version: 66.13
glider: 401
mission: 22
dive: 575
start: 8 6 117 4 35 26
data:
$ID,401
$MISSION,22
$DIVE,575
$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,60
$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
$GPS1,060817,040934,6012.4834,-17320.1562,6,0.9,18,7.2,0.0,47.4,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.2
$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,-0.284440,0.246935
$KALMAN_X,61024.175781,-2699.584473,-799.242798,-222898.109375,112.301025
$KALMAN_Y,45376.281250,2021.845093,1222.981934,57264.484375,137.135986
$MHEAD_RNG_PITCHd_Wd,303.8,27899,-8.1,-8.333,-12.47,9826
$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,-1.57,-555.4,2394,1971,2360,4092,0.0,0.0,0,20,5.57,0.00,-4.20,0.000,20482,0.024,0.000,1853,1971,2837,2837,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.34,50.31
$GC,23,-1.57,-555.4,1852,1971,2836,4094,0.2,0.0,1,32,0.00,0.98,-2.70,0.000,16644,0.000,1.273,1853,2346,3136,3136,4094,0,0,0,0,0,0,26.33,24.94,26.34,10.44,50.27
$GC,120,-1.57,-555.4,1852,2346,3138,4094,10.5,-13.0,15,129,0.00,1.00,0.00,0.000,1030,0.000,0.028,1852,1950,3138,3138,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.50,50.00
$GC,167,-1.57,-555.4,1852,1950,3138,4094,15.8,-11.3,21,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1950,3138,3138,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.48,49.76
$GC,212,-1.57,-555.4,1852,1950,3139,4094,20.8,-10.7,27,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1950,3139,3139,4095,0,0,0,0,0,0,26.38,26.40,26.39,10.46,48.97
$GC,256,-1.57,-555.4,1852,1950,3140,4095,25.8,-11.1,33,266,0.00,1.10,0.00,0.000,516,0.000,0.050,1853,1512,3140,3140,4094,0,0,0,0,0,0,26.41,26.12,26.42,10.45,48.50
$GC,308,-1.57,-555.4,1852,1512,3141,4094,31.9,-11.5,40,318,0.00,0.98,0.00,0.000,1030,0.000,0.026,1853,1936,3142,3142,4095,0,0,0,0,0,0,26.22,26.22,26.26,10.43,47.99
$GC,354,-1.57,-555.4,1852,1936,3143,4095,37.3,-11.8,46,363,0.00,1.10,0.00,0.000,260,0.000,0.044,1852,2356,3143,3143,4095,0,0,0,0,0,0,26.46,26.18,26.47,10.43,47.63
$GC,412,-1.57,-555.4,1852,2356,3143,4095,43.9,-11.3,54,421,0.00,0.98,0.00,0.000,1030,0.000,0.027,1853,1967,3144,3144,4095,0,0,0,0,0,0,26.30,26.25,26.31,10.42,46.73
$GC,459,-1.57,-555.4,1852,1967,3144,4095,48.8,-10.5,60,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,1967,3145,3145,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.41,47.00
$GC,503,-1.57,-555.4,1852,1967,3145,4095,53.4,-10.2,66,512,0.00,1.12,0.00,0.000,516,0.000,0.048,1853,1520,3146,3146,4095,0,0,0,0,0,0,26.53,26.23,26.54,10.40,46.10
$GC,554,-1.57,-555.4,1852,1520,3146,4095,58.6,-10.1,73,564,0.00,1.00,0.00,0.000,1030,0.000,0.025,1853,1955,3146,3146,4095,0,0,0,0,0,0,26.34,26.32,26.36,10.39,45.82
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,577,-0.45,0.0,1852,1955,3146,4095,60.6,-10.1,75,621,3.53,0.00,31.65,1.284,10244,0.053,0.000,2180,1955,2484,2484,4094,0,0,0,0,0,0,26.27,25.06,24.35,10.38,45.82
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.57,555.4,2179,1955,2484,4094,63.0,0.0,80,668,6.97,0.00,31.67,1.266,11270,0.038,0.000,2826,1959,1837,1837,4094,0,0,0,0,0,0,25.56,25.72,23.87,10.25,45.07
$GC,706,1.57,555.4,2826,1959,1836,4094,57.8,9.3,90,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1960,1836,1836,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.11,43.97
$GC,751,1.57,555.4,2826,1959,1835,4094,53.1,10.4,96,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1960,1835,1835,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.10,44.32
$GC,795,1.57,555.4,2825,1959,1834,4094,48.4,10.6,102,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1960,1834,1834,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.10,44.48
$GC,840,1.57,555.4,2826,1959,1833,4094,44.1,9.9,108,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1959,1833,1833,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.10,44.72
$GC,886,1.57,555.4,2826,1959,1832,4094,39.6,9.9,114,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1959,1832,1832,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.09,44.88
$GC,929,1.57,555.4,2826,1959,1831,4094,35.4,8.9,120,939,0.00,1.08,0.00,0.000,260,0.000,0.040,2827,2364,1831,1831,4094,0,0,0,0,0,0,26.08,25.82,26.09,10.09,45.55
$GC,1001,1.57,555.4,2826,2363,1830,4094,28.9,9.2,130,1010,0.00,1.08,0.00,0.000,1030,0.000,0.031,2826,1944,1830,1830,4094,0,0,0,0,0,0,25.95,25.91,25.96,10.10,46.14
$GC,1047,1.57,555.4,2826,1943,1828,4094,24.9,8.7,136,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1943,1829,1829,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.10,47.08
$GC,1092,1.64,605.8,2825,1943,1828,4095,21.3,7.8,142,1101,0.15,0.00,4.05,0.482,10246,0.060,0.000,2850,1943,1777,1777,4094,0,0,0,0,0,0,26.05,25.83,25.13,10.11,47.28
$GC,1138,1.64,605.8,2849,1943,1776,4094,17.4,8.6,148,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1943,1776,1776,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.10,47.44
$GC,1182,1.64,605.8,2850,1943,1775,4094,13.3,9.3,154,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1944,1775,1775,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.11,47.32
$GC,1226,1.64,605.8,2849,1943,1774,4094,9.3,8.7,160,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1944,1773,1773,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.13,48.18
$GC,1272,1.64,606.4,2849,1943,1773,4094,5.5,8.3,166,1282,0.00,1.10,0.00,0.000,516,0.000,0.057,2850,1520,1772,1772,4094,0,0,0,0,0,0,26.35,26.05,26.36,10.15,50.00
$STATE,1316,end climb,FINISH_DEPTH_REACHED
$STATE,1316,begin subsurface finish
$FINISH1,1.7,1.024043,108
$GC,1324,0.16,108.5,2850,1956,1771,4094,1.7,7.9,172,1343,4.90,1.10,-5.03,0.000,20740,0.056,1.286,2400,2358,2360,2360,4094,0,0,0,0,0,0,26.10,24.97,26.18,10.17,50.27
$FINISH2,0.2
$STATE,1344,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1345,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,040351
$TT8_MAMPS,0.025466,0.214214
$HUMID,51.18
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.87,15.159
$10V_AH,10.23,18.667
$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,21.125,13.625,67.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,470.526,0.000,148.596,726.355,55.603,33.427,436.432,0.000,261.581,0.000,0.543,0.000
$DEVICE_MAMPS,60.435,1285.965,1283.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.956,472.804,0.000,554.164,719.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17701,174
$CAP_FILE_SIZE,33818,0
$CFSIZE,1024409600,991215616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,040934,6012.483,-17320.156,6,0.9,18,7.2,0.0,47.4,10,4.8