version: 66.13
glider: 401
mission: 22
dive: 505
start: 8 4 117 20 2 22
data:
$ID,401
$MISSION,22
$DIVE,505
$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,29
$R_STBD_OVSHOOT,50
$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
$GPS1,040817,195132,6002.1650,-17251.1074,4,1.1,19,7.5,0.7,252.8,9,5.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-35.0
$GPS2,040817,200114,6002.1318,-17251.3145,6,1.1,22,7.5,0.5,264.7,9,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.362869,0.129492
$KALMAN_X,57445.554688,-2844.474365,-923.152405,-191712.390625,-83.149353
$KALMAN_Y,39615.347656,693.046143,106.790565,46286.003906,-18.558411
$MHEAD_RNG_PITCHd_Wd,282.1,26591,-7.7,-8.333,-12.20,10393
$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,-585.0,239,1942,1787,4092,0.0,0.0,0,20,10.10,0.00,0.00,0.000,2049,0.093,0.000,1093,1942,1787,1787,4094,0,0,0,0,0,0,26.10,28.83,28.83,10.13,49.25
$GC,22,-1.58,-585.0,1093,1942,1787,4094,0.7,0.0,1,50,7.90,1.12,-13.02,0.000,18692,0.043,1.273,1826,2362,3168,3168,4094,0,0,0,0,0,0,25.84,24.72,25.91,10.13,50.19
$GC,219,-1.58,-585.0,1826,2362,3172,4094,18.5,-13.8,29,228,0.00,1.02,0.00,0.000,1030,0.000,0.029,1827,1953,3172,3172,4095,0,0,0,0,0,0,25.99,25.96,26.02,10.41,48.85
$GC,264,-1.58,-585.0,1826,1953,3173,4095,24.9,-13.4,35,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1953,3173,3173,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.41,48.66
$GC,308,-1.58,-585.0,1826,1953,3175,4094,31.0,-14.0,41,318,0.00,1.10,0.00,0.000,516,0.000,0.050,1827,1521,3175,3175,4095,0,0,0,0,0,0,26.29,25.99,26.30,10.40,48.38
$GC,360,-1.58,-585.0,1826,1521,3175,4095,38.2,-13.8,48,370,0.00,0.95,0.00,0.000,1030,0.000,0.026,1827,1931,3176,3176,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.40,47.87
$GC,406,-1.58,-585.0,1826,1931,3176,4094,44.3,-13.6,54,415,0.00,1.15,0.00,0.000,260,0.000,0.047,1827,2365,3177,3177,4095,0,0,0,0,0,0,26.36,26.07,26.36,10.39,47.75
$GC,452,-1.58,-585.0,1826,2365,3177,4095,49.8,-11.7,60,462,0.00,1.02,0.00,0.000,1030,0.000,0.029,1827,1956,3178,3178,4095,0,0,0,0,0,0,26.16,26.13,26.17,10.38,47.48
$GC,498,-1.58,-585.0,1826,1956,3178,4095,55.2,-11.6,66,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1956,3178,3178,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.37,46.92
$STATE,541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,541,begin apogee
$GC,546,-0.45,0.0,1827,1956,3179,4095,60.4,-11.8,72,590,3.88,0.00,33.53,1.319,10244,0.054,0.000,2184,1955,2483,2483,4094,0,0,0,0,0,0,26.19,24.89,24.18,10.36,46.88
$STATE,591,end apogee,CONTROL_FINISHED_OK
$STATE,591,begin climb
$GC,593,1.58,585.0,2183,1955,2484,4094,62.9,0.0,77,637,7.03,0.00,33.55,1.293,11270,0.037,0.000,2830,1955,1802,1802,4094,0,0,0,0,0,0,25.39,25.55,23.72,10.21,46.49
$GC,675,1.58,585.0,2829,1955,1801,4094,57.8,9.1,87,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1801,1801,4094,0,0,0,0,0,0,25.40,25.41,25.41,10.07,44.52
$GC,719,1.58,585.0,2829,1955,1800,4094,53.4,9.4,93,729,0.00,1.12,0.00,0.000,260,0.000,0.041,2829,2362,1800,1800,4094,0,0,0,0,0,0,25.61,25.35,25.63,10.06,44.84
$GC,805,1.58,585.0,2829,2362,1799,4094,45.2,9.7,105,815,0.00,1.05,0.00,0.000,1030,0.000,0.030,2830,1958,1798,1798,4094,0,0,0,0,0,0,25.64,25.61,25.66,10.06,45.58
$GC,851,1.58,585.0,2829,1957,1798,4094,41.0,8.8,111,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1958,1798,1798,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.06,45.39
$GC,894,1.58,585.0,2829,1957,1796,4094,37.2,8.9,117,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1796,1796,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.07,46.69
$GC,939,1.58,585.0,2829,1957,1796,4094,33.2,8.8,123,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1958,1796,1796,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.07,46.85
$GC,985,1.58,585.0,2829,1957,1795,4095,29.1,9.5,129,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1958,1795,1795,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.08,47.48
$GC,1029,1.58,585.0,2829,1957,1794,4094,24.8,9.2,135,1039,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2365,1794,1794,4095,0,0,0,0,0,0,26.16,25.88,26.17,10.08,47.67
$GC,1088,1.58,585.0,2829,2365,1793,4095,19.6,8.9,143,1097,0.00,1.02,0.00,0.000,1030,0.000,0.031,2829,1963,1793,1793,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.08,47.36
$GC,1135,1.58,585.0,2829,1962,1791,4094,15.6,8.9,149,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1791,1791,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.08,47.67
$GC,1179,1.58,585.0,2828,1962,1790,4094,11.4,8.7,155,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1963,1790,1790,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.08,48.07
$GC,1224,1.64,624.2,2828,1962,1790,4094,7.8,7.9,161,1233,0.10,0.00,3.33,0.337,10246,0.076,0.000,2849,1962,1755,1755,4094,0,0,0,0,0,0,26.12,25.74,25.29,10.09,48.93
$GC,1271,1.67,647.2,2848,1962,1754,4094,4.1,8.1,167,1280,0.00,1.05,2.97,0.266,8452,0.000,0.037,2849,2370,1728,1728,4094,0,0,0,0,0,0,26.32,25.77,25.34,10.09,49.05
$STATE,1302,end climb,FINISH_DEPTH_REACHED
$STATE,1302,begin subsurface finish
$FINISH1,1.4,1.024628,68
$GC,1309,0.10,67.7,2849,1929,1727,4094,1.4,8.0,171,1327,4.90,1.25,-6.18,0.000,20740,0.028,1.297,2371,2367,2411,2411,4095,0,0,0,0,0,0,26.10,24.92,26.15,10.09,48.97
$FINISH2,0.1
$STATE,1328,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1328,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040817,183138
$TT8_MAMPS,0.025466,0.227696
$HUMID,48.97
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.72,12.899
$10V_AH,10.22,16.194
$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,33.900,14.075,73.375,0.000,0.000,23.315,16.999,403.605,0.000,0.000,23.374,475.924,0.000,147.377,1188.063,120.553,33.458,433.141,0.000,261.828,0.000,0.542,0.000
$DEVICE_MAMPS,92.565,1297.440,1318.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.557,470.116,0.000,551.122,715.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,17876,173
$CAP_FILE_SIZE,37394,0
$CFSIZE,1024409600,994656256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040817,200114,6002.132,-17251.314,6,1.1,22,7.5,0.5,264.7,9,5.0