version: 66.13
glider: 401
mission: 22
dive: 577
start: 8 6 117 5 33 16
data:
$ID,401
$MISSION,22
$DIVE,577
$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,43
$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
$GPS1,060817,052455,6013.1641,-17320.3984,8,0.8,39,7.2,0.7,86.7,11,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-38.9
$GPS2,060817,053209,6013.1680,-17320.2988,5,0.8,15,7.2,0.0,0.0,10,4.7
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.309212,0.230328
$KALMAN_X,61591.097656,-2673.273926,-760.680359,-223660.640625,257.161621
$KALMAN_Y,45580.601562,2218.831787,1355.350586,57975.804688,-33.322632
$MHEAD_RNG_PITCHd_Wd,299.5,26743,-7.7,-8.333,-12.20,10413
$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,-585.0,230,1963,1763,4092,0.0,0.0,0,21,11.00,0.00,0.00,0.000,2049,0.090,0.000,1168,1964,1764,1764,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.25,49.60
$GC,23,-1.58,-585.0,1168,1963,1764,4094,0.7,0.0,1,51,7.00,1.08,-12.60,0.000,18692,0.041,1.271,1827,2355,3164,3164,4095,0,0,0,0,0,0,25.94,24.80,26.01,10.25,49.92
$GC,145,-1.58,-585.0,1826,2355,3166,4095,11.3,-12.6,18,156,0.00,1.02,-0.03,0.000,17414,0.000,0.027,1827,1949,3179,3179,4095,0,0,0,0,0,0,26.00,25.99,25.52,10.53,49.05
$GC,192,-1.58,-585.0,1826,1949,3179,4095,16.5,-11.2,24,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3180,3180,4095,0,0,0,0,0,0,26.10,26.11,26.10,10.50,48.07
$GC,238,-1.58,-585.0,1827,1949,3180,4095,21.7,-11.6,30,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3181,3181,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.48,47.12
$GC,283,-1.58,-585.0,1827,1949,3181,4094,27.1,-11.9,36,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3181,3181,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.48,47.32
$GC,328,-1.58,-585.0,1826,1949,3183,4095,32.6,-12.3,42,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3183,3183,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.47,47.32
$GC,372,-1.58,-585.0,1826,1949,3183,4094,38.0,-12.2,48,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3183,3183,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.45,46.14
$GC,419,-1.58,-585.0,1826,1949,3184,4094,43.5,-12.1,54,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3184,3184,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.45,45.70
$GC,462,-1.58,-585.0,1826,1949,3185,4095,48.7,-11.9,60,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3185,3185,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.44,45.35
$GC,507,-1.58,-585.0,1826,1949,3186,4094,53.8,-11.3,66,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3186,3186,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.42,45.43
$GC,554,-1.58,-585.0,1826,1949,3187,4095,58.7,-11.3,72,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1949,3187,3187,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.41,44.95
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,576,-0.45,0.0,1827,1949,3187,4094,61.0,-11.3,74,618,3.85,0.00,33.70,1.300,10244,0.054,0.000,2185,1949,2484,2484,4094,0,0,0,0,0,0,26.15,25.15,24.20,10.41,44.88
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,621,1.58,585.0,2185,1949,2484,4094,63.7,0.0,79,665,6.95,0.00,33.38,1.274,11270,0.034,0.000,2831,1949,1802,1802,4094,0,0,0,0,0,0,25.41,25.56,23.77,10.27,44.29
$GC,703,1.58,585.0,2831,1948,1801,4094,58.6,9.2,89,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1949,1801,1801,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.12,44.05
$GC,747,1.58,585.0,2831,1948,1800,4094,54.1,9.8,95,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1949,1800,1800,4094,0,0,0,0,0,0,25.67,25.67,25.67,10.12,43.42
$GC,792,1.58,585.0,2831,1948,1799,4094,49.7,9.5,101,802,0.00,1.12,0.00,0.000,260,0.000,0.042,2832,2359,1800,1800,4094,0,0,0,0,0,0,25.80,25.53,25.82,10.10,44.13
$GC,851,1.58,585.0,2831,2359,1797,4094,44.3,9.3,109,860,0.00,1.05,0.00,0.000,1030,0.000,0.031,2832,1951,1796,1796,4094,0,0,0,0,0,0,25.72,25.68,25.74,10.10,44.40
$GC,898,1.58,585.0,2831,1950,1797,4094,40.1,9.2,115,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1950,1796,1796,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.10,45.11
$GC,942,1.58,585.0,2831,1950,1796,4094,35.8,9.3,121,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1950,1795,1795,4095,0,0,0,0,0,0,26.07,26.09,26.08,10.10,44.92
$GC,987,1.58,585.0,2832,1950,1795,4095,31.7,9.2,127,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1951,1795,1795,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.10,45.94
$GC,1032,1.58,585.0,2831,1950,1793,4094,27.6,9.3,133,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1950,1794,1794,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.10,45.58
$GC,1078,1.58,585.0,2831,1950,1793,4094,23.4,9.4,139,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1950,1793,1793,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.11,45.98
$GC,1123,1.58,585.0,2831,1950,1791,4094,19.1,9.3,145,1132,0.00,1.08,0.00,0.000,260,0.000,0.041,2832,2357,1791,1791,4094,0,0,0,0,0,0,26.26,25.99,26.27,10.11,46.37
$GC,1188,1.58,585.0,2830,2356,1790,4094,13.3,8.9,154,1197,0.00,0.95,0.00,0.000,1030,0.000,0.029,2831,1978,1790,1790,4094,0,0,0,0,0,0,26.13,26.07,26.13,10.12,47.24
$GC,1233,1.58,585.0,2831,1977,1789,4094,9.3,8.8,160,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1978,1789,1789,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.12,47.55
$GC,1278,1.67,646.5,2831,1977,1788,4094,5.7,7.7,166,1289,0.17,1.17,4.28,0.418,10756,0.051,0.054,2861,1522,1728,1728,4094,0,0,0,0,0,0,26.17,26.01,25.36,10.15,48.42
$STATE,1325,end climb,FINISH_DEPTH_REACHED
$STATE,1325,begin subsurface finish
$FINISH1,1.9,1.024041,109
$GC,1333,0.16,108.6,2860,1967,1726,4094,1.9,8.3,172,1351,5.03,0.00,-5.40,0.000,20998,0.056,0.000,2399,1974,2363,2363,4094,0,0,0,0,0,0,26.08,25.61,26.16,10.16,48.85
$FINISH2,0.3
$STATE,1352,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1352,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,040605
$TT8_MAMPS,0.025466,0.223202
$HUMID,49.56
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.77,15.225
$10V_AH,10.23,18.739
$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,34.000,8.500,71.350,0.000,0.000,22.498,19.647,255.009,0.000,0.000,16.939,475.688,0.000,158.499,1035.920,135.380,33.459,460.532,0.000,263.142,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1270.665,1299.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.807,472.782,0.000,554.195,721.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,17757,174
$CAP_FILE_SIZE,38158,0
$CFSIZE,1024409600,991117312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,053209,6013.168,-17320.299,5,0.8,15,7.2,0.0,0.0,10,4.7