version: 66.13
glider: 401
mission: 22
dive: 573
start: 8 6 117 3 32 42
data:
$ID,401
$MISSION,22
$DIVE,573
$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,38
$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
$GPS1,060817,024317,6011.3252,-17319.6211,7,0.7,7,7.2,0.0,0.0,11,0.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-2.0
$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,-0.259180,0.285053
$KALMAN_X,60877.761719,-2758.736084,-885.051086,-222099.984375,108.661072
$KALMAN_Y,44361.441406,1793.291382,1085.929199,56501.578125,50.910400
$MHEAD_RNG_PITCHd_Wd,310.5,30006,-7.7,-8.333,-12.21,10392
$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,-585.0,2398,1963,2361,4092,0.0,0.0,0,21,5.82,0.00,-4.50,0.000,20482,0.025,0.000,1834,1963,2862,2862,4095,0,0,0,0,0,0,26.13,28.83,26.15,10.32,50.98
$GC,24,-1.58,-585.0,1834,1963,2862,4095,0.1,0.0,1,34,0.00,1.12,-2.70,0.000,16644,0.000,1.271,1834,2367,3167,3167,4095,0,0,0,0,0,0,26.32,24.93,26.32,10.42,50.94
$GC,83,-1.58,-585.0,1833,2367,3169,4095,6.4,-13.4,9,92,0.00,1.05,0.00,0.000,1030,0.000,0.028,1834,1951,3168,3168,4095,0,0,0,0,0,0,26.03,26.03,26.06,10.49,51.69
$GC,128,-1.58,-585.0,1833,1951,3170,4095,12.8,-14.0,15,137,0.00,1.10,0.00,0.000,516,0.000,0.050,1834,1516,3170,3170,4095,0,0,0,0,0,0,26.29,25.98,26.31,10.50,51.10
$GC,173,-1.58,-585.0,1833,1516,3171,4095,18.7,-12.8,21,183,0.00,1.00,0.00,0.000,1030,0.000,0.026,1834,1945,3171,3171,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.47,50.23
$GC,220,-1.58,-585.0,1833,1946,3171,4094,24.1,-11.8,27,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1946,3172,3172,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.46,50.03
$GC,264,-1.58,-585.0,1833,1945,3173,4095,29.4,-11.7,33,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1946,3173,3173,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.44,48.81
$GC,309,-1.58,-585.0,1833,1946,3174,4094,34.7,-11.5,39,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1946,3174,3174,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.43,48.22
$GC,354,-1.58,-585.0,1833,1946,3175,4095,39.5,-11.0,45,362,0.00,1.10,0.00,0.000,260,0.000,0.044,1834,2366,3175,3175,4095,0,0,0,0,0,0,26.44,26.16,26.45,10.41,47.51
$GC,399,-1.58,-585.0,1833,2365,3175,4095,44.6,-11.2,51,408,0.00,1.10,0.00,0.000,1030,0.000,0.029,1834,1924,3175,3175,4095,0,0,0,0,0,0,26.27,26.21,26.27,10.41,47.48
$GC,444,-1.58,-585.0,1833,1923,3176,4095,50.0,-12.1,57,454,0.00,1.00,0.00,0.000,516,0.000,0.048,1834,1524,3177,3177,4094,0,0,0,0,0,0,26.48,26.21,26.49,10.40,46.81
$GC,503,-1.58,-585.0,1833,1524,3178,4094,56.8,-11.4,65,512,0.00,0.90,0.00,0.000,1030,0.000,0.026,1834,1924,3178,3178,4094,0,0,0,0,0,0,26.32,26.29,26.33,10.38,46.22
$STATE,533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,533,begin apogee
$GC,538,-0.45,0.0,1833,1923,3178,4094,60.4,-11.0,69,582,3.80,0.00,33.20,1.295,10244,0.052,0.000,2186,1924,2484,2484,4094,0,0,0,0,0,0,26.24,25.00,24.30,10.38,46.65
$STATE,583,end apogee,CONTROL_FINISHED_OK
$STATE,583,begin climb
$GC,586,1.58,585.0,2185,1923,2484,4094,62.9,0.0,74,631,6.93,1.05,33.35,1.272,10756,0.036,0.051,2831,1528,1802,1802,4094,0,0,0,0,0,0,25.44,25.39,23.82,10.23,45.35
$GC,648,1.58,585.0,2830,1527,1801,4094,59.4,8.5,81,657,0.00,1.02,0.00,0.000,1030,0.000,0.024,2831,1962,1801,1801,4094,0,0,0,0,0,0,25.17,25.15,25.18,10.09,44.76
$GC,693,1.58,585.0,2830,1962,1801,4094,55.1,10.1,87,703,0.00,1.05,0.00,0.000,260,0.000,0.041,2831,2353,1801,1801,4094,0,0,0,0,0,0,25.60,25.38,25.61,10.09,44.40
$GC,758,1.58,585.0,2830,2352,1799,4094,48.6,9.8,96,768,0.00,1.00,0.00,0.000,1030,0.000,0.031,2831,1966,1799,1799,4095,0,0,0,0,0,0,25.60,25.57,25.63,10.08,44.44
$GC,804,1.58,585.0,2830,1966,1798,4095,44.3,9.2,102,813,0.00,1.17,0.00,0.000,516,0.000,0.054,2830,1523,1798,1798,4094,0,0,0,0,0,0,25.91,25.62,25.92,10.08,44.80
$GC,851,1.58,585.0,2830,1523,1797,4094,39.8,9.9,108,860,0.00,1.00,0.00,0.000,1030,0.000,0.026,2831,1956,1797,1797,4094,0,0,0,0,0,0,25.82,25.79,25.83,10.07,45.31
$GC,896,1.58,585.0,2830,1955,1796,4094,35.2,10.1,114,906,0.00,1.08,0.00,0.000,260,0.000,0.043,2831,2360,1796,1796,4094,0,0,0,0,0,0,26.06,25.79,26.07,10.08,45.90
$GC,1000,1.58,585.0,2830,2360,1794,4094,25.1,9.0,129,1009,0.00,1.02,0.00,0.000,1030,0.000,0.031,2831,1958,1793,1793,4094,0,0,0,0,0,0,25.97,25.96,25.97,10.08,46.25
$GC,1047,1.59,594.0,2830,1958,1793,4094,21.3,8.2,135,1057,0.00,1.15,0.00,0.000,516,0.000,0.056,2831,1514,1793,1793,4094,0,0,0,0,0,0,26.22,25.90,26.23,10.09,47.79
$GC,1114,1.59,594.0,2830,1513,1791,4094,15.6,8.4,144,1122,0.00,1.02,0.00,0.000,1030,0.000,0.026,2830,1964,1791,1791,4094,0,0,0,0,0,0,26.13,26.08,26.10,10.11,48.62
$GC,1159,1.61,607.8,2830,1964,1790,4094,11.9,8.2,150,1169,0.00,1.00,2.62,0.219,8452,0.000,0.037,2831,2350,1773,1773,4094,0,0,0,0,0,0,26.32,25.75,25.34,10.13,49.01
$GC,1218,1.68,653.5,2830,2350,1772,4094,7.1,7.9,158,1228,0.22,0.98,4.00,0.402,11270,0.034,0.030,2865,1962,1720,1720,4094,0,0,0,0,0,0,26.13,26.10,25.30,10.15,49.72
$GC,1266,1.78,715.9,2865,1962,1719,4094,3.4,7.7,164,1278,0.17,1.12,4.88,0.441,10756,0.051,0.056,2891,1527,1648,1648,4094,0,0,0,0,0,0,26.16,25.96,25.34,10.15,49.96
$STATE,1286,end climb,SURFACE_DEPTH_REACHED
$STATE,1286,begin surface coast
$FINISH,0.2,1.007328
$STATE,1315,end surface coast,CONTROL_FINISHED_OK
$STATE,1315,begin surface
$SM_CCo,1414,0.00,0.000,0,0,1647,719.51
$SM_GC,1.05,27.88,1.00,0.00,0.021,0.025,0.000,231,1950,1647,-6.59,-2.28,719.51,0,0,0,0,0,0,26.01,26.11,26.10
$IRIDIUM_FIX,5952.82,-17420.78,060817,011534
$TT8_MAMPS,0.025466,0.207473
$HUMID,50.70
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.82,15.083
$10V_AH,10.23,18.593
$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,44.825,23.050,78.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,479.200,60.300,166.264,711.393,57.144,33.416,443.020,0.000,255.930,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1271.430,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.438,461.905,0.000,541.551,706.070,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330876
$DATA_FILE_SIZE,17756,170
$CAP_FILE_SIZE,36989,0
$CFSIZE,1024409600,991313920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,035706,6012.378,-17320.248,5,0.8,15,7.2,0.4,28.8,11,4.4