version: 66.13
glider: 401
mission: 22
dive: 585
start: 8 6 117 9 10 57
data:
$ID,401
$MISSION,22
$DIVE,585
$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,42
$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
$GPS1,060817,082032,6013.6196,-17320.3906,6,0.9,17,7.2,0.0,130.8,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-1.6
$GPS2,060817,082032,6013.6196,-17320.3906,6,0.9,17,7.2,0.0,130.8,9,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.226454,0.310764
$KALMAN_X,63397.886719,-2155.732422,-292.614136,-226541.468750,162.851288
$KALMAN_Y,44206.550781,2064.329346,812.064697,60902.347656,-196.734802
$MHEAD_RNG_PITCHd_Wd,316.7,25988,-7.7,-8.333,-12.23,10342
$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,-585.0,2390,1951,2373,4092,0.0,0.0,0,20,5.62,0.00,-4.20,0.000,20482,0.025,0.000,1846,1952,2845,2845,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.32,51.89
$GC,23,-1.58,-585.0,1845,1952,2845,4094,0.2,0.0,1,33,0.00,1.12,-2.88,0.000,16644,0.000,1.273,1846,2358,3168,3168,4095,0,0,0,0,0,0,26.32,24.94,26.33,10.42,51.89
$GC,114,-1.58,-585.0,1845,2358,3171,4095,8.9,-10.3,14,124,0.00,1.02,0.00,0.000,1030,0.000,0.028,1846,1950,3171,3171,4094,0,0,0,0,0,0,26.08,26.05,26.13,10.48,51.10
$GC,160,-1.58,-585.0,1845,1950,3172,4094,13.6,-10.6,20,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1950,3172,3172,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.46,50.63
$GC,204,-1.58,-585.0,1845,1949,3172,4095,18.8,-11.8,26,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1950,3173,3173,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.46,49.68
$GC,250,-1.58,-585.0,1845,1950,3174,4095,23.9,-11.4,32,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1949,3174,3174,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.44,49.76
$GC,295,-1.58,-585.0,1845,1950,3175,4095,29.3,-11.7,38,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1950,3175,3175,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.43,49.56
$GC,339,-1.58,-585.0,1846,1950,3175,4095,34.2,-11.0,44,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3175,3175,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.43,48.26
$GC,384,-1.58,-585.0,1845,1950,3176,4094,39.0,-10.5,50,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1950,3177,3177,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.42,48.74
$GC,430,-1.58,-585.0,1845,1950,3177,4095,43.7,-10.4,56,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1950,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.41,48.11
$GC,475,-1.58,-585.0,1846,1950,3178,4095,48.5,-10.3,62,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1950,3178,3178,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.40,47.08
$GC,520,-1.58,-585.0,1845,1950,3179,4094,53.0,-10.0,68,529,0.00,1.08,0.00,0.000,260,0.000,0.044,1846,2359,3179,3179,4094,0,0,0,0,0,0,26.53,26.25,26.54,10.39,46.92
$GC,585,-1.58,-585.0,1845,2359,3180,4094,59.7,-10.4,77,594,0.00,1.02,0.00,0.000,1030,0.000,0.030,1846,1946,3180,3180,4094,0,0,0,0,0,0,26.34,26.31,26.36,10.38,46.69
$STATE,602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,602,begin apogee
$GC,607,-0.45,0.0,1846,1946,3181,4095,61.6,-9.9,79,651,3.65,0.00,33.33,1.304,10244,0.051,0.000,2185,1945,2483,2483,4094,0,0,0,0,0,0,26.28,25.01,24.32,10.38,46.61
$STATE,652,end apogee,CONTROL_FINISHED_OK
$STATE,652,begin climb
$GC,655,1.58,585.0,2185,1945,2483,4094,64.0,0.0,84,699,6.97,0.00,33.20,1.285,11270,0.037,0.000,2834,1945,1803,1803,4094,0,0,0,0,0,0,25.52,25.67,23.83,10.24,46.33
$GC,736,1.58,585.0,2833,1945,1802,4094,58.8,9.7,94,745,0.00,1.12,0.00,0.000,260,0.000,0.039,2834,2358,1801,1801,4094,0,0,0,0,0,0,25.49,25.23,25.50,10.09,44.84
$GC,859,1.58,585.0,2833,2358,1799,4094,46.1,10.0,112,869,0.00,1.02,0.00,0.000,1030,0.000,0.031,2834,1961,1799,1799,4094,0,0,0,0,0,0,25.70,25.66,25.72,10.07,45.90
$GC,905,1.58,585.0,2833,1960,1798,4094,41.5,9.7,118,915,0.00,1.15,0.00,0.000,516,0.000,0.056,2834,1522,1798,1798,4094,0,0,0,0,0,0,25.98,25.70,26.00,10.08,45.90
$GC,952,1.58,585.0,2832,1522,1797,4094,37.3,9.0,124,962,0.00,1.05,0.00,0.000,1030,0.000,0.025,2834,1975,1796,1796,4094,0,0,0,0,0,0,25.88,25.84,25.89,10.08,46.37
$GC,998,1.58,585.0,2833,1975,1795,4094,33.1,8.9,130,1007,0.00,1.00,0.00,0.000,260,0.000,0.044,2834,2355,1796,1796,4094,0,0,0,0,0,0,26.12,25.84,26.13,10.08,46.33
$GC,1063,1.58,585.0,2833,2355,1795,4094,27.5,8.7,139,1072,0.00,0.95,0.00,0.000,1030,0.000,0.031,2833,1980,1794,1794,4094,0,0,0,0,0,0,25.98,25.95,26.00,10.09,47.79
$GC,1108,1.58,585.0,2833,1980,1794,4094,23.6,8.7,145,1118,0.00,1.23,0.00,0.000,516,0.000,0.055,2834,1511,1794,1794,4094,0,0,0,0,0,0,26.23,25.93,26.25,10.09,47.95
$GC,1154,1.58,585.0,2833,1511,1793,4094,19.5,8.8,151,1163,0.00,1.12,0.00,0.000,1030,0.000,0.025,2834,1990,1793,1793,4094,0,0,0,0,0,0,26.08,26.05,26.08,10.09,47.59
$GC,1201,1.58,585.0,2833,1990,1792,4094,15.5,8.8,157,1210,0.00,0.98,0.00,0.000,260,0.000,0.044,2834,2363,1791,1791,4094,0,0,0,0,0,0,26.31,26.05,26.32,10.09,48.50
$GC,1272,1.60,595.3,2833,2363,1790,4094,9.3,8.2,167,1282,0.00,0.93,0.00,0.000,1030,0.000,0.029,2834,1992,1790,1790,4094,0,0,0,0,0,0,26.16,26.11,26.19,10.10,48.54
$GC,1319,1.64,622.4,2833,1991,1789,4094,5.7,8.1,173,1330,0.00,1.17,3.20,0.303,8708,0.000,0.052,2834,1525,1757,1757,4094,0,0,0,0,0,0,26.39,25.83,25.39,10.13,48.89
$STATE,1365,end climb,SURFACE_DEPTH_REACHED
$STATE,1365,begin surface coast
$FINISH,0.2,1.024197
$STATE,1393,end surface coast,CONTROL_FINISHED_OK
$STATE,1393,begin surface
$SM_CCo,1491,0.00,0.000,0,0,1755,626.78
$SM_GC,1.00,27.27,1.02,0.00,0.022,0.024,0.000,230,1963,1755,-6.59,-1.73,626.78,0,0,0,0,0,0,26.10,26.20,26.19
$IRIDIUM_FIX,5952.82,-17420.78,060817,081145
$TT8_MAMPS,0.025466,0.20972
$HUMID,50.74
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.83,15.468
$10V_AH,10.21,19.018
$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,43.525,18.025,69.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,501.580,59.665,165.881,768.219,58.099,33.411,452.108,0.000,274.374,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1272.960,1303.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.718,497.294,0.000,583.350,761.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,17803,183
$CAP_FILE_SIZE,35501,0
$CFSIZE,1024409600,990724096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,093641,6013.806,-17320.750,8,0.7,18,7.2,0.0,0.0,11,4.8