version: 66.13
glider: 401
mission: 22
dive: 574
start: 8 6 117 4 10 42
data:
$ID,401
$MISSION,22
$DIVE,574
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,060817,035706,6012.3779,-17320.2480,5,0.8,15,7.2,0.4,28.8,11,4.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-37.4
$GPS2,060817,040934,6012.4834,-17320.1562,6,0.9,18,7.2,0.0,47.4,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.316710,0.213997
$KALMAN_X,60862.214844,-2807.580566,-927.564392,-222490.234375,189.469543
$KALMAN_Y,45475.347656,2032.473145,1310.165527,57032.683594,134.032227
$MHEAD_RNG_PITCHd_Wd,296.8,27899,-7.8,-8.333,-12.30,10190
$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,-576.7,229,1958,1646,4092,0.0,0.0,0,21,10.62,0.00,0.00,0.000,2049,0.091,0.000,1135,1958,1646,1646,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.23,48.38
$GC,23,-1.58,-576.7,1134,1958,1646,4094,0.8,0.0,1,51,7.43,1.08,-13.55,0.000,18692,0.044,1.268,1827,2361,3158,3158,4094,0,0,0,0,0,0,25.91,24.77,25.97,10.24,48.30
$GC,126,-1.58,-576.7,1827,2361,3160,4094,9.0,-14.3,15,136,0.00,1.02,0.00,0.000,1030,0.000,0.026,1828,1955,3160,3160,4094,0,0,0,0,0,0,25.98,25.95,26.00,10.56,48.22
$GC,172,-1.58,-576.7,1827,1955,3161,4094,14.8,-12.4,21,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1955,3161,3161,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.54,47.51
$GC,217,-1.58,-576.7,1827,1955,3162,4094,19.8,-11.4,27,226,0.00,1.10,0.00,0.000,516,0.000,0.049,1827,1522,3162,3162,4095,0,0,0,0,0,0,26.27,25.98,26.28,10.52,47.44
$GC,276,-1.58,-576.7,1827,1521,3162,4095,26.9,-12.1,35,284,0.00,1.00,0.00,0.000,1030,0.000,0.024,1828,1950,3163,3163,4094,0,0,0,0,0,0,26.12,26.10,26.14,10.50,46.49
$GC,320,-1.58,-576.7,1827,1950,3164,4094,32.4,-12.1,41,330,0.00,1.08,0.00,0.000,260,0.000,0.043,1827,2365,3165,3165,4095,0,0,0,0,0,0,26.35,26.07,26.36,10.48,45.66
$GC,380,-1.58,-576.7,1827,2365,3165,4095,39.4,-11.9,49,390,0.00,0.98,0.00,0.000,1030,0.000,0.025,1828,1974,3165,3165,4095,0,0,0,0,0,0,26.19,26.16,26.21,10.47,44.99
$GC,427,-1.58,-576.7,1827,1974,3167,4095,44.9,-11.6,55,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1974,3166,3166,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.44,44.80
$GC,474,-1.58,-576.7,1827,1974,3167,4095,50.2,-11.7,61,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1974,3168,3168,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.43,44.80
$GC,520,-1.58,-576.7,1827,1974,3168,4094,55.4,-11.5,67,529,0.00,1.15,0.00,0.000,516,0.000,0.048,1828,1520,3168,3168,4095,0,0,0,0,0,0,26.46,26.17,26.48,10.43,44.13
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,572,-0.45,0.0,1827,1953,3169,4094,60.8,-11.3,73,616,3.88,0.00,32.83,1.291,10244,0.054,0.000,2187,1956,2484,2484,4094,0,0,0,0,0,0,26.20,24.97,24.27,10.42,44.52
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,619,1.58,576.7,2186,1955,2484,4094,63.7,0.0,78,664,6.90,0.00,32.88,1.271,11270,0.036,0.000,2829,1957,1812,1812,4094,0,0,0,0,0,0,25.48,25.64,23.82,10.28,43.62
$GC,701,1.58,576.7,2828,1956,1810,4094,58.2,9.9,88,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1810,1810,4094,0,0,0,0,0,0,25.48,25.50,25.49,10.13,42.51
$GC,747,1.58,576.7,2829,1957,1810,4094,53.5,10.2,94,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1810,1810,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.12,43.14
$GC,793,1.58,576.7,2828,1956,1809,4094,48.9,9.8,100,803,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2365,1808,1808,4094,0,0,0,0,0,0,25.82,25.56,25.83,10.11,42.99
$GC,840,1.58,576.7,2829,2365,1807,4094,44.2,9.6,106,850,0.00,1.05,0.00,0.000,1030,0.000,0.030,2829,1956,1808,1808,4094,0,0,0,0,0,0,25.75,25.68,25.73,10.11,44.29
$GC,887,1.58,576.7,2829,1956,1807,4094,39.9,9.3,112,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1806,1806,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.10,43.89
$GC,931,1.58,576.7,2829,1955,1805,4094,35.7,9.3,118,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1805,1805,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.11,44.05
$GC,975,1.58,576.7,2829,1955,1805,4094,31.7,8.8,124,985,0.00,1.10,0.00,0.000,260,0.000,0.038,2829,2366,1805,1805,4094,0,0,0,0,0,0,26.13,25.86,26.14,10.11,45.07
$GC,1047,1.58,576.7,2829,2365,1803,4094,25.3,9.0,134,1056,0.00,1.00,0.00,0.000,1030,0.000,0.029,2829,1969,1803,1803,4094,0,0,0,0,0,0,25.99,25.99,26.01,10.11,45.58
$GC,1094,1.58,576.7,2829,1969,1802,4094,21.2,9.0,140,1103,0.00,1.17,0.00,0.000,516,0.000,0.055,2829,1519,1802,1802,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.12,45.82
$GC,1146,1.58,576.7,2829,1518,1801,4094,16.5,8.7,147,1155,0.00,1.05,0.00,0.000,1030,0.000,0.025,2829,1975,1801,1801,4094,0,0,0,0,0,0,26.09,26.08,26.11,10.12,46.18
$GC,1192,1.59,583.0,2829,1975,1800,4094,12.7,8.3,153,1201,0.00,1.00,0.00,0.000,260,0.000,0.041,2829,2359,1800,1800,4094,0,0,0,0,0,0,26.32,26.05,26.33,10.14,47.20
$GC,1238,1.61,599.5,2829,2358,1799,4094,8.7,8.2,159,1247,0.00,0.98,2.50,0.178,9222,0.000,0.031,2829,1971,1784,1784,4094,0,0,0,0,0,0,26.16,26.10,25.34,10.15,47.51
$GC,1283,1.73,675.9,2828,1971,1782,4094,5.2,7.6,165,1295,0.38,1.17,5.53,0.483,10756,0.035,0.054,2878,1519,1694,1694,4094,0,0,0,0,0,0,26.21,25.98,25.36,10.17,49.25
$STATE,1330,end climb,FINISH_DEPTH_REACHED
$STATE,1330,begin subsurface finish
$FINISH1,1.5,1.024011,111
$GC,1338,0.17,110.7,2878,1966,1693,4094,1.5,8.0,171,1356,5.00,0.00,-5.72,0.000,20486,0.031,0.000,2395,1971,2360,2360,4094,0,0,0,0,0,0,26.12,25.59,26.17,10.17,49.21
$FINISH2,0.2
$STATE,1357,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1357,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,040351
$TT8_MAMPS,0.026215,0.24717
$HUMID,50.47
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.82,15.135
$10V_AH,10.18,18.640
$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,34.200,19.075,73.725,0.000,0.000,68.892,108.916,315.973,0.000,0.000,19.363,488.881,90.481,155.396,1248.441,142.823,33.461,454.114,0.000,420.938,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1268.370,1291.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.461,469.894,372.123,551.069,717.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,17843,173
$CAP_FILE_SIZE,42447,0
$CFSIZE,1024409600,991264768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,040934,6012.483,-17320.156,6,0.9,18,7.2,0.0,47.4,10,4.8