version: 66.13
glider: 401
mission: 22
dive: 520
start: 8 5 117 3 2 38
data:
$ID,401
$MISSION,22
$DIVE,520
$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,39
$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
$GPS1,050817,025340,6005.3589,-17302.0566,4,0.9,18,7.4,0.5,25.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-39.9
$GPS2,050817,030131,6005.4023,-17301.9531,5,1.0,32,7.4,0.4,108.7,9,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.381348,-0.039849
$KALMAN_X,56157.507812,-3548.097656,-1388.323364,-199346.531250,225.089600
$KALMAN_Y,44158.109375,1443.752930,814.775757,46335.101562,82.009949
$MHEAD_RNG_PITCHd_Wd,256.6,15802,-7.8,-8.333,-12.26,10269
$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,-581.4,229,1951,1706,4092,0.0,0.0,0,21,11.18,0.00,0.00,0.000,2049,0.096,0.000,1171,1951,1706,1706,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.18,49.40
$GC,23,-1.58,-581.4,1171,1951,1706,4094,0.8,0.0,1,49,7.10,1.17,-13.77,0.000,19204,0.050,1.287,1826,1515,3167,3167,4095,0,0,0,0,0,0,25.87,24.76,25.95,10.19,49.56
$GC,60,-1.59,-585.0,1825,1515,3167,4095,0.2,1.2,5,70,0.00,1.02,-0.03,0.000,17414,0.000,0.024,1826,1967,3173,3173,4095,0,0,0,0,0,0,25.93,25.92,25.45,10.50,50.74
$GC,106,-1.59,-585.0,1825,1967,3173,4095,5.7,-13.0,11,115,0.00,1.02,0.00,0.000,260,0.000,0.044,1826,2353,3173,3173,4094,0,0,0,0,0,0,26.02,25.73,26.03,10.51,49.21
$GC,269,-1.59,-585.0,1825,2352,3177,4094,25.6,-11.1,35,279,0.00,1.05,0.00,0.000,1030,0.000,0.028,1826,1933,3177,3177,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.43,47.55
$GC,316,-1.59,-585.0,1825,1933,3178,4094,30.8,-11.5,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1933,3178,3178,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.41,46.77
$GC,363,-1.59,-585.0,1826,1932,3179,4095,36.0,-11.2,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1933,3179,3179,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.40,45.90
$GC,409,-1.59,-585.0,1825,1932,3180,4095,41.2,-11.3,53,418,0.00,1.02,0.00,0.000,516,0.000,0.050,1826,1526,3180,3180,4095,0,0,0,0,0,0,26.32,26.03,26.34,10.39,45.35
$GC,474,-1.59,-585.0,1825,1526,3181,4095,48.9,-11.6,62,483,0.00,0.90,0.00,0.000,1030,0.000,0.025,1826,1924,3181,3181,4095,0,0,0,0,0,0,26.19,26.17,26.17,10.38,45.31
$GC,519,-1.59,-585.0,1825,1924,3182,4095,54.1,-11.4,68,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1924,3182,3182,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,44.72
$GC,564,-1.59,-585.0,1826,1923,3183,4095,59.2,-11.4,74,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1924,3183,3183,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.37,44.60
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,585,-0.45,0.0,1826,1923,3183,4095,61.3,-11.5,76,629,3.90,0.00,33.62,1.322,10244,0.054,0.000,2185,1926,2484,2484,4095,0,0,0,0,0,0,26.14,25.13,24.17,10.38,44.80
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,632,1.59,585.0,2185,1925,2484,4095,63.9,0.0,81,676,7.00,0.00,33.47,1.294,11270,0.035,0.000,2834,1929,1802,1802,4094,0,0,0,0,0,0,25.39,25.53,23.71,10.23,44.52
$GC,713,1.59,585.0,2834,1928,1802,4094,58.4,9.5,91,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1929,1801,1801,4094,0,0,0,0,0,0,25.40,25.41,25.41,10.08,43.54
$GC,757,1.59,585.0,2833,1928,1800,4094,54.0,9.8,97,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1929,1800,1800,4094,0,0,0,0,0,0,25.61,25.62,25.62,10.07,43.85
$GC,802,1.59,585.0,2834,1928,1800,4094,49.6,10.0,103,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1928,1799,1799,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.06,44.32
$GC,845,1.59,585.0,2834,1928,1798,4094,45.4,9.5,109,855,0.00,1.15,0.00,0.000,260,0.000,0.040,2834,2356,1798,1798,4094,0,0,0,0,0,0,25.84,25.58,25.86,10.06,44.29
$GC,910,1.59,585.0,2834,2356,1797,4094,39.0,10.1,118,920,0.00,1.00,0.00,0.000,1030,0.000,0.030,2834,1966,1796,1796,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.06,44.95
$GC,956,1.59,585.0,2834,1966,1796,4094,34.5,9.8,124,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1966,1795,1795,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.05,44.92
$GC,1001,1.59,585.0,2833,1965,1795,4094,30.3,9.1,130,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1966,1795,1795,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.05,45.07
$GC,1046,1.59,585.0,2834,1965,1794,4094,26.1,9.3,136,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1966,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.05,45.82
$GC,1091,1.59,585.0,2832,1966,1793,4094,21.9,9.2,142,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1966,1793,1793,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.04,45.58
$GC,1136,1.59,585.0,2834,1965,1792,4094,17.9,9.1,148,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1966,1791,1791,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.05,45.82
$GC,1181,1.59,585.0,2834,1965,1790,4094,13.7,9.5,154,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1966,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.06,46.29
$GC,1226,1.60,592.5,2834,1965,1789,4094,10.0,8.3,160,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1966,1789,1789,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.10,48.30
$GC,1271,1.78,712.5,2833,1965,1789,4094,6.7,7.1,166,1282,0.50,0.00,7.62,0.587,10246,0.031,0.000,2891,1965,1652,1652,4094,0,0,0,0,0,0,26.11,25.85,25.25,10.12,48.70
$GC,1319,1.79,719.4,2890,1965,1652,4094,3.0,8.3,172,1328,0.00,0.00,1.02,0.003,8198,0.000,0.000,2891,1965,1651,1651,4094,0,0,0,0,0,0,26.25,26.24,26.25,10.10,49.48
$STATE,1336,end climb,FINISH_DEPTH_REACHED
$STATE,1336,begin subsurface finish
$FINISH1,1.3,1.024103,104
$GC,1342,0.16,104.3,2890,1966,1650,4094,1.3,8.3,174,1361,5.30,1.08,-6.35,0.000,20740,0.046,1.284,2391,2360,2368,2368,4094,0,0,0,0,0,0,26.05,24.88,26.09,10.11,50.11
$FINISH2,0.3
$STATE,1362,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1362,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,013325
$TT8_MAMPS,0.025466,0.247919
$HUMID,50.03
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.71,13.385
$10V_AH,10.17,16.730
$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,34.975,9.425,75.750,0.000,0.000,24.186,19.339,283.258,0.000,0.000,33.516,480.832,0.000,159.078,1086.594,127.851,33.457,461.439,0.000,429.334,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1286.730,1321.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.721,478.067,378.600,560.631,729.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,17844,176
$CAP_FILE_SIZE,38845,0
$CFSIZE,1024409600,993918976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050817,030131,6005.402,-17301.953,5,1.0,32,7.4,0.4,108.7,9,4.6