version: 66.13
glider: 401
mission: 22
dive: 587
start: 8 6 117 10 10 23
data:
$ID,401
$MISSION,22
$DIVE,587
$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,34
$R_STBD_OVSHOOT,40
$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
$GPS1,060817,094423,6013.7378,-17320.7188,5,0.9,18,7.2,0.3,171.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,0.2
$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,-0.198155,0.328993
$KALMAN_X,63546.937500,-2061.679688,-244.689392,-227142.859375,83.679703
$KALMAN_Y,43798.957031,1964.562744,657.121521,61783.632812,-160.262451
$MHEAD_RNG_PITCHd_Wd,321.7,25643,-7.8,-8.333,-12.24,10312
$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,-583.9,2393,1941,2374,4092,0.0,0.0,0,21,5.62,0.00,-5.05,0.000,20482,0.025,0.000,1846,1941,2940,2940,4095,0,0,0,0,0,0,26.15,28.83,26.14,10.33,50.31
$GC,24,-1.58,-583.9,1845,1941,2940,4095,0.1,0.0,1,33,0.00,0.00,-2.08,0.000,16390,0.000,0.000,1846,1941,3167,3167,4095,0,0,0,0,0,0,26.33,25.62,26.31,10.45,50.39
$GC,69,-1.58,-583.9,1845,1940,3168,4095,3.6,-10.4,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3168,3168,4095,0,0,0,0,0,0,26.24,26.26,26.25,10.50,50.47
$GC,115,-1.58,-583.9,1844,1941,3169,4095,8.4,-10.8,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3169,3169,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.49,50.19
$GC,159,-1.58,-583.9,1846,1941,3170,4095,13.4,-11.2,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3170,3170,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.47,50.31
$GC,203,-1.58,-583.9,1845,1941,3170,4095,18.4,-11.4,25,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,3171,3171,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.45,49.17
$GC,249,-1.58,-583.9,1845,1941,3172,4095,23.5,-11.2,31,258,0.00,1.12,0.00,0.000,260,0.000,0.043,1845,2362,3172,3172,4094,0,0,0,0,0,0,26.39,26.11,26.40,10.44,48.85
$GC,294,-1.58,-583.9,1845,2361,3173,4094,29.0,-11.4,37,304,0.00,1.00,0.00,0.000,1030,0.000,0.027,1846,1963,3173,3173,4095,0,0,0,0,0,0,26.20,26.18,26.23,10.44,48.03
$GC,340,-1.58,-583.9,1845,1963,3174,4095,34.2,-11.7,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1963,3174,3174,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.43,48.18
$GC,385,-1.58,-583.9,1845,1963,3175,4094,39.4,-11.5,49,394,0.00,1.12,0.00,0.000,516,0.000,0.050,1846,1517,3175,3175,4095,0,0,0,0,0,0,26.46,26.17,26.48,10.42,47.71
$GC,432,-1.58,-583.9,1845,1517,3175,4095,44.7,-11.5,55,441,0.00,0.98,0.00,0.000,1030,0.000,0.027,1846,1942,3175,3175,4095,0,0,0,0,0,0,26.29,26.26,26.30,10.41,47.67
$GC,477,-1.58,-583.9,1845,1942,3177,4095,50.0,-10.8,61,487,0.00,1.10,0.00,0.000,260,0.000,0.044,1846,2364,3177,3177,4095,0,0,0,0,0,0,26.51,26.22,26.51,10.41,46.65
$GC,536,-1.58,-583.9,1845,2364,3177,4095,56.3,-10.9,69,545,0.00,1.02,0.00,0.000,1030,0.000,0.028,1846,1950,3178,3178,4094,0,0,0,0,0,0,26.31,26.27,26.33,10.39,46.81
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,578,-0.45,0.0,1845,1950,3178,4095,60.4,-10.7,74,621,3.62,0.00,33.15,1.294,10244,0.051,0.000,2185,1949,2485,2485,4094,0,0,0,0,0,0,26.27,25.01,24.31,10.39,46.22
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.58,583.9,2184,1949,2484,4094,62.8,0.0,79,669,6.95,0.00,33.30,1.270,11270,0.035,0.000,2831,1949,1803,1803,4094,0,0,0,0,0,0,25.51,25.67,23.84,10.24,45.31
$GC,707,1.58,583.9,2830,1949,1802,4094,57.4,9.6,89,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1949,1802,1802,4095,0,0,0,0,0,0,25.49,25.51,25.51,10.09,44.76
$GC,752,1.58,583.9,2830,1949,1801,4095,52.7,10.3,95,761,0.00,1.12,0.00,0.000,260,0.000,0.040,2831,2361,1801,1801,4094,0,0,0,0,0,0,25.70,25.44,25.71,10.09,45.47
$GC,849,1.58,583.9,2830,2361,1798,4094,42.8,9.9,109,859,0.00,1.02,0.00,0.000,1030,0.000,0.029,2831,1961,1799,1799,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.08,45.62
$GC,895,1.58,583.9,2830,1960,1798,4094,38.6,9.3,115,904,0.00,1.15,0.00,0.000,516,0.000,0.055,2831,1523,1798,1798,4094,0,0,0,0,0,0,26.02,25.72,26.03,10.09,45.74
$GC,953,1.58,583.9,2830,1522,1796,4094,33.3,9.0,123,962,0.00,1.00,0.00,0.000,1030,0.000,0.025,2831,1961,1796,1796,4094,0,0,0,0,0,0,25.91,25.90,25.94,10.09,46.37
$GC,1000,1.58,583.9,2830,1960,1796,4094,29.3,8.7,129,1009,0.00,1.05,0.00,0.000,260,0.000,0.043,2831,2360,1796,1796,4094,0,0,0,0,0,0,26.16,25.89,26.17,10.10,46.92
$GC,1052,1.58,583.9,2830,2360,1795,4094,24.3,9.1,136,1060,0.00,1.05,0.00,0.000,1030,0.000,0.030,2831,1948,1794,1794,4095,0,0,0,0,0,0,26.00,25.96,26.01,10.10,47.04
$GC,1096,1.58,583.9,2830,1947,1794,4095,20.5,8.4,142,1106,0.00,1.10,0.00,0.000,516,0.000,0.056,2831,1524,1794,1794,4094,0,0,0,0,0,0,26.25,25.93,26.26,10.10,47.28
$GC,1142,1.60,594.5,2830,1524,1792,4094,16.7,8.2,148,1151,0.00,0.98,0.00,0.000,1030,0.000,0.025,2831,1958,1793,1793,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.10,47.67
$GC,1188,1.60,594.5,2830,1958,1791,4094,12.8,9.0,154,1197,0.00,1.02,0.00,0.000,260,0.000,0.041,2831,2357,1791,1791,4094,0,0,0,0,0,0,26.32,26.05,26.33,10.11,48.07
$GC,1252,1.60,594.5,2830,2356,1790,4094,6.9,8.6,163,1262,0.00,0.98,0.00,0.000,1030,0.000,0.031,2831,1968,1790,1790,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.13,48.66
$GC,1300,1.66,632.9,2831,1968,1789,4094,3.2,8.0,169,1311,0.12,1.12,3.75,0.353,10756,0.063,0.054,2854,1521,1743,1743,4094,0,0,0,0,0,0,26.17,25.84,25.41,10.15,49.64
$STATE,1319,end climb,FINISH_DEPTH_REACHED
$STATE,1319,begin subsurface finish
$FINISH1,1.4,1.024205,97
$GC,1327,0.15,97.2,2854,1949,1742,4094,1.4,7.9,171,1345,4.80,1.17,-5.35,0.000,20996,0.028,1.297,2385,1525,2374,2374,4094,0,0,0,0,0,0,26.16,24.95,26.20,10.16,49.68
$FINISH2,0.4
$STATE,1346,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,081755
$TT8_MAMPS,0.026215,0.213465
$HUMID,51.02
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.84,15.537
$10V_AH,10.22,19.090
$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,21.125,21.200,70.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,473.904,0.985,149.176,724.084,56.432,33.426,439.795,0.000,260.240,0.000,0.544,0.000
$DEVICE_MAMPS,63.495,1297.440,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.257,470.091,0.000,551.156,717.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17870,173
$CAP_FILE_SIZE,35189,0
$CFSIZE,1024409600,990625792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,094423,6013.738,-17320.719,5,0.9,18,7.2,0.3,171.4,9,4.9