GC,207,-1.57,-567.2,1840,1941,3152,4094,20.4,-11.4,27,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1942,3152,3152,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.43,50.35
$GC,253,-1.57,-567.2,1841,1941,3152,4095,25.7,-11.5,33,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1942,3153,3153,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.41,49.37
$GC,300,-1.57,-567.2,1840,1941,3153,4094,30.7,-10.8,39,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3154,3154,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.40,48.30
$GC,346,-1.57,-567.2,1841,1941,3154,4095,35.5,-10.3,45,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1942,3154,3154,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.40,48.14
$GC,392,-1.57,-567.2,1841,1941,3155,4095,40.4,-10.2,51,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1942,3155,3155,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.38,47.59
$GC,438,-1.57,-567.2,1841,1941,3157,4095,45.1,-10.4,57,447,0.00,1.10,0.00,0.000,260,0.000,0.043,1841,2355,3156,3156,4095,0,0,0,0,0,0,26.48,26.20,26.48,10.38,47.28
$GC,502,-1.57,-567.2,1840,2354,3157,4095,52.0,-10.6,66,511,0.00,1.00,0.00,0.000,1030,0.000,0.031,1841,1953,3157,3157,4095,0,0,0,0,0,0,26.27,26.25,26.31,10.37,46.61
$GC,547,-1.57,-567.2,1840,1953,3158,4095,57.2,-11.7,72,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1953,3158,3158,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.37,46.49
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,582,-0.45,0.0,1841,1953,3158,4094,60.7,-10.8,76,626,3.70,0.00,32.28,1.306,10244,0.052,0.000,2185,1952,2484,2484,4095,0,0,0,0,0,0,26.26,25.01,24.31,10.36,46.65
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,629,1.57,567.2,2184,1952,2484,4095,63.1,0.0,81,674,6.93,0.00,32.35,1.284,11270,0.035,0.000,2829,1952,1823,1823,4094,0,0,0,0,0,0,25.51,25.67,23.81,10.22,45.86
$GC,712,1.57,567.2,2828,1952,1822,4094,57.8,9.0,91,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1952,1822,1822,4095,0,0,0,0,0,0,25.48,25.50,25.50,10.08,45.35
$GC,758,1.57,567.2,2828,1951,1821,4095,53.5,9.3,97,767,0.00,1.10,0.00,0.000,260,0.000,0.039,2828,2354,1821,1821,4094,0,0,0,0,0,0,25.69,25.41,25.70,10.07,45.27
$GC,829,1.57,567.2,2828,2353,1820,4094,46.6,9.8,107,839,0.00,1.02,0.00,0.000,1030,0.000,0.031,2829,1955,1820,1820,4094,0,0,0,0,0,0,25.67,25.65,25.69,10.06,45.55
$GC,877,1.57,567.2,2828,1955,1819,4094,42.2,9.5,113,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1819,1819,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.06,45.55
$GC,923,1.57,567.2,2828,1955,1818,4094,37.9,9.0,119,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1955,1817,1817,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.06,45.78
$GC,969,1.57,567.2,2828,1955,1817,4094,33.5,9.4,125,978,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2361,1817,1817,4095,0,0,0,0,0,0,26.10,25.82,26.10,10.06,46.33
$GC,1021,1.57,567.2,2828,2360,1816,4095,28.4,9.6,132,1030,0.00,1.02,0.00,0.000,1030,0.000,0.031,2829,1960,1815,1815,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.06,46.96
$GC,1067,1.57,567.2,2828,1959,1815,4094,24.1,9.2,138,1076,0.00,1.15,0.00,0.000,516,0.000,0.057,2829,1521,1814,1814,4094,0,0,0,0,0,0,26.20,25.89,26.21,10.06,46.65
$GC,1107,1.57,567.2,2828,1521,1814,4094,20.7,8.8,143,1117,0.00,1.02,0.00,0.000,1030,0.000,0.026,2829,1966,1813,1813,4094,0,0,0,0,0,0,26.05,26.03,26.06,10.07,47.00
$GC,1154,1.57,567.2,2828,1966,1813,4094,16.6,8.6,149,1164,0.00,1.02,0.00,0.000,260,0.000,0.043,2829,2356,1813,1813,4094,0,0,0,0,0,0,26.27,26.01,26.28,10.07,47.63
$GC,1219,1.57,567.2,2828,2356,1811,4094,10.8,8.4,158,1228,0.00,0.95,0.00,0.000,1030,0.000,0.031,2828,1979,1811,1811,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.09,48.11
$GC,1265,1.59,577.0,2828,1978,1810,4094,7.0,8.2,164,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1979,1810,1810,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.12,48.81
$GC,1310,1.72,668.5,2828,1978,1810,4094,3.6,7.4,170,1321,0.38,1.02,6.25,0.521,10500,0.036,0.041,2878,2364,1703,1703,4094,0,0,0,0,0,0,26.17,25.98,25.34,10.14,49.72
$STATE,1329,end climb,SURFACE_DEPTH_REACHED
$STATE,1329,begin surface coast
$FINISH,0.2,1.011828
$STATE,1359,end surface coast,CONTROL_FINISHED_OK
$STATE,1359,begin surface
$SM_CCo,1457,0.00,0.000,0,0,1702,672.28
$SM_GC,0.90,27.73,1.10,0.00,0.023,0.030,0.000,231,1947,1702,-6.59,1.00,672.28,0,0,0,0,0,0,25.98,26.08,26.10
$IRIDIUM_FIX,5952.82,-17420.78,050817,210226
$TT8_MAMPS,0.025466,0.235935
$HUMID,50.82
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.81,14.796
$10V_AH,10.17,18.286
$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,44.450,14.800,70.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,495.318,60.459,166.268,735.802,59.941,33.412,447.295,0.000,425.340,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1276.785,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.178,478.053,378.573,560.660,733.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330900
$DATA_FILE_SIZE,17747,176
$CAP_FILE_SIZE,34489,0
$CFSIZE,1024409600,991756288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,234925,6008.456,-17317.006,5,0.9,23,7.2,0.0,272.8,10,5.0