version: 66.13
glider: 401
mission: 22
dive: 566
start: 8 6 117 0 24 15
data:
$ID,401
$MISSION,22
$DIVE,566
$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,25
$R_STBD_OVSHOOT,42
$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
$GPS1,050817,235803,6008.5015,-17317.2441,8,1.0,53,7.2,0.5,247.9,8,2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-3.2
$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,-0.152311,0.344227
$KALMAN_X,61024.558594,-2691.774170,-900.411804,-220050.000000,-140.201965
$KALMAN_Y,43320.871094,1076.127197,508.221924,53611.164062,158.448120
$MHEAD_RNG_PITCHd_Wd,328.9,35639,-8.1,-8.333,-12.48,9810
$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,-554.4,2392,1944,2355,4092,0.0,0.0,0,21,5.72,0.00,-4.57,0.000,20482,0.028,0.000,1842,1946,2868,2868,4095,0,0,0,0,0,0,26.09,28.83,26.13,10.31,51.49
$GC,24,-1.57,-554.4,1841,1945,2868,4095,0.2,0.0,1,34,0.00,1.15,-2.35,0.000,16644,0.000,1.273,1841,2361,3135,3135,4094,0,0,0,0,0,0,26.29,24.91,26.28,10.42,50.94
$GC,161,-1.57,-554.4,1841,2361,3138,4094,15.7,-11.7,21,170,0.00,1.05,0.00,0.000,1030,0.000,0.028,1841,1941,3138,3138,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.45,50.55
$GC,208,-1.57,-554.4,1841,1940,3138,4095,20.7,-11.2,27,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3139,3139,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.44,49.64
$GC,254,-1.57,-554.4,1841,1941,3139,4095,26.1,-11.3,33,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1941,3139,3139,4094,0,0,0,0,0,0,26.37,26.38,26.39,10.43,49.76
$GC,300,-1.57,-554.4,1841,1941,3140,4094,31.1,-10.9,39,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3140,3140,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.41,48.26
$GC,347,-1.57,-554.4,1841,1941,3141,4095,36.1,-11.1,45,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1941,3141,3141,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.40,48.50
$GC,393,-1.57,-554.4,1841,1941,3143,4095,41.4,-11.6,51,402,0.00,1.12,0.00,0.000,260,0.000,0.044,1841,2362,3142,3142,4095,0,0,0,0,0,0,26.45,26.17,26.46,10.39,47.32
$GC,445,-1.57,-554.4,1840,2361,3143,4095,47.3,-10.8,58,454,0.00,1.00,0.00,0.000,1030,0.000,0.028,1841,1962,3143,3143,4095,0,0,0,0,0,0,26.26,26.23,26.28,10.38,46.85
$GC,491,-1.57,-554.4,1841,1962,3144,4095,52.2,-10.6,64,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1962,3144,3144,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,46.57
$GC,536,-1.57,-554.4,1841,1962,3145,4095,57.1,-10.8,70,544,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1962,3145,3145,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.37,46.37
$STATE,564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,570,-0.45,0.0,1841,1962,3146,4095,60.2,-10.4,74,614,3.72,0.00,31.67,1.292,10244,0.055,0.000,2185,1962,2484,2484,4094,0,0,0,0,0,0,26.25,25.03,24.32,10.36,46.18
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,617,1.57,554.4,2184,1962,2484,4094,62.4,0.0,79,662,6.90,0.00,31.62,1.267,11270,0.037,0.000,2825,1962,1838,1838,4094,0,0,0,0,0,0,25.53,25.69,23.84,10.23,46.41
$GC,699,1.57,554.4,2825,1961,1837,4094,57.1,9.1,89,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1962,1836,1836,4094,0,0,0,0,0,0,25.51,25.52,25.52,10.08,44.36
$GC,746,1.57,554.4,2825,1962,1835,4094,52.7,9.7,95,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1962,1836,1836,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.08,45.03
$GC,792,1.57,554.4,2825,1962,1835,4094,48.3,9.7,101,801,0.00,1.10,0.00,0.000,260,0.000,0.041,2826,2364,1834,1834,4094,0,0,0,0,0,0,25.83,25.60,25.84,10.07,45.27
$GC,877,1.57,554.4,2825,2364,1832,4094,40.4,8.6,113,886,0.00,1.02,0.00,0.000,1030,0.000,0.030,2826,1965,1833,1833,4095,0,0,0,0,0,0,25.82,25.73,25.80,10.07,45.70
$GC,923,1.57,560.7,2825,1965,1832,4095,36.7,8.3,119,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1965,1832,1832,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.07,46.06
$GC,968,1.57,560.7,2825,1965,1831,4094,32.8,8.8,125,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1966,1831,1831,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.07,46.25
$GC,1012,1.57,560.7,2825,1965,1830,4094,28.7,9.3,131,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1965,1830,1830,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.07,46.81
$GC,1057,1.57,560.7,2825,1965,1829,4094,24.5,9.4,137,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1965,1829,1829,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.07,46.92
$GC,1101,1.57,560.7,2825,1965,1828,4094,20.4,9.2,143,1111,0.00,1.08,0.00,0.000,260,0.000,0.041,2826,2366,1828,1828,4094,0,0,0,0,0,0,26.25,25.97,26.26,10.08,47.44
$GC,1159,1.57,560.7,2825,2365,1827,4094,14.9,9.4,151,1169,0.00,0.93,0.00,0.000,1030,0.000,0.029,2826,1995,1827,1827,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.09,47.40
$GC,1207,1.57,560.7,2825,1994,1826,4094,10.9,8.7,157,1216,0.00,1.23,0.00,0.000,516,0.000,0.057,2826,1524,1826,1826,4094,0,0,0,0,0,0,26.33,26.03,26.34,10.10,47.91
$GC,1246,1.58,563.8,2825,1524,1825,4094,7.5,8.3,162,1255,0.00,1.08,0.00,0.000,1030,0.000,0.026,2826,1990,1825,1825,4094,0,0,0,0,0,0,26.16,26.13,26.17,10.12,49.21
$GC,1293,1.77,693.2,2825,1990,1824,4094,4.3,7.0,168,1312,0.55,0.95,8.00,0.565,10500,0.032,0.040,2888,2359,1676,1676,4094,0,0,0,0,0,0,26.16,25.76,25.34,10.15,50.19
$STATE,1320,end climb,FINISH_DEPTH_REACHED
$STATE,1321,begin subsurface finish
$FINISH1,1.9,1.024027,110
$GC,1329,0.16,109.7,2888,1951,1676,4095,1.9,7.8,171,1348,5.28,1.15,-5.75,0.000,20740,0.049,1.284,2399,2362,2360,2360,4094,0,0,0,0,0,0,26.03,24.89,26.10,10.13,50.27
$FINISH2,0.3
$STATE,1349,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1349,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,222759
$TT8_MAMPS,0.026215,0.261401
$HUMID,50.74
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.84,14.867
$10V_AH,10.13,18.359
$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,22.175,13.925,71.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.479,0.000,149.218,725.656,56.762,33.426,440.778,0.000,419.678,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1284.435,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.819,469.952,372.121,550.981,721.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,17821,173
$CAP_FILE_SIZE,32900,0
$CFSIZE,1024409600,991657984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,235803,6008.501,-17317.244,8,1.0,53,7.2,0.5,247.9,8,2.9