version: 66.13
glider: 401
mission: 22
dive: 546
start: 8 5 117 14 59 59
data:
$ID,401
$MISSION,22
$DIVE,546
$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,54
$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
$GPS1,050817,140828,6005.3628,-17307.7969,5,0.9,43,7.3,0.2,348.6,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-2.9
$GPS2,050817,140828,6005.3628,-17307.7969,5,0.9,43,7.3,0.2,348.6,9,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.384191,0.021658
$KALMAN_X,61848.328125,-2494.647705,-565.223816,-212463.015625,172.426025
$KALMAN_Y,43116.554688,823.653076,83.892723,48665.511719,15.108330
$MHEAD_RNG_PITCHd_Wd,265.9,10441,-7.7,-8.333,-12.22,10361
$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,-585.0,2395,1977,2367,4092,0.0,0.0,0,20,5.82,0.00,-4.20,0.000,20482,0.025,0.000,1835,1977,2831,2831,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.28,51.81
$GC,23,-1.58,-585.0,1834,1978,2831,4094,0.2,0.0,1,33,0.00,1.20,-3.12,0.000,16900,0.000,1.280,1835,1518,3168,3168,4094,0,0,0,0,0,0,26.27,24.89,26.27,10.38,51.61
$GC,266,-1.58,-585.0,1834,1517,3173,4094,27.1,-10.7,37,275,0.00,0.98,0.00,0.000,1030,0.000,0.027,1835,1939,3173,3173,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.38,49.56
$GC,313,-1.58,-585.0,1834,1939,3174,4094,32.0,-10.8,43,322,0.00,1.10,0.00,0.000,260,0.000,0.045,1834,2360,3174,3174,4094,0,0,0,0,0,0,26.40,26.12,26.41,10.38,49.37
$GC,360,-1.58,-585.0,1834,2360,3175,4094,37.1,-10.8,49,368,0.00,0.98,0.00,0.000,1030,0.000,0.028,1834,1974,3175,3175,4095,0,0,0,0,0,0,26.24,26.19,26.24,10.38,48.14
$GC,404,-1.58,-585.0,1834,1973,3176,4095,42.0,-10.9,55,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1974,3176,3176,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.37,47.79
$GC,449,-1.58,-585.0,1834,1974,3176,4095,47.0,-11.0,61,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1974,3177,3177,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,47.83
$GC,494,-1.58,-585.0,1834,1974,3178,4094,51.9,-11.2,67,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1974,3177,3177,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.36,48.07
$GC,539,-1.58,-585.0,1834,1973,3178,4094,56.7,-10.8,73,548,0.00,1.15,0.00,0.000,516,0.000,0.051,1834,1522,3178,3178,4095,0,0,0,0,0,0,26.51,26.21,26.52,10.36,47.44
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,576,-0.45,0.0,1834,1945,3179,4095,60.3,-10.8,77,619,3.78,0.00,33.28,1.309,10244,0.053,0.000,2186,1949,2485,2485,4094,0,0,0,0,0,0,26.24,24.98,24.27,10.35,47.40
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.58,585.0,2186,1949,2484,4094,62.7,0.0,82,667,6.95,0.00,33.35,1.281,11270,0.036,0.000,2830,1949,1803,1803,4094,0,0,0,0,0,0,25.47,25.63,23.80,10.20,46.85
$GC,705,1.58,585.0,2830,1949,1802,4094,57.5,9.3,92,714,0.00,1.15,0.00,0.000,260,0.000,0.041,2830,2371,1802,1802,4094,0,0,0,0,0,0,25.46,25.20,25.47,10.06,45.62
$GC,763,1.58,585.0,2830,2371,1801,4094,51.4,10.1,100,773,0.00,1.08,0.00,0.000,1030,0.000,0.031,2830,1959,1801,1801,4094,0,0,0,0,0,0,25.50,25.47,25.52,10.05,46.29
$GC,811,1.58,585.0,2830,1959,1800,4094,46.9,9.8,106,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1800,1800,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.05,46.10
$GC,857,1.58,585.0,2830,1959,1798,4094,42.5,9.6,112,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1799,1799,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.05,45.82
$GC,903,1.58,585.0,2830,1959,1798,4094,38.2,9.5,118,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1797,1797,4094,0,0,0,0,0,0,26.01,26.01,26.01,10.04,46.92
$GC,946,1.58,585.0,2830,1959,1797,4094,33.8,9.6,124,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1796,1796,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.04,46.85
$GC,990,1.58,585.0,2830,1959,1796,4094,29.6,9.5,130,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1959,1795,1795,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.04,46.96
$GC,1035,1.58,585.0,2830,1959,1795,4094,25.4,9.3,136,1044,0.00,1.12,0.00,0.000,260,0.000,0.042,2830,2372,1795,1795,4094,0,0,0,0,0,0,26.16,25.89,26.17,10.04,46.49
$GC,1106,1.58,585.0,2829,2372,1793,4094,18.9,8.9,146,1116,0.00,1.05,0.00,0.000,1030,0.000,0.031,2831,1962,1793,1793,4094,0,0,0,0,0,0,26.02,25.98,26.01,10.04,47.67
$GC,1154,1.59,590.0,2830,1962,1792,4094,15.0,8.3,152,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1962,1791,1791,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.04,47.67
$GC,1198,1.66,639.6,2830,1962,1791,4094,11.4,7.8,158,1207,0.17,0.00,4.10,0.443,10246,0.053,0.000,2858,1962,1737,1737,4094,0,0,0,0,0,0,26.10,25.89,25.24,10.06,47.87
$GC,1245,1.66,639.6,2857,1961,1736,4094,7.7,8.6,164,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1962,1736,1736,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.07,48.81
$GC,1291,1.76,701.7,2858,1961,1735,4094,4.0,7.7,170,1302,0.20,1.15,4.88,0.453,10756,0.046,0.058,2886,1522,1665,1665,4094,0,0,0,0,0,0,26.12,25.95,25.32,10.10,50.27
$STATE,1317,end climb,SURFACE_DEPTH_REACHED
$STATE,1317,begin surface coast
$FINISH,0.2,1.001678
$STATE,1344,end surface coast,CONTROL_FINISHED_OK
$STATE,1345,begin surface
$SM_CCo,1443,0.00,0.000,0,0,1663,705.77
$SM_GC,1.08,27.95,1.05,0.00,0.022,0.028,0.000,230,1947,1663,-6.59,-1.69,705.77,0,0,0,0,0,0,26.00,26.08,26.09
$IRIDIUM_FIX,5952.82,-17420.78,050817,124205
$TT8_MAMPS,0.025466,0.246421
$HUMID,51.14
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,23.80,14.218
$10V_AH,10.17,17.644
$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,44.875,13.025,75.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,491.008,60.019,159.698,736.324,57.112,33.413,428.734,0.000,426.794,0.000,0.540,0.000
$DEVICE_MAMPS,52.785,1279.845,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.258,480.737,380.742,564.339,734.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,17932,177
$CAP_FILE_SIZE,33550,0
$CFSIZE,1024409600,992641024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,152451,6005.508,-17308.816,8,0.8,14,7.3,0.0,85.7,10,4.6