version: 66.13
glider: 401
mission: 22
dive: 568
start: 8 6 117 1 22 4
data:
$ID,401
$MISSION,22
$DIVE,568
$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,28
$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
$GPS1,060817,011338,6009.8447,-17318.5000,5,0.8,13,7.2,0.0,318.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-35.4
$GPS2,060817,012055,6009.9180,-17318.6191,7,0.9,17,7.2,0.5,338.7,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.243837,0.284483
$KALMAN_X,60486.316406,-2841.604736,-1042.498291,-220497.875000,-22.960327
$KALMAN_Y,44181.199219,1400.179077,828.819092,54681.984375,265.135437
$MHEAD_RNG_PITCHd_Wd,312.2,32733,-8.1,-8.333,-12.54,9698
$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,-1.56,-547.8,230,1942,1609,4092,0.0,0.0,0,21,10.80,0.00,0.00,0.000,2049,0.093,0.000,1146,1943,1609,1609,4095,0,0,0,0,0,0,26.17,28.83,28.83,10.21,50.15
$GC,23,-1.56,-547.8,1145,1943,1609,4095,0.9,0.0,1,51,7.53,1.15,-13.70,0.000,18692,0.057,1.277,1835,2355,3128,3128,4095,0,0,0,0,0,0,25.92,24.76,25.98,10.21,49.88
$GC,220,-1.56,-547.8,1835,2355,3132,4095,19.3,-11.4,29,228,0.00,1.00,0.00,0.000,1030,0.000,0.028,1835,1958,3132,3132,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.48,48.11
$GC,265,-1.56,-547.8,1835,1958,3133,4094,24.9,-11.8,35,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1958,3133,3133,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.47,47.75
$GC,309,-1.56,-547.8,1835,1958,3133,4095,30.2,-11.9,41,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1958,3134,3134,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.45,47.04
$GC,354,-1.56,-547.8,1835,1958,3134,4095,35.4,-11.4,47,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1958,3135,3135,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.44,46.45
$GC,399,-1.56,-547.8,1835,1958,3136,4094,40.8,-12.2,53,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1958,3136,3136,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.43,46.37
$GC,443,-1.56,-547.8,1835,1958,3136,4094,46.2,-12.1,59,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1958,3136,3136,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.42,46.37
$GC,488,-1.56,-547.8,1835,1958,3137,4095,51.4,-11.5,65,498,0.00,1.05,0.00,0.000,260,0.000,0.043,1835,2351,3137,3137,4094,0,0,0,0,0,0,26.45,26.17,26.46,10.41,44.95
$GC,548,-1.56,-547.8,1835,2350,3138,4094,58.1,-11.7,73,558,0.00,1.00,0.00,0.000,1030,0.000,0.031,1835,1952,3138,3138,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.39,45.47
$STATE,566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,566,begin apogee
$GC,571,-0.45,0.0,1835,1952,3139,4094,60.3,-10.6,75,614,3.75,0.00,31.38,1.288,10244,0.052,0.000,2186,1952,2484,2484,4094,0,0,0,0,0,0,26.21,25.01,24.30,10.40,45.47
$STATE,615,end apogee,CONTROL_FINISHED_OK
$STATE,615,begin climb
$GC,617,1.56,547.8,2186,1951,2484,4094,63.0,0.0,80,661,6.88,0.00,31.25,1.265,11270,0.037,0.000,2823,1952,1846,1846,4094,0,0,0,0,0,0,25.49,25.67,23.84,10.26,44.56
$GC,699,1.56,547.8,2822,1951,1843,4094,57.2,10.9,90,708,0.00,1.10,0.00,0.000,260,0.000,0.039,2823,2350,1844,1844,4094,0,0,0,0,0,0,25.50,25.25,25.51,10.11,43.42
$GC,764,1.56,547.8,2822,2350,1843,4094,50.3,10.2,99,773,0.00,1.02,0.00,0.000,1030,0.000,0.031,2823,1956,1843,1843,4094,0,0,0,0,0,0,25.56,25.52,25.58,10.10,44.05
$GC,809,1.56,547.8,2822,1956,1842,4094,45.9,9.5,105,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1956,1842,1842,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.10,44.29
$GC,854,1.56,547.8,2822,1956,1841,4094,41.8,9.1,111,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1956,1841,1841,4095,0,0,0,0,0,0,25.96,25.97,25.97,10.10,45.07
$GC,899,1.56,547.8,2822,1956,1840,4095,37.7,9.3,117,908,0.00,1.08,0.00,0.000,260,0.000,0.040,2823,2353,1840,1840,4094,0,0,0,0,0,0,26.03,25.75,26.03,10.10,44.52
$GC,977,1.56,547.8,2822,2352,1838,4094,30.2,9.7,128,986,0.00,0.95,0.00,0.000,1030,0.000,0.030,2823,1977,1838,1838,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.09,45.55
$GC,1022,1.56,547.8,2822,1977,1837,4094,26.0,9.2,134,1032,0.00,1.17,0.00,0.000,516,0.000,0.055,2823,1528,1837,1837,4094,0,0,0,0,0,0,26.17,25.88,26.19,10.10,46.57
$GC,1061,1.56,547.8,2822,1528,1836,4094,22.5,9.0,139,1070,0.00,1.05,0.00,0.000,1030,0.000,0.026,2823,1982,1836,1836,4094,0,0,0,0,0,0,26.03,26.00,26.05,10.10,46.73
$GC,1107,1.56,547.8,2822,1981,1836,4094,18.7,8.4,145,1117,0.00,1.00,0.00,0.000,260,0.000,0.043,2823,2362,1835,1835,4094,0,0,0,0,0,0,26.25,25.98,26.27,10.10,46.57
$GC,1166,1.56,547.8,2822,2362,1834,4094,13.6,8.5,153,1174,0.00,0.95,0.00,0.000,1030,0.000,0.030,2823,1985,1834,1834,4094,0,0,0,0,0,0,26.10,26.04,26.11,10.11,47.28
$GC,1212,1.59,568.5,2822,1985,1833,4094,9.9,8.1,159,1222,0.00,1.20,2.47,0.177,8708,0.000,0.054,2823,1522,1819,1819,4094,0,0,0,0,0,0,26.33,25.78,25.30,10.13,47.95
$GC,1260,1.79,697.7,2822,1522,1819,4094,6.3,7.0,165,1279,0.65,1.02,7.75,0.571,11270,0.026,0.025,2893,1974,1678,1678,4094,0,0,0,0,0,0,26.14,26.14,25.29,10.15,48.54
$STATE,1314,end climb,FINISH_DEPTH_REACHED
$STATE,1315,begin subsurface finish
$FINISH1,1.9,1.024030,109
$GC,1321,0.16,109.4,2893,1973,1677,4094,1.9,8.3,172,1340,5.35,1.05,-5.80,0.000,20740,0.052,1.283,2398,2360,2361,2361,4094,0,0,0,0,0,0,26.04,24.89,26.10,10.15,49.37
$FINISH2,0.3
$STATE,1341,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,235121
$TT8_MAMPS,0.025466,0.247919
$HUMID,49.92
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.84,14.936
$10V_AH,10.17,18.431
$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,34.950,15.800,72.850,0.000,0.000,26.143,16.021,263.022,0.000,0.000,18.245,478.830,0.000,150.904,1034.770,135.340,33.479,440.752,0.000,421.509,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1282.905,1288.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.400,472.600,374.249,554.059,721.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,17786,174
$CAP_FILE_SIZE,37889,0
$CFSIZE,1024409600,991559680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060817,012055,6009.918,-17318.619,7,0.9,17,7.2,0.5,338.7,10,5.0