version: 66.13
glider: 401
mission: 22
dive: 571
start: 8 6 117 2 44 28
data:
$ID,401
$MISSION,22
$DIVE,571
$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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,060817,023535,6011.2407,-17319.5742,5,0.8,31,7.2,0.4,36.3,10,4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-34.9
$GPS2,060817,024317,6011.3252,-17319.6211,7,0.7,7,7.2,0.0,0.0,11,0.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.297624,0.245193
$KALMAN_X,60447.929688,-2865.350098,-1027.666504,-221404.406250,84.322632
$KALMAN_Y,44908.906250,1732.887939,1109.691284,55947.726562,247.611572
$MHEAD_RNG_PITCHd_Wd,302.3,30006,-7.7,-8.333,-12.19,10416
$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,-585.0,231,1949,1591,4092,0.0,0.0,0,20,10.93,0.00,0.00,0.000,2049,0.090,0.000,1161,1949,1592,1592,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.20,50.00
$GC,23,-1.58,-585.0,1161,1949,1591,4094,0.8,0.0,1,51,7.22,1.17,-14.25,0.000,18692,0.050,1.271,1829,2369,3171,3171,4095,0,0,0,0,0,0,25.88,24.75,25.95,10.22,49.80
$GC,139,-1.58,-585.0,1827,2368,3174,4095,11.4,-14.1,17,149,0.00,1.05,0.00,0.000,1030,0.000,0.027,1829,1949,3174,3174,4095,0,0,0,0,0,0,25.96,25.94,25.99,10.54,48.89
$GC,186,-1.58,-585.0,1828,1949,3175,4095,17.3,-13.2,23,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1949,3175,3175,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.51,48.74
$GC,229,-1.58,-585.0,1828,1949,3176,4095,23.0,-12.7,29,239,0.00,1.08,0.00,0.000,516,0.000,0.047,1829,1524,3176,3176,4095,0,0,0,0,0,0,26.27,25.98,26.29,10.49,47.99
$GC,282,-1.58,-585.0,1827,1524,3177,4095,29.7,-12.5,36,291,0.00,0.98,0.00,0.000,1030,0.000,0.025,1829,1945,3177,3177,4095,0,0,0,0,0,0,26.10,26.08,26.13,10.47,46.61
$GC,327,-1.58,-585.0,1828,1945,3178,4095,35.1,-11.9,42,337,0.00,1.10,0.00,0.000,260,0.000,0.043,1829,2364,3178,3178,4094,0,0,0,0,0,0,26.34,26.06,26.36,10.46,46.45
$GC,374,-1.58,-585.0,1828,2364,3179,4094,40.4,-11.7,48,383,0.00,1.00,0.00,0.000,1030,0.000,0.026,1829,1965,3179,3179,4095,0,0,0,0,0,0,26.19,26.15,26.22,10.44,45.82
$GC,422,-1.58,-585.0,1828,1965,3180,4095,46.1,-12.0,54,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1965,3180,3180,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.43,45.58
$GC,467,-1.58,-585.0,1828,1965,3180,4094,51.4,-11.4,60,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1965,3181,3181,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.42,45.07
$GC,512,-1.58,-585.0,1828,1965,3182,4095,56.4,-11.0,66,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1965,3182,3182,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.41,44.72
$STATE,548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,548,begin apogee
$GC,553,-0.45,0.0,1828,1965,3183,4095,60.7,-11.4,71,597,3.83,0.00,33.50,1.296,10244,0.051,0.000,2184,1965,2483,2483,4094,0,0,0,0,0,0,26.20,24.94,24.25,10.40,44.64
$STATE,598,end apogee,CONTROL_FINISHED_OK
$STATE,598,begin climb
$GC,600,1.58,585.0,2184,1964,2483,4094,63.3,0.0,76,646,6.95,1.08,33.45,1.272,10500,0.034,0.038,2832,2365,1802,1802,4094,0,0,0,0,0,0,25.41,25.36,23.78,10.27,44.17
$GC,722,1.58,585.0,2831,2365,1801,4094,53.8,10.2,92,732,0.00,1.08,0.03,0.005,9222,0.000,0.030,2832,1951,1800,1800,4094,0,0,0,0,0,0,25.44,25.40,25.46,10.10,44.21
$GC,770,1.58,585.0,2832,1951,1799,4094,49.2,9.7,98,779,0.00,1.15,0.00,0.000,516,0.000,0.057,2832,1519,1799,1799,4095,0,0,0,0,0,0,25.79,25.49,25.80,10.10,43.69
$GC,808,1.58,585.0,2832,1518,1798,4095,45.3,9.5,103,818,0.00,1.02,0.00,0.000,1030,0.000,0.024,2832,1962,1798,1798,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.09,43.97
$GC,855,1.58,585.0,2832,1962,1797,4094,41.1,9.2,109,865,0.00,1.02,0.00,0.000,260,0.000,0.041,2832,2354,1797,1797,4094,0,0,0,0,0,0,25.96,25.70,25.98,10.09,44.72
$GC,933,1.58,585.0,2831,2354,1795,4094,33.3,10.1,120,942,0.00,1.00,0.00,0.000,1030,0.000,0.030,2832,1963,1795,1795,4094,0,0,0,0,0,0,25.87,25.83,25.89,10.09,45.03
$GC,978,1.58,585.0,2832,1962,1794,4094,28.8,9.8,126,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.09,45.31
$GC,1023,1.58,585.0,2831,1962,1794,4094,24.4,9.6,132,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1793,1793,4094,0,0,0,0,0,0,26.18,26.19,26.20,10.10,45.74
$GC,1070,1.58,585.0,2832,1962,1792,4094,20.1,9.6,138,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1792,1792,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.11,46.85
$GC,1114,1.58,585.0,2831,1962,1790,4094,16.0,8.5,144,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1791,1791,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,46.85
$GC,1159,1.58,585.0,2832,1962,1790,4094,12.2,8.5,150,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.12,47.59
$GC,1204,1.58,585.0,2831,1962,1789,4094,8.3,8.5,156,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,1789,1789,4093,0,0,0,0,0,0,26.32,26.34,26.34,10.15,48.18
$GC,1250,1.67,646.3,2831,1962,1788,4093,4.8,7.7,162,1260,0.20,0.00,4.25,0.412,10246,0.046,0.000,2864,1962,1729,1729,4094,0,0,0,0,0,0,26.16,25.96,25.34,10.16,49.21
$STATE,1288,end climb,FINISH_DEPTH_REACHED
$STATE,1288,begin subsurface finish
$FINISH1,1.6,1.024024,110
$GC,1294,0.16,109.9,2863,1962,1728,4094,1.6,7.9,167,1313,5.05,0.00,-5.43,0.000,20486,0.054,0.000,2399,1962,2358,2358,4094,0,0,0,0,0,0,26.08,25.58,26.15,10.16,50.03
$FINISH2,0.2
$STATE,1314,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1314,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,011534
$TT8_MAMPS,0.026215,0.20972
$HUMID,50.27
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.78,15.034
$10V_AH,10.23,18.528
$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,34.175,12.725,71.225,0.000,0.000,24.420,18.564,297.983,0.000,0.000,7.774,465.114,0.419,150.013,1048.674,135.176,33.479,443.588,0.000,256.191,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1271.430,1295.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.541,459.190,0.000,538.345,703.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,17817,169
$CAP_FILE_SIZE,37903,0
$CFSIZE,1024409600,991412224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,382.40,0x2138e4,0,24
$GPS,060817,024317,6011.325,-17319.621,7,0.7,7,7.2,0.0,0.0,11,0.0