version: 66.13
glider: 401
mission: 22
dive: 580
start: 8 6 117 6 55 22
data:
$ID,401
$MISSION,22
$DIVE,580
$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,46
$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
$GPS1,060817,064646,6013.5293,-17320.4492,8,0.8,17,7.2,0.0,111.6,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-38.3
$GPS2,060817,065415,6013.4966,-17320.3223,5,0.8,17,7.2,0.0,93.6,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.275033,0.261947
$KALMAN_X,62375.496094,-2493.462158,-571.202148,-224837.250000,263.126831
$KALMAN_Y,45267.601562,2263.602295,1242.733276,58973.960938,-171.773682
$MHEAD_RNG_PITCHd_Wd,306.4,26214,-7.9,-8.333,-12.37,10031
$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,-567.4,229,1979,1787,4092,0.0,0.0,0,21,11.05,0.00,0.00,0.000,2049,0.099,0.000,1156,1977,1787,1787,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.25,50.23
$GC,23,-1.57,-567.4,1156,1976,1787,4094,0.8,0.0,1,51,7.22,1.05,-12.32,0.000,18692,0.044,1.272,1829,2364,3148,3148,4095,0,0,0,0,0,0,25.92,24.79,25.99,10.25,50.43
$GC,126,-1.57,-567.4,1828,2364,3149,4095,8.2,-12.2,15,135,0.00,1.08,0.00,0.000,1030,0.000,0.028,1829,1934,3149,3149,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.54,49.68
$GC,171,-1.57,-567.4,1829,1934,3150,4094,13.8,-11.6,21,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3150,3150,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.51,48.97
$GC,216,-1.57,-567.4,1828,1934,3151,4095,19.2,-12.0,27,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3151,3151,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.49,47.75
$GC,262,-1.57,-567.4,1828,1934,3152,4095,24.7,-12.1,33,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3152,3152,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.48,47.16
$GC,306,-1.57,-567.4,1829,1934,3153,4095,30.1,-11.7,39,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3153,3153,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.46,47.55
$GC,351,-1.57,-567.4,1828,1934,3153,4094,35.5,-11.8,45,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3154,3154,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.46,46.29
$GC,396,-1.57,-567.4,1829,1934,3155,4095,40.9,-11.9,51,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3155,3155,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.44,46.10
$GC,441,-1.57,-567.4,1829,1934,3156,4095,46.2,-11.7,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1934,3156,3156,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.43,45.74
$GC,485,-1.57,-567.4,1829,1934,3157,4094,51.2,-11.4,63,494,0.00,1.12,0.00,0.000,260,0.000,0.043,1829,2357,3157,3157,4094,0,0,0,0,0,0,26.46,26.20,26.46,10.43,45.51
$GC,511,-1.57,-567.4,1829,2356,3157,4094,54.2,-11.6,66,521,0.00,1.00,0.00,0.000,1030,0.000,0.028,1829,1954,3157,3157,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.42,45.15
$GC,558,-1.57,-567.4,1829,1954,3158,4095,59.2,-10.9,72,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1954,3158,3158,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.41,45.70
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1828,1954,3158,4094,61.4,-10.9,74,623,3.85,0.00,32.35,1.308,10244,0.053,0.000,2186,1954,2484,2484,4095,0,0,0,0,0,0,26.23,24.97,24.25,10.41,44.72
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.57,567.4,2186,1954,2484,4095,63.8,0.0,79,671,6.88,0.00,32.33,1.281,11270,0.035,0.000,2829,1954,1822,1822,4094,0,0,0,0,0,0,25.49,25.65,23.82,10.27,44.29
$GC,709,1.57,567.4,2828,1953,1822,4094,58.2,9.9,89,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1954,1822,1822,4094,0,0,0,0,0,0,25.49,25.51,25.51,10.12,43.38
$GC,755,1.57,567.4,2828,1953,1821,4094,53.5,10.1,95,763,0.00,1.10,0.00,0.000,260,0.000,0.041,2829,2355,1821,1821,4094,0,0,0,0,0,0,25.70,25.43,25.71,10.12,43.85
$GC,845,1.57,567.4,2828,2355,1819,4094,44.0,9.8,108,855,0.00,1.02,0.00,0.000,1030,0.000,0.031,2829,1956,1818,1818,4094,0,0,0,0,0,0,25.72,25.67,25.75,10.11,44.40
$GC,892,1.57,567.4,2828,1956,1818,4094,39.4,10.5,114,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1957,1817,1817,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.11,44.80
$GC,938,1.57,567.4,2828,1956,1816,4094,34.7,9.9,120,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1815,1815,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.11,45.15
$GC,985,1.57,567.4,2828,1956,1815,4094,30.2,9.7,126,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1815,1815,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,45.51
$GC,1031,1.57,567.4,2828,1956,1814,4094,25.9,9.4,132,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1814,1814,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.11,45.90
$GC,1077,1.57,567.4,2828,1956,1813,4094,21.7,8.9,138,1087,0.00,1.08,0.00,0.000,260,0.000,0.040,2829,2358,1813,1813,4094,0,0,0,0,0,0,26.23,25.96,26.24,10.12,46.33
$GC,1149,1.57,567.4,2828,2358,1812,4094,15.3,8.9,148,1158,0.00,0.95,0.00,0.000,1030,0.000,0.029,2829,1980,1811,1811,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.12,46.69
$GC,1196,1.57,567.4,2828,1980,1809,4094,11.1,9.0,154,1205,0.00,1.17,0.00,0.000,516,0.000,0.054,2829,1527,1810,1810,4094,0,0,0,0,0,0,26.32,26.02,26.34,10.12,47.24
$GC,1248,1.62,597.8,2828,1526,1810,4094,6.6,8.0,161,1258,0.00,1.08,2.92,0.262,9222,0.000,0.025,2829,1992,1784,1784,4094,0,0,0,0,0,0,26.17,26.15,25.36,10.14,48.11
$GC,1297,1.70,651.0,2828,1991,1784,4094,3.1,7.8,167,1307,0.32,0.00,4.35,0.403,10246,0.039,0.000,2873,1992,1723,1723,4094,0,0,0,0,0,0,26.18,25.97,25.39,10.16,49.17
$STATE,1315,end climb,FINISH_DEPTH_REACHED
$STATE,1315,begin subsurface finish
$FINISH1,1.3,1.024054,108
$GC,1322,0.16,107.7,2872,1944,1722,4094,1.3,7.8,169,1340,4.90,0.00,-5.28,0.000,20486,0.024,0.000,2392,1945,2361,2361,4094,0,0,0,0,0,0,26.13,25.59,26.17,10.16,49.37
$FINISH2,0.5
$STATE,1341,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1342,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,052648
$TT8_MAMPS,0.025466,0.263648
$HUMID,49.84
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.82,15.318
$10V_AH,10.18,18.849
$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,34.225,10.750,71.950,0.000,0.000,24.297,32.120,258.289,0.000,0.000,19.108,475.919,1.355,157.227,1037.348,138.983,33.454,460.623,0.000,417.392,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1272.195,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.031,464.417,367.811,544.650,710.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,17824,171
$CAP_FILE_SIZE,38825,0
$CFSIZE,1024409600,990969856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,065415,6013.497,-17320.322,5,0.8,17,7.2,0.0,93.6,10,5.0