version: 66.13
glider: 401
mission: 22
dive: 516
start: 8 5 117 1 5 44
data:
$ID,401
$MISSION,22
$DIVE,516
$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,23
$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
$GPS1,050817,001522,6004.3306,-17259.4121,5,0.8,18,7.4,0.5,321.9,11,5.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-1.1
$GPS2,050817,001522,6004.3306,-17259.4121,5,0.8,18,7.4,0.5,321.9,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.372114,-0.098774
$KALMAN_X,56237.460938,-3387.054932,-1336.349121,-197252.625000,62.474854
$KALMAN_Y,42198.656250,1162.322998,605.396667,46812.757812,223.909851
$MHEAD_RNG_PITCHd_Wd,247.7,18382,-7.7,-8.333,-12.21,10375
$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,7,-1.58,-585.0,2390,1967,2384,4092,0.0,0.0,0,20,5.62,0.00,-4.40,0.000,20482,0.027,0.000,1847,1967,2858,2858,4095,0,0,0,0,0,0,26.10,28.83,26.13,10.26,50.43
$GC,23,-1.58,-585.0,1847,1967,2858,4095,0.0,0.0,1,32,0.00,0.00,-2.80,0.000,16390,0.000,0.000,1847,1967,3168,3168,4095,0,0,0,0,0,0,26.29,25.60,26.29,10.37,51.14
$GC,68,-1.58,-585.0,1847,1967,3169,4095,4.3,-11.0,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1967,3169,3169,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.43,50.98
$GC,112,-1.58,-585.0,1847,1967,3170,4094,9.7,-12.6,13,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1967,3170,3170,4095,0,0,0,0,0,0,26.26,26.28,26.27,10.44,50.35
$GC,157,-1.58,-585.0,1847,1967,3171,4095,14.7,-10.9,19,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1967,3171,3171,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.43,51.02
$GC,201,-1.58,-585.0,1847,1967,3172,4094,19.3,-10.2,25,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1968,3172,3172,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.41,49.72
$GC,246,-1.58,-585.0,1846,1967,3173,4095,23.8,-10.2,31,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1967,3173,3173,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.40,49.40
$GC,291,-1.58,-585.0,1846,1967,3173,4095,28.1,-9.4,37,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1967,3173,3173,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.38,49.05
$GC,335,-1.58,-585.0,1847,1967,3173,4095,32.2,-9.3,43,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1967,3174,3174,4095,0,0,0,0,0,0,26.41,26.41,26.42,10.38,48.30
$GC,380,-1.58,-585.0,1846,1967,3175,4095,36.4,-9.6,49,389,0.00,1.15,0.00,0.000,516,0.000,0.050,1847,1520,3175,3175,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.37,47.71
$GC,440,-1.58,-585.0,1846,1520,3176,4095,42.3,-10.4,57,449,0.00,0.98,0.00,0.000,1030,0.000,0.027,1847,1940,3176,3176,4094,0,0,0,0,0,0,26.25,26.23,26.27,10.36,47.20
$GC,487,-1.58,-585.0,1846,1940,3177,4094,47.2,-10.4,63,496,0.00,1.12,0.00,0.000,260,0.000,0.044,1847,2369,3177,3177,4095,0,0,0,0,0,0,26.48,26.19,26.48,10.36,46.85
$GC,534,-1.58,-585.0,1846,2368,3178,4095,51.9,-9.7,69,543,0.00,1.05,0.00,0.000,1030,0.000,0.027,1847,1951,3178,3178,4095,0,0,0,0,0,0,26.29,26.27,26.31,10.35,47.20
$GC,581,-1.58,-585.0,1847,1951,3179,4095,57.0,-11.0,75,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1951,3179,3179,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.33,46.37
$STATE,609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,609,begin apogee
$GC,614,-0.45,0.0,1847,1951,3179,4095,60.3,-10.2,79,658,3.65,0.00,33.33,1.311,10244,0.053,0.000,2185,1950,2483,2483,4095,0,0,0,0,0,0,26.25,24.98,24.27,10.34,46.77
$STATE,659,end apogee,CONTROL_FINISHED_OK
$STATE,660,begin climb
$GC,662,1.58,585.0,2185,1950,2483,4095,62.9,0.0,84,707,6.95,1.12,33.25,1.289,10500,0.036,0.040,2830,2369,1803,1803,4094,0,0,0,0,0,0,25.42,25.39,23.77,10.18,45.98
$GC,737,1.58,585.0,2830,2368,1801,4094,58.1,10.1,93,746,0.00,1.12,0.00,0.000,1030,0.000,0.033,2830,1950,1802,1802,4094,0,0,0,0,0,0,25.18,25.14,25.19,10.04,45.11
$GC,784,1.58,585.0,2830,1949,1801,4094,53.9,8.9,99,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1950,1801,1801,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.04,44.95
$GC,828,1.58,585.0,2830,1949,1800,4094,49.3,11.3,105,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1950,1800,1800,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.03,45.58
$GC,872,1.58,585.0,2830,1949,1799,4094,44.9,9.7,111,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1950,1799,1799,4095,0,0,0,0,0,0,25.86,25.87,25.86,10.03,45.90
$GC,917,1.58,585.0,2830,1949,1798,4095,40.6,9.6,117,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1950,1797,1797,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.03,45.58
$GC,961,1.58,585.0,2830,1949,1796,4094,36.4,9.3,123,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1797,1797,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.03,45.55
$GC,1006,1.58,585.0,2830,1949,1796,4095,32.2,9.5,129,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1950,1796,1796,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.02,45.78
$GC,1051,1.58,585.0,2830,1949,1795,4094,28.0,9.5,135,1059,0.00,1.12,0.00,0.000,260,0.000,0.043,2831,2367,1795,1795,4094,0,0,0,0,0,0,26.11,25.84,26.13,10.02,46.57
$GC,1101,1.58,585.0,2830,2367,1794,4094,22.9,10.2,142,1111,0.00,1.08,0.00,0.000,1030,0.000,0.030,2830,1948,1794,1794,4094,0,0,0,0,0,0,25.94,25.91,25.97,10.03,46.33
$GC,1148,1.58,585.0,2830,1948,1793,4094,18.3,10.3,148,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1948,1793,1793,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.04,46.57
$GC,1194,1.58,585.0,2830,1948,1791,4094,13.8,9.6,154,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1948,1792,1792,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.06,47.40
$GC,1238,1.58,585.0,2830,1948,1790,4094,9.8,8.7,160,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1948,1790,1790,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.08,49.13
$GC,1283,1.67,645.1,2830,1948,1790,4094,6.3,7.7,166,1293,0.17,0.00,4.28,0.431,10246,0.052,0.000,2859,1948,1731,1731,4094,0,0,0,0,0,0,26.10,25.90,25.29,10.10,49.48
$GC,1331,1.69,657.4,2858,1948,1730,4094,2.6,8.2,172,1340,0.00,0.00,2.38,0.140,8198,0.000,0.000,2859,1948,1718,1718,4094,0,0,0,0,0,0,26.29,25.77,25.33,10.10,49.92
$STATE,1347,end climb,SURFACE_DEPTH_REACHED
$STATE,1347,begin surface coast
$FINISH,0.1,1.017824
$STATE,1377,end surface coast,CONTROL_FINISHED_OK
$STATE,1377,begin surface
$SM_CCo,1473,0.00,0.000,0,0,1717,659.40
$SM_GC,0.93,27.60,0.00,0.00,0.023,0.000,0.000,230,1948,1717,-6.59,-0.09,659.40,0,0,0,0,0,0,26.03,26.34,26.10
$IRIDIUM_FIX,5925.93,-17425.36,040817,224756
$TT8_MAMPS,0.025466,0.252413
$HUMID,50.59
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.77,13.242
$10V_AH,10.14,16.585
$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,44.000,8.750,73.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,490.656,60.077,180.332,740.887,61.779,33.413,479.917,0.000,429.878,0.000,0.540,0.000
$DEVICE_MAMPS,52.785,49.725,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.286,483.530,382.889,567.115,738.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,17796,178
$CAP_FILE_SIZE,36443,0
$CFSIZE,1024409600,994115584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,013132,6004.948,-17301.055,4,1.0,40,7.4,0.5,328.3,9,4.1