version: 66.13
glider: 401
mission: 22
dive: 570
start: 8 6 117 2 10 44
data:
$ID,401
$MISSION,22
$DIVE,570
$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,26
$R_STBD_OVSHOOT,57
$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,0.27
$_SM_ANGLEo,-0.7
$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,-0.211882,0.319596
$KALMAN_X,60843.375000,-2771.776611,-939.001526,-221050.875000,35.023987
$KALMAN_Y,43509.082031,1455.390259,837.057922,55335.546875,26.879700
$MHEAD_RNG_PITCHd_Wd,319.3,32733,-7.8,-8.333,-12.26,10271
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.58,-581.5,2398,1950,2361,4092,0.0,0.0,0,20,5.85,0.00,-4.20,0.000,20482,0.027,0.000,1833,1950,2832,2832,4095,0,0,0,0,0,0,26.10,28.83,26.13,10.30,51.02
$GC,23,-1.58,-581.5,1833,1950,2831,4095,0.1,0.0,1,33,0.00,1.10,-3.10,0.000,16644,0.000,1.274,1832,2347,3165,3165,4095,0,0,0,0,0,0,26.29,24.91,26.29,10.40,51.18
$GC,135,-1.58,-581.5,1832,2347,3168,4095,12.8,-13.0,17,145,0.00,1.00,0.00,0.000,1030,0.000,0.029,1833,1951,3168,3168,4094,0,0,0,0,0,0,26.07,26.08,26.10,10.46,51.41
$GC,182,-1.58,-581.5,1832,1951,3169,4094,18.7,-12.5,23,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1951,3168,3168,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.44,50.43
$GC,228,-1.58,-581.5,1832,1951,3170,4094,24.3,-11.6,29,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1952,3170,3170,4095,0,0,0,0,0,0,26.35,26.37,26.36,10.43,50.31
$GC,275,-1.58,-581.5,1832,1951,3170,4095,29.7,-11.8,35,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1951,3171,3171,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.41,48.85
$GC,321,-1.58,-581.5,1832,1951,3172,4095,34.9,-11.0,41,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1951,3172,3172,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.40,49.13
$GC,367,-1.58,-581.5,1832,1951,3173,4095,39.8,-10.5,47,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1951,3173,3173,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.39,47.71
$GC,413,-1.58,-581.5,1832,1950,3173,4094,44.7,-11.0,53,423,0.00,1.05,0.00,0.000,260,0.000,0.044,1833,2342,3174,3174,4094,0,0,0,0,0,0,26.46,26.17,26.47,10.39,47.28
$GC,465,-1.58,-581.5,1832,2342,3175,4094,50.7,-11.3,60,475,0.00,1.00,0.00,0.000,1030,0.000,0.030,1833,1942,3174,3174,4095,0,0,0,0,0,0,26.26,26.22,26.28,10.38,46.81
$GC,511,-1.58,-581.5,1832,1942,3175,4095,55.9,-11.5,66,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1942,3175,3175,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.38,46.73
$STATE,549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,549,begin apogee
$GC,554,-0.45,0.0,1832,1942,3176,4095,60.3,-11.5,71,598,3.80,0.00,33.10,1.294,10244,0.053,0.000,2184,1941,2485,2485,4094,0,0,0,0,0,0,26.25,24.99,24.30,10.37,46.45
$STATE,599,end apogee,CONTROL_FINISHED_OK
$STATE,599,begin climb
$GC,602,1.58,581.5,2184,1941,2485,4094,63.1,0.0,76,646,6.97,0.00,33.12,1.272,11270,0.037,0.000,2829,1942,1806,1806,4094,0,0,0,0,0,0,25.48,25.65,23.82,10.23,45.86
$GC,684,1.58,581.5,2829,1941,1805,4094,57.5,9.8,86,694,0.00,1.12,0.00,0.000,260,0.000,0.039,2829,2348,1805,1805,4094,0,0,0,0,0,0,25.48,25.23,25.48,10.07,44.95
$GC,736,1.58,581.5,2829,2347,1804,4094,52.3,9.4,93,744,0.00,1.00,0.00,0.000,1030,0.000,0.030,2829,1961,1804,1804,4094,0,0,0,0,0,0,25.53,25.46,25.53,10.07,45.39
$GC,781,1.58,581.5,2829,1960,1803,4094,48.2,8.9,99,790,0.00,1.17,0.00,0.000,516,0.000,0.057,2830,1517,1803,1803,4094,0,0,0,0,0,0,25.82,25.53,25.84,10.06,45.07
$GC,813,1.58,581.5,2829,1516,1803,4094,45.3,8.9,103,823,0.00,1.05,0.00,0.000,1030,0.000,0.025,2829,1965,1803,1803,4094,0,0,0,0,0,0,25.72,25.69,25.72,10.06,45.78
$GC,859,1.58,581.5,2829,1964,1802,4094,41.1,9.5,109,867,0.00,1.02,0.00,0.000,260,0.000,0.043,2830,2349,1802,1802,4094,0,0,0,0,0,0,25.98,25.70,25.98,10.06,45.51
$GC,942,1.58,581.5,2829,2348,1800,4094,32.5,10.3,121,952,0.00,0.93,0.00,0.000,1030,0.000,0.031,2829,1985,1800,1800,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.06,46.33
$GC,989,1.58,581.5,2829,1985,1799,4094,28.1,9.5,127,999,0.00,1.23,0.00,0.000,516,0.000,0.054,2829,1520,1798,1798,4094,0,0,0,0,0,0,26.15,25.84,26.16,10.06,46.49
$GC,1022,1.58,581.5,2829,1520,1798,4094,24.9,9.6,131,1031,0.00,1.10,0.00,0.000,1030,0.000,0.027,2830,1985,1798,1798,4094,0,0,0,0,0,0,26.02,25.96,26.01,10.07,47.28
$GC,1067,1.58,581.5,2829,1985,1797,4094,20.8,8.8,137,1077,0.00,1.00,0.00,0.000,260,0.000,0.044,2830,2363,1797,1797,4094,0,0,0,0,0,0,26.22,25.94,26.23,10.07,46.92
$GC,1128,1.58,582.7,2829,2363,1796,4094,15.7,8.3,145,1137,0.00,0.93,0.00,0.000,1030,0.000,0.030,2829,1997,1795,1795,4094,0,0,0,0,0,0,26.05,26.03,26.08,10.08,47.48
$GC,1175,1.63,611.6,2829,1996,1795,4094,11.8,8.0,151,1185,0.00,1.23,2.72,0.243,8708,0.000,0.053,2829,1525,1775,1775,4094,0,0,0,0,0,0,26.31,25.73,25.25,10.09,47.99
$GC,1228,1.72,677.8,2829,1525,1774,4094,7.4,7.7,158,1239,0.38,1.08,5.28,0.496,11270,0.029,0.028,2876,1990,1692,1692,4094,0,0,0,0,0,0,26.12,26.11,25.29,10.12,49.17
$GC,1277,1.85,763.0,2875,1990,1692,4094,3.7,7.5,164,1289,0.35,0.98,5.97,0.500,10500,0.044,0.041,2916,2367,1593,1593,4094,0,0,0,0,0,0,26.07,25.91,25.29,10.12,49.60
$STATE,1297,end climb,SURFACE_DEPTH_REACHED
$STATE,1297,begin surface coast
$FINISH,0.2,1.023847
$STATE,1326,end surface coast,CONTROL_FINISHED_OK
$STATE,1326,begin surface
$SM_CCo,1425,0.00,0.000,0,0,1592,767.59
$SM_GC,0.93,28.15,1.10,0.00,0.022,0.030,0.000,232,1949,1592,-6.59,1.18,767.59,0,0,0,0,0,0,25.98,26.03,26.06
$IRIDIUM_FIX,5952.82,-17420.78,050817,235121
$TT8_MAMPS,0.025466,0.234437
$HUMID,50.86
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,14.988
$10V_AH,10.18,18.496
$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,45.500,20.125,80.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,487.984,60.477,167.091,711.576,60.290,33.416,445.881,0.000,411.720,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1273.725,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.886,461.819,365.673,541.799,708.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,17908,170
$CAP_FILE_SIZE,36145,0
$CFSIZE,1024409600,991461376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,023535,6011.241,-17319.574,5,0.8,31,7.2,0.4,36.3,10,4.5