version: 66.13
glider: 401
mission: 22
dive: 597
start: 8 6 117 14 44 43
data:
$ID,401
$MISSION,22
$DIVE,597
$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,26
$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
$GPS1,060817,135446,6015.2764,-17322.9766,5,0.8,15,7.2,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-5.7
$GPS2,060817,135446,6015.2764,-17322.9766,5,0.8,15,7.2,0.0,0.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.205621,0.322830
$KALMAN_X,63935.644531,-1901.383545,-321.271454,-229756.062500,64.893860
$KALMAN_Y,42475.367188,1842.382935,516.073486,66223.679688,-96.220215
$MHEAD_RNG_PITCHd_Wd,320.3,22135,-7.8,-8.333,-12.28,10224
$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,6,begin dive
$GC,8,-1.58,-578.8,2395,1975,2373,4092,0.0,0.0,0,21,5.80,0.00,-4.25,0.000,20482,0.026,0.000,1834,1976,2850,2850,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.31,51.18
$GC,24,-1.58,-578.8,1834,1975,2850,4094,0.2,0.0,1,34,0.00,1.05,-2.85,0.000,16644,0.000,1.269,1833,2359,3159,3159,4095,0,0,0,0,0,0,26.33,24.93,26.34,10.41,51.33
$GC,128,-1.58,-578.8,1833,2359,3162,4095,11.2,-12.9,16,138,0.00,1.02,0.00,0.000,1030,0.000,0.029,1834,1949,3162,3162,4095,0,0,0,0,0,0,26.09,26.03,26.12,10.48,51.22
$GC,174,-1.58,-578.8,1833,1948,3163,4095,16.7,-12.3,22,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3162,3162,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.47,51.26
$GC,220,-1.58,-578.8,1833,1948,3163,4095,22.0,-12.0,28,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3164,3164,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.45,50.63
$GC,265,-1.58,-578.8,1833,1948,3165,4094,27.6,-12.1,34,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1948,3165,3165,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.44,49.25
$GC,310,-1.58,-578.8,1832,1948,3166,4095,32.8,-11.6,40,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3166,3166,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.42,48.70
$GC,354,-1.58,-578.8,1833,1949,3167,4095,37.9,-11.5,46,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3166,3166,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.41,48.66
$GC,401,-1.58,-578.8,1833,1948,3167,4095,42.9,-11.1,52,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1949,3167,3167,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.40,48.42
$GC,446,-1.58,-578.8,1833,1948,3168,4094,48.1,-11.4,58,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1949,3168,3168,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.39,47.67
$GC,490,-1.58,-578.8,1833,1948,3169,4095,53.0,-11.0,64,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1948,3169,3169,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,47.08
$GC,535,-1.58,-578.8,1832,1948,3170,4094,57.8,-10.6,70,545,0.00,1.10,0.00,0.000,260,0.000,0.043,1833,2361,3170,3170,4094,0,0,0,0,0,0,26.53,26.25,26.55,10.38,47.48
$STATE,553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,553,begin apogee
$GC,559,-0.45,0.0,1833,1953,3170,4095,60.0,-11.2,72,603,3.80,0.00,32.83,1.302,10244,0.053,0.000,2185,1953,2484,2484,4094,0,0,0,0,0,0,26.27,25.01,24.31,10.38,46.81
$STATE,604,end apogee,CONTROL_FINISHED_OK
$STATE,604,begin climb
$GC,607,1.58,578.8,2185,1952,2484,4094,62.5,0.0,77,651,6.95,0.00,32.95,1.274,11270,0.037,0.000,2831,1953,1809,1809,4094,0,0,0,0,0,0,25.52,25.68,23.83,10.23,46.53
$GC,689,1.58,578.8,2830,1953,1808,4094,57.1,9.7,87,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1953,1808,1808,4094,0,0,0,0,0,0,25.50,25.51,25.51,10.08,44.76
$GC,734,1.58,578.8,2830,1953,1807,4094,52.6,9.4,93,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1953,1807,1807,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.08,44.95
$GC,779,1.58,578.8,2830,1953,1806,4094,48.4,9.5,99,788,0.00,1.12,0.00,0.000,260,0.000,0.041,2831,2364,1806,1806,4095,0,0,0,0,0,0,25.83,25.56,25.84,10.07,45.27
$GC,844,1.58,578.8,2830,2364,1805,4095,42.0,10.0,108,853,0.00,1.05,0.00,0.000,1030,0.000,0.031,2831,1958,1805,1805,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.07,46.02
$GC,889,1.58,578.8,2831,1957,1803,4094,37.5,9.8,114,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1803,1803,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.08,45.78
$GC,935,1.58,578.8,2830,1957,1803,4094,33.1,9.5,120,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1803,1803,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.07,46.22
$GC,980,1.58,578.8,2830,1957,1802,4094,28.9,9.0,126,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1802,1802,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.07,46.65
$GC,1025,1.63,610.2,2830,1957,1801,4094,25.2,8.0,132,1035,0.00,1.12,3.05,0.353,8708,0.000,0.054,2831,1522,1774,1774,4094,0,0,0,0,0,0,26.20,25.59,25.03,10.08,46.88
$GC,1073,1.63,610.2,2830,1522,1773,4094,21.3,8.4,138,1083,0.00,1.02,0.00,0.000,1030,0.000,0.026,2831,1970,1773,1773,4094,0,0,0,0,0,0,26.04,26.01,26.04,10.08,47.75
$GC,1119,1.63,610.2,2830,1970,1773,4094,17.3,8.8,144,1128,0.00,1.00,0.00,0.000,260,0.000,0.041,2831,2358,1772,1772,4094,0,0,0,0,0,0,26.26,25.98,26.27,10.09,47.75
$GC,1204,1.63,610.2,2830,2357,1771,4094,9.8,8.6,156,1214,0.00,0.98,0.00,0.000,1030,0.000,0.031,2831,1972,1770,1770,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.11,49.01
$GC,1250,1.67,636.8,2830,1972,1769,4094,5.9,8.1,162,1260,0.17,0.00,3.05,0.282,10246,0.051,0.000,2860,1972,1741,1741,4094,0,0,0,0,0,0,26.15,25.79,25.36,10.15,49.72
$STATE,1296,end climb,SURFACE_DEPTH_REACHED
$STATE,1296,begin surface coast
$FINISH,0.2,1.001658
$STATE,1317,end surface coast,CONTROL_FINISHED_OK
$STATE,1317,begin surface
$SM_CCo,1414,0.00,0.000,0,0,1739,640.52
$SM_GC,0.95,27.52,0.00,0.00,0.022,0.000,0.000,230,1966,1739,-6.59,0.73,640.52,0,0,0,0,0,0,26.08,26.39,26.16
$IRIDIUM_FIX,5952.82,-17420.78,060817,122606
$TT8_MAMPS,0.025466,0.220206
$HUMID,50.90
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.83,15.835
$10V_AH,10.21,19.440
$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,44.250,10.525,71.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,470.585,59.877,164.371,721.442,57.913,33.413,445.598,0.000,257.274,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1269.135,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.310,464.655,0.000,544.658,714.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14327,171
$CAP_FILE_SIZE,33690,0
$CFSIZE,1024409600,990150656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,150909,6016.155,-17323.725,8,0.7,17,7.2,0.0,0.0,11,4.9