version: 66.13
glider: 401
mission: 22
dive: 588
start: 8 6 117 10 34 56
data:
$ID,401
$MISSION,22
$DIVE,588
$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,52
$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,0.24
$_SM_ANGLEo,-2.4
$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,-0.197656,0.330762
$KALMAN_X,63753.066406,-2026.125610,-229.016510,-227400.562500,115.635818
$KALMAN_Y,43461.992188,1924.672363,603.639893,62214.402344,-213.606201
$MHEAD_RNG_PITCHd_Wd,321.9,25643,-7.7,-8.333,-12.20,10396
$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,-585.0,2385,1959,2374,4092,0.0,0.0,0,21,5.65,0.00,-4.78,0.000,20482,0.025,0.000,1836,1960,2908,2908,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.31,51.02
$GC,24,-1.58,-585.0,1836,1960,2908,4094,0.1,0.0,1,33,0.00,1.05,-2.38,0.000,16644,0.000,1.272,1836,2354,3167,3167,4094,0,0,0,0,0,0,26.34,24.94,26.34,10.43,50.90
$GC,88,-1.58,-585.0,1835,2354,3168,4094,6.0,-11.7,10,97,0.00,1.02,0.00,0.000,1030,0.000,0.030,1836,1944,3169,3169,4095,0,0,0,0,0,0,26.08,26.03,26.10,10.50,50.74
$GC,133,-1.58,-585.0,1835,1943,3170,4095,10.8,-10.5,16,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1944,3170,3170,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.48,50.74
$GC,178,-1.58,-585.0,1835,1943,3170,4095,15.9,-11.3,22,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1943,3170,3170,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.46,50.51
$GC,222,-1.58,-585.0,1835,1943,3171,4095,21.2,-11.9,28,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1944,3171,3171,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.45,49.68
$GC,267,-1.58,-585.0,1835,1943,3172,4095,26.3,-11.5,34,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1944,3173,3173,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.43,49.17
$GC,311,-1.58,-585.0,1835,1943,3173,4094,31.4,-11.6,40,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1943,3173,3173,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.44,48.54
$GC,355,-1.58,-585.0,1835,1943,3175,4094,36.8,-12.3,46,365,0.00,1.10,0.00,0.000,260,0.000,0.044,1835,2354,3175,3175,4095,0,0,0,0,0,0,26.46,26.19,26.48,10.42,47.95
$GC,388,-1.58,-585.0,1835,2354,3175,4095,40.8,-12.0,50,397,0.00,1.05,0.00,0.000,1030,0.000,0.029,1835,1931,3175,3175,4095,0,0,0,0,0,0,26.25,26.24,26.27,10.42,48.30
$GC,434,-1.58,-585.0,1835,1931,3176,4095,46.3,-11.9,56,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1931,3176,3176,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.41,47.63
$GC,477,-1.58,-585.0,1835,1931,3177,4095,51.2,-11.2,62,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1931,3177,3177,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.40,47.04
$GC,524,-1.58,-585.0,1835,1931,3178,4095,56.2,-11.0,68,533,0.00,1.12,0.00,0.000,260,0.000,0.044,1836,2353,3178,3178,4095,0,0,0,0,0,0,26.54,26.25,26.55,10.39,46.57
$STATE,560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,568,-0.45,0.0,1835,1955,3178,4094,60.6,-10.8,73,611,3.75,0.00,33.22,1.296,10244,0.054,0.000,2186,1955,2483,2483,4094,0,0,0,0,0,0,26.27,25.01,24.30,10.38,46.65
$STATE,612,end apogee,CONTROL_FINISHED_OK
$STATE,612,begin climb
$GC,614,1.58,585.0,2186,1954,2484,4094,63.1,0.0,78,658,6.95,0.00,33.28,1.277,11270,0.036,0.000,2832,1955,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.83,10.24,46.53
$GC,696,1.58,585.0,2832,1954,1801,4094,58.0,9.5,88,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1955,1801,1801,4094,0,0,0,0,0,0,25.49,25.51,25.51,10.09,45.07
$GC,742,1.58,585.0,2832,1954,1800,4094,53.5,9.7,94,751,0.00,1.08,0.00,0.000,260,0.000,0.040,2832,2348,1800,1800,4094,0,0,0,0,0,0,25.70,25.43,25.71,10.09,44.80
$GC,827,1.58,585.0,2832,2347,1798,4094,45.3,9.6,106,836,0.00,1.00,0.00,0.000,1030,0.000,0.029,2833,1958,1798,1798,4094,0,0,0,0,0,0,25.72,25.68,25.74,10.08,46.10
$GC,872,1.58,585.0,2832,1958,1797,4094,41.1,9.3,112,882,0.00,1.15,0.00,0.000,516,0.000,0.056,2832,1520,1797,1797,4094,0,0,0,0,0,0,26.01,25.71,26.01,10.08,45.94
$GC,924,1.58,585.0,2832,1520,1796,4094,36.3,9.0,119,934,0.00,0.98,0.00,0.000,1030,0.000,0.025,2832,1950,1796,1796,4094,0,0,0,0,0,0,25.89,25.88,25.91,10.09,46.88
$GC,971,1.58,585.0,2832,1950,1795,4094,32.3,9.0,125,981,0.00,1.05,0.00,0.000,260,0.000,0.042,2832,2350,1795,1795,4094,0,0,0,0,0,0,26.13,25.86,26.15,10.09,46.77
$GC,1030,1.58,585.0,2832,2350,1794,4094,26.7,9.5,133,1039,0.00,1.00,0.00,0.000,1030,0.000,0.031,2832,1957,1794,1794,4094,0,0,0,0,0,0,25.98,25.94,26.03,10.10,47.24
$GC,1077,1.58,585.0,2832,1956,1793,4094,22.4,9.3,139,1086,0.00,1.12,0.00,0.000,516,0.000,0.056,2832,1523,1793,1793,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.10,47.16
$GC,1116,1.58,585.0,2832,1522,1792,4094,18.7,9.3,144,1125,0.00,1.00,0.00,0.000,1030,0.000,0.025,2832,1963,1792,1792,4094,0,0,0,0,0,0,26.09,26.07,26.10,10.10,47.36
$GC,1163,1.58,585.0,2832,1962,1791,4094,14.7,9.0,150,1172,0.00,1.05,0.00,0.000,260,0.000,0.043,2832,2363,1790,1790,4094,0,0,0,0,0,0,26.31,26.03,26.32,10.10,47.95
$GC,1234,1.58,585.0,2832,2363,1789,4094,8.3,8.4,160,1244,0.00,0.98,0.00,0.000,1030,0.000,0.030,2832,1974,1789,1789,4094,0,0,0,0,0,0,26.14,26.12,26.17,10.11,48.07
$GC,1282,1.58,585.0,2832,1974,1788,4094,4.2,8.6,166,1291,0.00,1.15,0.00,0.000,516,0.000,0.054,2832,1528,1788,1788,4094,0,0,0,0,0,0,26.39,26.08,26.40,10.14,49.17
$STATE,1306,end climb,SURFACE_DEPTH_REACHED
$STATE,1306,begin surface coast
$FINISH,0.2,1.023743
$STATE,1333,end surface coast,CONTROL_FINISHED_OK
$STATE,1333,begin surface
$SM_CCo,1431,0.00,0.000,0,0,1786,600.16
$SM_GC,1.09,27.20,1.00,0.00,0.022,0.027,0.000,230,1952,1786,-6.59,-2.14,600.16,0,0,0,0,0,0,26.09,26.19,26.19
$IRIDIUM_FIX,5952.82,-17420.78,060817,081755
$TT8_MAMPS,0.025466,0.241927
$HUMID,50.51
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.83,15.562
$10V_AH,10.18,19.129
$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,43.550,19.925,66.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,480.289,60.938,169.928,719.624,62.146,33.413,451.846,0.000,417.925,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1272.195,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.899,469.888,372.132,551.255,716.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17728,173
$CAP_FILE_SIZE,35870,0
$CFSIZE,1024409600,990576640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,110003,6014.085,-17321.324,6,0.9,41,7.2,0.3,173.1,10,4.8