version: 66.13
glider: 401
mission: 22
dive: 565
start: 8 5 117 23 59 11
data:
$ID,401
$MISSION,22
$DIVE,565
$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,43
$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
$GPS1,050817,234925,6008.4556,-17317.0059,5,0.9,23,7.2,0.0,272.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-37.8
$GPS2,050817,235803,6008.5015,-17317.2441,8,1.0,53,7.2,0.5,247.9,8,2.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.180404,0.338118
$KALMAN_X,60976.937500,-2743.393066,-964.385986,-219855.421875,-119.499268
$KALMAN_Y,43570.679688,1110.667114,547.162964,53245.636719,202.863953
$MHEAD_RNG_PITCHd_Wd,324.7,35639,-7.8,-8.333,-12.27,10257
$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,-580.6,230,1944,1702,4092,0.0,0.0,0,20,9.80,0.00,0.00,0.000,2049,0.098,0.000,1054,1943,1702,1702,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.23,49.72
$GC,22,-1.58,-580.6,1054,1943,1701,4094,0.9,0.0,1,50,8.25,1.17,-13.25,0.000,18692,0.041,1.278,1826,2361,3165,3165,4095,0,0,0,0,0,0,25.94,24.79,26.00,10.23,49.52
$GC,185,-1.58,-580.6,1826,2361,3168,4095,16.1,-12.0,24,194,0.00,1.02,0.00,0.000,1030,0.000,0.028,1827,1953,3168,3168,4094,0,0,0,0,0,0,26.09,26.03,26.08,10.50,48.70
$GC,230,-1.58,-580.6,1826,1953,3169,4094,21.5,-12.1,30,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1953,3169,3169,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.48,48.34
$GC,275,-1.58,-580.6,1826,1953,3170,4095,26.9,-12.0,36,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1953,3170,3170,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.46,47.00
$GC,320,-1.58,-580.6,1826,1953,3171,4094,31.8,-10.9,42,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1953,3172,3172,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.44,46.06
$GC,366,-1.58,-580.6,1826,1953,3172,4095,36.5,-10.7,48,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1953,3172,3172,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.44,46.14
$GC,411,-1.58,-580.6,1826,1953,3173,4095,41.7,-11.2,54,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1953,3173,3173,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.42,45.62
$GC,455,-1.58,-580.6,1826,1953,3173,4094,46.7,-11.4,60,465,0.00,1.08,0.00,0.000,260,0.000,0.041,1827,2358,3173,3173,4095,0,0,0,0,0,0,26.45,26.20,26.46,10.42,44.92
$GC,529,-1.58,-580.6,1826,2358,3175,4095,54.5,-10.6,70,537,0.00,1.00,0.00,0.000,1030,0.000,0.028,1827,1954,3175,3175,4095,0,0,0,0,0,0,26.26,26.23,26.28,10.40,44.72
$GC,573,-1.58,-580.6,1826,1954,3175,4095,59.7,-11.7,76,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1954,3175,3175,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.39,44.52
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,597,-0.45,0.0,1826,1954,3176,4095,61.8,-11.3,78,640,3.83,0.00,33.17,1.320,10244,0.054,0.000,2185,1954,2484,2484,4095,0,0,0,0,0,0,26.23,24.96,24.25,10.39,44.72
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,643,1.58,580.6,2185,1954,2484,4095,64.6,0.0,83,688,6.97,0.00,33.15,1.294,11270,0.037,0.000,2831,1954,1807,1807,4094,0,0,0,0,0,0,25.46,25.63,23.77,10.25,44.68
$GC,726,1.58,580.6,2830,1954,1806,4094,59.2,9.3,93,735,0.00,1.12,0.00,0.000,260,0.000,0.041,2830,2360,1806,1806,4094,0,0,0,0,0,0,25.46,25.21,25.47,10.10,43.30
$GC,778,1.58,580.6,2830,2360,1805,4094,53.9,10.5,100,787,0.00,1.02,0.00,0.000,1030,0.000,0.031,2831,1967,1804,1804,4094,0,0,0,0,0,0,25.48,25.46,25.51,10.09,43.66
$GC,825,1.58,580.6,2830,1966,1803,4094,49.2,10.1,106,834,0.00,1.20,0.00,0.000,516,0.000,0.054,2831,1514,1803,1803,4094,0,0,0,0,0,0,25.82,25.53,25.84,10.09,44.64
$GC,851,1.58,580.6,2830,1513,1803,4094,46.6,9.8,109,860,0.00,1.05,0.00,0.000,1030,0.000,0.024,2831,1963,1803,1803,4094,0,0,0,0,0,0,25.70,25.68,25.71,10.09,43.89
$GC,898,1.58,580.6,2830,1963,1802,4094,42.2,9.7,115,907,0.00,1.02,0.00,0.000,260,0.000,0.041,2831,2351,1802,1802,4094,0,0,0,0,0,0,25.96,25.70,25.98,10.08,44.48
$GC,996,1.58,580.6,2830,2350,1800,4094,32.7,9.8,129,1006,0.00,0.95,0.00,0.000,1030,0.000,0.030,2831,1976,1799,1799,4095,0,0,0,0,0,0,25.89,25.87,25.92,10.08,45.31
$GC,1042,1.58,580.6,2830,1976,1799,4095,28.3,9.3,135,1052,0.00,1.20,0.00,0.000,516,0.000,0.055,2831,1518,1798,1798,4094,0,0,0,0,0,0,26.16,25.85,26.17,10.08,45.94
$GC,1101,1.58,580.6,2830,1518,1797,4094,22.8,9.2,143,1110,0.00,1.02,0.00,0.000,1030,0.000,0.025,2831,1966,1797,1797,4094,0,0,0,0,0,0,26.03,26.01,26.04,10.08,46.18
$GC,1148,1.58,580.6,2831,1965,1796,4094,18.8,8.8,149,1157,0.00,1.05,0.00,0.000,260,0.000,0.041,2831,2364,1796,1796,4094,0,0,0,0,0,0,26.25,26.00,26.27,10.08,46.49
$GC,1219,1.58,580.6,2830,2364,1795,4094,12.3,8.8,159,1229,0.00,1.00,0.00,0.000,1030,0.000,0.030,2831,1970,1794,1794,4094,0,0,0,0,0,0,26.09,26.06,26.12,10.10,47.51
$GC,1266,1.58,582.9,2830,1970,1794,4094,8.5,8.3,165,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1970,1794,1794,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.12,47.99
$GC,1312,1.74,688.0,2830,1970,1793,4094,4.8,7.3,171,1323,0.40,1.05,6.53,0.531,10500,0.034,0.039,2881,2365,1680,1680,4094,0,0,0,0,0,0,26.17,25.96,25.34,10.15,49.09
$STATE,1351,end climb,FINISH_DEPTH_REACHED
$STATE,1351,begin subsurface finish
$FINISH1,1.5,1.024036,109
$GC,1358,0.16,109.0,2881,1947,1679,4094,1.5,8.4,176,1377,5.10,0.00,-5.78,0.000,20486,0.036,0.000,2392,1947,2354,2354,4094,0,0,0,0,0,0,26.10,25.57,26.15,10.14,49.76
$FINISH2,0.3
$STATE,1378,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1378,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,222759
$TT8_MAMPS,0.025466,0.219457
$HUMID,50.78
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.77,14.842
$10V_AH,10.20,18.320
$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,34.350,17.075,72.850,0.000,0.000,22.568,25.935,300.442,0.000,0.000,55.199,492.242,0.000,151.217,1140.674,132.997,33.454,448.824,0.000,268.851,0.000,0.542,0.000
$DEVICE_MAMPS,97.920,1277.550,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.995,483.674,0.000,567.139,740.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,17762,178
$CAP_FILE_SIZE,39106,0
$CFSIZE,1024409600,991707136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050817,235803,6008.501,-17317.244,8,1.0,53,7.2,0.5,247.9,8,2.9