version: 66.13
glider: 401
mission: 22
dive: 510
start: 8 4 117 22 21 1
data:
$ID,401
$MISSION,22
$DIVE,510
$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,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
$GPS1,040817,212946,6002.6753,-17254.1348,9,0.8,16,7.4,0.6,286.0,10,4.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.5
$GPS2,040817,212946,6002.6753,-17254.1348,9,0.8,16,7.4,0.6,286.0,10,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.378125,0.068555
$KALMAN_X,57369.464844,-2968.225098,-1032.287598,-194112.718750,22.256226
$KALMAN_Y,39793.503906,734.919312,194.151062,46992.449219,40.226501
$MHEAD_RNG_PITCHd_Wd,272.9,23812,-7.8,-8.333,-12.24,10327
$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,-584.8,2369,1938,2408,4091,0.0,0.0,0,21,5.57,0.00,-5.10,0.000,20482,0.026,0.000,1832,1939,2951,2951,4094,0,0,0,0,0,0,26.11,28.83,26.13,10.24,49.88
$GC,24,-1.58,-584.8,1832,1938,2951,4094,0.1,0.0,1,34,0.00,1.17,-2.05,0.000,16644,0.000,1.280,1832,2363,3169,3169,4095,0,0,0,0,0,0,26.29,24.91,26.28,10.36,50.00
$GC,141,-1.58,-584.8,1831,2363,3172,4095,13.1,-12.6,18,151,0.00,1.05,0.00,0.000,1030,0.000,0.030,1832,1947,3172,3172,4095,0,0,0,0,0,0,26.05,26.00,26.07,10.39,49.56
$GC,187,-1.58,-584.8,1831,1946,3174,4095,18.8,-12.4,24,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3173,3173,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.39,50.03
$GC,232,-1.58,-584.8,1832,1946,3174,4094,23.6,-9.5,30,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3174,3174,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.39,49.40
$GC,276,-1.58,-584.8,1831,1946,3175,4095,28.4,-11.4,36,286,0.00,1.10,0.00,0.000,260,0.000,0.044,1832,2359,3175,3175,4094,0,0,0,0,0,0,26.36,26.08,26.37,10.38,49.40
$GC,322,-1.58,-584.8,1831,2359,3175,4094,34.1,-12.4,42,331,0.00,1.02,0.00,0.000,1030,0.000,0.028,1832,1955,3177,3177,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.38,49.48
$GC,367,-1.58,-584.8,1831,1955,3177,4094,39.2,-10.9,48,377,0.00,1.10,0.00,0.000,516,0.000,0.052,1832,1524,3177,3177,4095,0,0,0,0,0,0,26.41,26.11,26.42,10.37,48.58
$GC,419,-1.58,-584.8,1831,1524,3178,4095,45.1,-11.3,55,429,0.00,0.98,0.00,0.000,1030,0.000,0.027,1832,1945,3178,3178,4095,0,0,0,0,0,0,26.26,26.25,26.25,10.35,47.87
$GC,466,-1.58,-584.8,1831,1946,3178,4095,50.1,-10.9,61,476,0.00,1.10,0.00,0.000,260,0.000,0.045,1832,2363,3179,3179,4095,0,0,0,0,0,0,26.46,26.17,26.46,10.35,47.44
$GC,525,-1.58,-584.8,1831,2363,3180,4095,56.8,-11.7,69,534,0.00,1.02,0.00,0.000,1030,0.000,0.030,1832,1954,3180,3180,4095,0,0,0,0,0,0,26.26,26.22,26.27,10.34,47.83
$STATE,555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,555,begin apogee
$GC,560,-0.45,0.0,1832,1954,3181,4095,60.4,-11.2,73,604,3.83,0.00,33.42,1.313,10244,0.053,0.000,2185,1953,2484,2484,4094,0,0,0,0,0,0,26.22,24.95,24.25,10.34,47.00
$STATE,605,end apogee,CONTROL_FINISHED_OK
$STATE,605,begin climb
$GC,608,1.58,584.8,2184,1953,2484,4094,62.8,0.0,78,653,7.00,1.10,33.47,1.285,10500,0.037,0.040,2835,2358,1802,1802,4094,0,0,0,0,0,0,25.41,25.36,23.77,10.18,46.49
$GC,708,1.58,584.8,2834,2357,1801,4094,55.6,9.6,91,718,0.00,1.05,0.00,0.000,1030,0.000,0.030,2835,1958,1801,1801,4094,0,0,0,0,0,0,25.34,25.29,25.34,10.04,46.10
$GC,754,1.58,584.8,2834,1957,1800,4094,51.2,9.7,97,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1958,1800,1800,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.03,45.47
$GC,798,1.58,584.8,2834,1957,1799,4094,46.9,9.8,103,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1958,1799,1799,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.03,45.74
$GC,843,1.58,584.8,2834,1957,1797,4094,42.4,10.0,109,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1958,1798,1798,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.03,45.94
$GC,887,1.58,584.8,2835,1957,1797,4094,38.0,9.9,115,897,0.00,1.10,0.00,0.000,260,0.000,0.041,2835,2361,1797,1797,4094,0,0,0,0,0,0,25.97,25.70,25.98,10.03,45.86
$GC,947,1.58,584.8,2834,2361,1796,4094,32.5,9.2,123,957,0.00,1.05,0.00,0.000,1030,0.000,0.032,2835,1954,1795,1795,4094,0,0,0,0,0,0,25.85,25.80,25.86,10.03,47.12
$GC,994,1.60,595.1,2834,1954,1795,4094,28.4,8.2,129,1004,0.00,1.10,2.20,0.117,8708,0.000,0.055,2835,1521,1788,1788,4095,0,0,0,0,0,0,26.11,25.51,24.93,10.04,46.73
$GC,1041,1.60,595.1,2834,1520,1788,4095,24.4,8.4,135,1051,0.00,1.00,0.00,0.000,1030,0.000,0.027,2835,1957,1788,1788,4094,0,0,0,0,0,0,25.96,25.95,25.98,10.05,47.08
$GC,1088,1.64,625.0,2834,1957,1787,4094,20.6,8.0,141,1097,0.00,0.00,3.25,0.373,8198,0.000,0.000,2835,1957,1755,1755,4094,0,0,0,0,0,0,26.20,25.59,25.06,10.05,47.83
$GC,1134,1.72,674.8,2834,1958,1754,4094,16.9,7.8,147,1145,0.32,1.05,4.35,0.495,10500,0.038,0.042,2877,2355,1696,1696,4094,0,0,0,0,0,0,26.01,25.83,25.10,10.05,48.18
$GC,1207,1.72,674.8,2877,2355,1695,4094,10.3,9.0,157,1216,0.00,1.05,0.00,0.000,1030,0.000,0.032,2877,1947,1695,1695,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.05,48.97
$GC,1254,1.72,674.8,2877,1946,1694,4095,6.1,9.5,163,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1947,1694,1694,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.06,49.88
$STATE,1295,end climb,SURFACE_DEPTH_REACHED
$STATE,1295,begin surface coast
$FINISH,0.1,1.024628
$STATE,1317,end surface coast,CONTROL_FINISHED_OK
$STATE,1317,begin surface
$SM_CCo,1413,0.00,0.000,0,0,1692,680.87
$SM_GC,0.94,27.65,0.00,0.00,0.022,0.000,0.000,239,1947,1692,-6.55,-0.18,680.87,0,0,0,0,0,0,26.09,26.32,26.13
$IRIDIUM_FIX,5925.93,-17425.36,040817,211738
$TT8_MAMPS,0.025466,0.243425
$HUMID,49.80
$INTERNAL_PRESSURE,10.0039
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.77,13.053
$10V_AH,10.16,16.375
$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,44.375,17.050,76.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,479.971,59.725,162.364,716.769,54.616,33.415,434.709,0.000,416.879,0.000,0.539,0.000
$DEVICE_MAMPS,52.785,1279.845,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.766,467.240,370.005,547.996,714.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330912
$DATA_FILE_SIZE,17704,172
$CAP_FILE_SIZE,34895,0
$CFSIZE,1024409600,994410496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040817,224558,6003.427,-17256.865,4,1.1,49,7.4,0.8,285.9,8,3.0