version: 66.13
glider: 401
mission: 22
dive: 569
start: 8 6 117 1 46 33
data:
$ID,401
$MISSION,22
$DIVE,569
$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,27
$R_STBD_OVSHOOT,43
$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
$GPS1,060817,012055,6009.9180,-17318.6191,7,0.9,17,7.2,0.5,338.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-0.8
$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,-0.220953,0.314518
$KALMAN_X,60584.054688,-2770.385254,-949.114868,-220784.140625,-55.156982
$KALMAN_Y,43991.417969,1386.063110,786.492188,54975.398438,220.411865
$MHEAD_RNG_PITCHd_Wd,317.7,32733,-7.8,-8.333,-12.23,10332
$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,-585.0,2397,1949,2361,4092,0.0,0.0,0,21,5.68,0.00,-4.68,0.000,20482,0.025,0.000,1847,1949,2883,2883,4095,0,0,0,0,0,0,26.10,28.83,26.12,10.32,50.66
$GC,24,-1.58,-585.0,1846,1949,2883,4095,0.2,0.0,1,34,0.00,1.15,-2.50,0.000,16644,0.000,1.275,1846,2362,3170,3170,4095,0,0,0,0,0,0,26.29,24.90,26.29,10.43,50.90
$GC,115,-1.58,-585.0,1846,2361,3171,4095,10.4,-13.2,14,124,0.00,1.02,0.00,0.000,1030,0.000,0.027,1846,1952,3172,3172,4094,0,0,0,0,0,0,26.08,26.01,26.06,10.48,50.55
$GC,160,-1.58,-585.0,1846,1952,3172,4094,15.8,-11.7,20,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1952,3172,3172,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.46,50.39
$GC,205,-1.58,-585.0,1846,1952,3173,4095,21.0,-11.7,26,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1952,3174,3174,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.45,49.40
$GC,251,-1.58,-585.0,1846,1952,3175,4095,26.2,-11.8,32,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1952,3175,3175,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.43,48.62
$GC,296,-1.58,-585.0,1846,1952,3176,4095,31.4,-11.1,38,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1952,3175,3175,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.43,48.30
$GC,341,-1.58,-585.0,1846,1951,3176,4095,36.1,-10.4,44,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1952,3177,3177,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.41,47.71
$GC,386,-1.58,-585.0,1846,1952,3177,4095,40.6,-10.2,50,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1952,3177,3177,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.40,47.32
$GC,432,-1.58,-585.0,1846,1952,3178,4095,45.2,-10.4,56,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1952,3178,3178,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.39,46.85
$GC,477,-1.58,-585.0,1846,1952,3178,4094,49.9,-10.0,62,486,0.00,1.10,0.00,0.000,260,0.000,0.044,1846,2361,3179,3179,4095,0,0,0,0,0,0,26.48,26.19,26.49,10.38,47.32
$GC,535,-1.58,-585.0,1846,2361,3179,4095,56.1,-10.9,70,545,0.00,1.02,0.00,0.000,1030,0.000,0.027,1846,1949,3180,3180,4095,0,0,0,0,0,0,26.32,26.27,26.32,10.38,46.88
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,577,-0.45,0.0,1846,1949,3181,4095,60.1,-10.1,75,620,3.62,0.00,33.08,1.291,10244,0.053,0.000,2186,1949,2486,2486,4095,0,0,0,0,0,0,26.24,24.99,24.31,10.38,46.92
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,624,1.58,585.0,2185,1948,2487,4095,62.4,0.0,80,669,6.95,1.12,33.42,1.262,10500,0.036,0.043,2831,2362,1802,1802,4095,0,0,0,0,0,0,25.46,25.39,23.82,10.23,45.62
$GC,707,1.58,585.0,2830,2361,1801,4095,56.5,9.9,90,716,0.00,1.08,0.00,0.000,1030,0.000,0.031,2831,1956,1801,1801,4094,0,0,0,0,0,0,25.26,25.25,25.29,10.08,44.99
$GC,752,1.58,585.0,2830,1955,1800,4094,51.8,10.3,96,761,0.00,1.17,0.00,0.000,516,0.000,0.056,2831,1517,1800,1800,4094,0,0,0,0,0,0,25.68,25.40,25.69,10.08,44.52
$GC,805,1.58,585.0,2830,1516,1799,4094,46.9,9.0,103,815,0.00,1.00,0.00,0.000,1030,0.000,0.025,2831,1951,1799,1799,4094,0,0,0,0,0,0,25.65,25.64,25.67,10.07,45.43
$GC,851,1.58,585.0,2830,1951,1798,4094,42.8,8.5,109,860,0.00,1.05,0.00,0.000,260,0.000,0.041,2831,2346,1798,1798,4094,0,0,0,0,0,0,25.93,25.65,25.94,10.07,45.86
$GC,929,1.58,585.0,2830,2346,1796,4094,35.4,9.9,120,938,0.00,1.02,0.00,0.000,1030,0.000,0.030,2830,1948,1796,1796,4095,0,0,0,0,0,0,25.84,25.81,25.85,10.07,46.10
$GC,974,1.58,585.0,2830,1948,1795,4095,30.9,9.7,126,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1949,1795,1795,4094,0,0,0,0,0,0,26.10,26.13,26.12,10.07,46.14
$GC,1018,1.58,585.0,2830,1948,1794,4094,26.6,10.0,132,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1948,1794,1794,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.07,46.49
$GC,1062,1.58,585.0,2830,1948,1794,4094,22.2,10.0,138,1071,0.00,1.10,0.00,0.000,260,0.000,0.041,2831,2355,1793,1793,4093,0,0,0,0,0,0,26.20,25.93,26.21,10.07,46.69
$GC,1127,1.58,585.0,2830,2355,1792,4093,16.0,9.3,147,1136,0.00,0.98,0.00,0.000,1030,0.000,0.031,2831,1971,1792,1792,4094,0,0,0,0,0,0,26.05,26.01,26.07,10.08,47.63
$GC,1174,1.58,585.0,2830,1971,1790,4094,11.9,8.7,153,1183,0.00,1.17,0.00,0.000,516,0.000,0.056,2831,1523,1791,1791,4095,0,0,0,0,0,0,26.29,25.99,26.31,10.09,47.91
$GC,1219,1.58,585.0,2830,1522,1790,4095,7.9,8.4,159,1229,0.00,1.00,0.00,0.000,1030,0.000,0.026,2831,1970,1789,1789,4094,0,0,0,0,0,0,26.15,26.11,26.17,10.11,48.58
$GC,1265,1.79,726.8,2830,1969,1789,4094,4.6,6.9,165,1283,0.60,0.00,8.30,0.570,10502,0.031,0.000,2896,1970,1635,1635,4094,0,0,0,0,0,0,26.14,25.72,25.30,10.14,49.88
$STATE,1298,end climb,FINISH_DEPTH_REACHED
$STATE,1298,begin subsurface finish
$FINISH1,1.9,1.024032,109
$GC,1305,0.16,109.3,2896,1969,1634,4094,1.9,7.7,169,1323,5.40,1.00,-5.80,0.000,20740,0.051,1.283,2399,2349,2361,2361,4095,0,0,0,0,0,0,26.01,24.87,26.08,10.12,49.64
$FINISH2,0.5
$STATE,1324,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1324,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050817,235121
$TT8_MAMPS,0.025466,0.228445
$HUMID,50.78
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.82,14.962
$10V_AH,10.20,18.458
$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,22.250,17.075,74.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,462.380,0.000,149.449,716.423,53.532,33.425,437.895,0.000,257.415,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1282.905,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.975,464.690,0.000,544.628,710.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,17727,171
$CAP_FILE_SIZE,33401,0
$CFSIZE,1024409600,991510528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,012055,6009.918,-17318.619,7,0.9,17,7.2,0.5,338.7,10,5.0