version: 66.13
glider: 401
mission: 22
dive: 586
start: 8 6 117 9 45 30
data:
$ID,401
$MISSION,22
$DIVE,586
$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,28
$R_STBD_OVSHOOT,48
$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
$GPS1,060817,093641,6013.8062,-17320.7500,8,0.7,18,7.2,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-39.2
$GPS2,060817,094423,6013.7378,-17320.7188,5,0.9,18,7.2,0.3,171.4,9,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.202289,0.332270
$KALMAN_X,63440.820312,-2155.348877,-304.126007,-226878.109375,142.564240
$KALMAN_Y,43981.527344,2070.106934,800.776001,61347.125000,-247.311401
$MHEAD_RNG_PITCHd_Wd,321.5,25643,-7.6,-8.333,-12.09,10645
$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,-585.0,230,1969,1754,4092,0.0,0.0,0,21,11.02,0.00,0.00,0.000,2049,0.097,0.000,1159,1969,1755,1755,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.24,49.72
$GC,23,-1.57,-585.0,1158,1969,1754,4094,0.9,0.0,1,51,7.15,1.05,-12.73,0.000,18692,0.039,1.271,1832,2351,3170,3170,4095,0,0,0,0,0,0,25.94,24.79,26.01,10.25,49.88
$GC,126,-1.57,-585.0,1831,2351,3172,4095,8.0,-11.5,15,135,0.00,1.00,0.00,0.000,1030,0.000,0.027,1832,1953,3172,3172,4095,0,0,0,0,0,0,25.97,25.95,26.00,10.55,49.13
$GC,171,-1.57,-585.0,1832,1953,3173,4095,12.8,-10.0,21,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3173,3173,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.51,48.74
$GC,216,-1.57,-585.0,1831,1953,3174,4094,17.7,-10.9,27,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3174,3174,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.49,48.03
$GC,262,-1.57,-585.0,1832,1953,3175,4094,23.0,-11.8,33,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3175,3175,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.48,47.87
$GC,307,-1.57,-585.0,1832,1953,3175,4095,28.5,-12.3,39,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3176,3176,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.48,47.00
$GC,350,-1.57,-585.0,1832,1953,3177,4094,33.7,-11.7,45,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3176,3176,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.47,47.16
$GC,396,-1.57,-585.0,1832,1953,3177,4095,39.0,-11.9,51,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3178,3178,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.46,46.41
$GC,443,-1.57,-585.0,1832,1953,3178,4095,44.4,-12.1,57,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3178,3178,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.44,46.02
$GC,487,-1.57,-585.0,1832,1953,3179,4094,49.5,-11.1,63,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1953,3180,3180,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.43,45.94
$GC,531,-1.57,-585.0,1832,1953,3180,4095,54.4,-10.9,69,541,0.00,1.08,0.00,0.000,260,0.000,0.041,1832,2357,3180,3180,4095,0,0,0,0,0,0,26.48,26.18,26.49,10.42,45.74
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,588,-0.45,0.0,1832,1948,3181,4095,60.2,-11.0,76,632,3.80,0.00,33.40,1.295,10244,0.052,0.000,2185,1949,2483,2483,4094,0,0,0,0,0,0,26.25,24.96,24.27,10.41,45.74
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,635,1.57,585.0,2185,1948,2483,4094,62.8,0.0,81,679,6.88,0.00,33.28,1.268,11270,0.035,0.000,2827,1949,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.81,10.27,44.84
$GC,717,1.57,585.0,2826,1949,1801,4094,57.5,9.3,91,727,0.00,1.12,0.00,0.000,260,0.000,0.038,2827,2358,1801,1801,4095,0,0,0,0,0,0,25.48,25.24,25.49,10.12,43.62
$GC,782,1.57,585.0,2826,2357,1800,4095,50.9,10.1,100,792,0.00,1.02,0.00,0.000,1030,0.000,0.030,2827,1961,1799,1799,4094,0,0,0,0,0,0,25.55,25.53,25.57,10.10,44.09
$GC,828,1.57,585.0,2826,1961,1798,4094,46.3,10.2,106,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1961,1798,1798,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.11,44.25
$GC,873,1.57,585.0,2826,1961,1797,4094,42.0,9.4,112,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1962,1797,1797,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.10,44.60
$GC,917,1.57,585.0,2826,1961,1796,4094,38.0,8.6,118,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1962,1796,1796,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.11,44.99
$GC,962,1.57,585.0,2826,1961,1795,4094,34.0,8.9,124,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1962,1795,1795,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.11,45.11
$GC,1006,1.57,585.0,2826,1961,1795,4095,30.2,8.4,130,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1961,1794,1794,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.11,45.51
$GC,1051,1.58,592.9,2826,1961,1794,4095,26.4,8.3,136,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1961,1794,1794,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.12,46.18
$GC,1096,1.58,592.9,2826,1961,1793,4094,22.6,8.6,142,1105,0.00,1.05,0.00,0.000,260,0.000,0.039,2827,2357,1793,1793,4094,0,0,0,0,0,0,26.24,25.99,26.25,10.11,46.69
$GC,1156,1.58,592.9,2826,2357,1791,4094,17.5,8.7,150,1166,0.00,0.95,0.00,0.000,1030,0.000,0.031,2827,1980,1791,1791,4094,0,0,0,0,0,0,26.07,26.03,26.10,10.11,46.69
$GC,1203,1.58,592.9,2826,1980,1790,4094,13.5,8.5,156,1213,0.00,1.17,0.00,0.000,516,0.000,0.055,2826,1526,1790,1790,4095,0,0,0,0,0,0,26.32,26.02,26.34,10.12,47.32
$GC,1255,1.60,608.5,2826,1526,1789,4095,8.9,8.2,163,1265,0.00,1.05,2.53,0.186,9222,0.000,0.025,2827,1983,1773,1773,4095,0,0,0,0,0,0,26.17,26.15,25.34,10.12,47.32
$GC,1303,1.60,608.5,2826,1983,1772,4095,5.1,8.4,169,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1983,1771,1771,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.15,48.38
$STATE,1338,end climb,FINISH_DEPTH_REACHED
$STATE,1338,begin subsurface finish
$FINISH1,1.9,1.024185,99
$GC,1344,0.15,98.6,2827,1983,1770,4094,1.9,8.2,174,1364,4.68,1.02,-4.60,0.000,20740,0.052,1.286,2394,2361,2374,2374,4093,0,0,0,0,0,0,26.14,24.98,26.20,10.17,48.93
$FINISH2,0.7
$STATE,1365,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1365,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,081755
$TT8_MAMPS,0.026215,0.263648
$HUMID,49.76
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.81,15.512
$10V_AH,10.18,19.063
$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,33.525,11.575,69.200,0.000,0.000,25.441,21.425,276.840,0.000,0.000,19.803,479.686,0.421,158.139,1068.331,140.160,33.452,462.492,0.000,427.685,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1285.965,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.510,478.053,378.561,560.744,730.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,17766,176
$CAP_FILE_SIZE,38352,0
$CFSIZE,1024409600,990674944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,094423,6013.738,-17320.719,5,0.9,18,7.2,0.3,171.4,9,4.9