version: 66.13
glider: 401
mission: 22
dive: 576
start: 8 6 117 4 59 57
data:
$ID,401
$MISSION,22
$DIVE,576
$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,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
$GPS1,060817,040934,6012.4834,-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,0.19
$_SM_ANGLEo,-2.2
$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,-0.278830,0.250163
$KALMAN_X,61320.425781,-2666.972900,-759.265320,-223266.375000,172.036316
$KALMAN_Y,45049.296875,2061.785400,1222.373535,57551.632812,20.081055
$MHEAD_RNG_PITCHd_Wd,304.7,27899,-8.1,-8.333,-12.54,9693
$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,-1.56,-547.5,2400,1944,2360,4092,0.0,0.0,0,21,5.75,0.00,-4.50,0.000,20482,0.024,0.000,1843,1944,2865,2865,4094,0,0,0,0,0,0,26.12,28.83,26.14,10.32,51.53
$GC,24,-1.56,-547.5,1843,1944,2865,4094,0.2,0.0,1,34,0.00,1.15,-2.40,0.000,16644,0.000,1.270,1843,2359,3128,3128,4095,0,0,0,0,0,0,26.32,24.94,26.32,10.43,51.61
$GC,89,-1.56,-547.5,1842,2359,3129,4095,6.4,-12.7,10,98,0.00,1.02,0.00,0.000,1030,0.000,0.028,1843,1951,3129,3129,4095,0,0,0,0,0,0,26.05,26.01,26.07,10.50,50.78
$GC,135,-1.56,-547.5,1842,1951,3130,4095,12.4,-13.1,16,144,0.00,1.08,0.00,0.000,516,0.000,0.050,1843,1523,3130,3130,4095,0,0,0,0,0,0,26.31,26.01,26.32,10.48,51.37
$GC,180,-1.56,-547.5,1842,1522,3131,4095,17.7,-11.5,22,189,0.00,0.95,0.00,0.000,1030,0.000,0.025,1843,1937,3131,3131,4095,0,0,0,0,0,0,26.14,26.10,26.15,10.46,50.55
$GC,225,-1.56,-547.5,1842,1937,3132,4095,22.7,-11.1,28,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1937,3132,3132,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.44,49.60
$GC,270,-1.56,-547.5,1842,1937,3133,4095,27.8,-11.3,34,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1937,3133,3133,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.43,49.17
$GC,315,-1.56,-547.5,1842,1938,3134,4094,32.9,-11.3,40,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1938,3134,3134,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.43,48.30
$GC,360,-1.56,-547.5,1842,1938,3134,4094,37.9,-11.3,46,369,0.00,1.10,0.00,0.000,260,0.000,0.044,1843,2358,3135,3135,4095,0,0,0,0,0,0,26.45,26.15,26.46,10.41,48.11
$GC,424,-1.56,-547.5,1842,2357,3136,4095,44.9,-10.8,55,434,0.00,1.05,0.00,0.000,1030,0.000,0.029,1843,1935,3135,3135,4095,0,0,0,0,0,0,26.26,26.21,26.28,10.40,47.08
$GC,470,-1.56,-547.5,1843,1935,3136,4095,50.2,-11.7,61,480,0.00,1.02,0.00,0.000,516,0.000,0.050,1842,1527,3136,3136,4095,0,0,0,0,0,0,26.50,26.21,26.51,10.39,46.92
$GC,523,-1.56,-547.5,1842,1527,3138,4095,56.0,-11.3,68,532,0.00,0.90,0.00,0.000,1030,0.000,0.027,1843,1925,3138,3138,4095,0,0,0,0,0,0,26.33,26.31,26.36,10.39,46.53
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,565,-0.45,0.0,1842,1925,3138,4095,60.3,-11.1,73,609,3.70,0.00,31.40,1.287,10244,0.054,0.000,2186,1929,2483,2483,4094,0,0,0,0,0,0,26.26,25.05,24.34,10.38,46.53
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,1.56,547.5,2186,1928,2483,4094,62.7,0.0,78,657,6.88,0.00,31.20,1.263,11270,0.037,0.000,2825,1929,1846,1846,4094,0,0,0,0,0,0,25.55,25.72,23.88,10.24,45.39
$GC,694,1.56,547.5,2825,1928,1845,4094,57.3,9.3,88,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1929,1845,1845,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.10,44.72
$GC,741,1.56,547.5,2824,1928,1844,4094,52.7,10.0,94,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1929,1844,1844,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.10,45.35
$GC,787,1.56,547.5,2824,1928,1843,4094,48.1,10.0,100,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1929,1843,1843,4094,0,0,0,0,0,0,25.86,25.86,25.86,10.09,45.62
$GC,831,1.56,547.5,2824,1928,1842,4094,43.8,9.5,106,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1929,1842,1842,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.09,45.15
$GC,875,1.56,547.5,2824,1929,1841,4094,39.5,9.9,112,885,0.00,1.15,0.00,0.000,260,0.000,0.040,2825,2362,1841,1841,4094,0,0,0,0,0,0,26.02,25.75,26.03,10.09,46.14
$GC,960,1.56,547.5,2824,2361,1840,4094,31.3,9.3,124,969,0.00,1.05,0.00,0.000,1030,0.000,0.031,2825,1952,1840,1840,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.10,46.53
$GC,1007,1.56,547.5,2824,1951,1838,4094,27.2,9.1,130,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1952,1838,1838,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.10,46.53
$GC,1053,1.56,547.5,2824,1951,1838,4094,23.0,9.0,136,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1952,1837,1837,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.10,47.36
$GC,1099,1.56,547.5,2824,1952,1837,4094,18.6,9.4,142,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1952,1836,1836,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.10,47.08
$GC,1143,1.56,547.5,2824,1952,1836,4094,14.4,9.4,148,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1952,1835,1835,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.10,48.14
$GC,1188,1.56,547.5,2824,1951,1834,4094,10.1,9.6,154,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1952,1835,1835,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.12,48.81
$GC,1232,1.56,547.5,2824,1951,1833,4094,6.3,8.5,160,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1952,1833,1833,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.15,49.09
$GC,1277,1.66,614.8,2824,1952,1833,4094,2.7,7.6,166,1288,0.25,1.12,4.62,0.422,10756,0.043,0.055,2862,1518,1765,1765,4094,0,0,0,0,0,0,26.20,26.03,25.41,10.16,49.29
$STATE,1296,end climb,SURFACE_DEPTH_REACHED
$STATE,1296,begin surface coast
$FINISH,0.2,1.020926
$STATE,1326,end surface coast,CONTROL_FINISHED_OK
$STATE,1326,begin surface
$SM_CCo,1424,0.00,0.000,0,0,1764,619.05
$SM_GC,1.10,27.55,1.05,0.00,0.022,0.027,0.000,231,1956,1764,-6.59,-1.82,619.05,0,0,0,0,0,0,26.07,26.15,26.15
$IRIDIUM_FIX,5952.82,-17420.78,060817,040351
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.98
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.88,15.182
$10V_AH,10.17,18.706
$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,44.125,13.750,67.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,475.421,60.206,169.571,719.126,61.545,33.416,454.315,0.000,415.996,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1269.900,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.163,467.241,369.993,547.816,717.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17789,172
$CAP_FILE_SIZE,34768,0
$CFSIZE,1024409600,991166464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,052455,6013.164,-17320.398,8,0.8,39,7.2,0.7,86.7,11,4.3