version: 66.13
glider: 401
mission: 22
dive: 598
start: 8 6 117 15 18 12
data:
$ID,401
$MISSION,22
$DIVE,598
$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,23
$R_STBD_OVSHOOT,44
$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
$GPS1,060817,150909,6016.1548,-17323.7246,8,0.7,17,7.2,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-37.8
$GPS2,060817,151705,6016.1626,-17323.8125,5,0.7,17,7.2,0.3,257.2,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.236610,0.296148
$KALMAN_X,63651.085938,-1973.156616,-406.074554,-230092.140625,24.970337
$KALMAN_Y,43219.207031,1995.593018,675.991150,66779.679688,66.360535
$MHEAD_RNG_PITCHd_Wd,314.2,20336,-8.0,-8.333,-12.40,9981
$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,-564.5,230,1969,1738,4092,0.0,0.0,0,21,11.00,0.00,0.00,0.000,2049,0.085,0.000,1175,1970,1739,1739,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.24,50.15
$GC,23,-1.57,-564.5,1175,1970,1739,4094,0.7,0.0,1,51,6.95,1.08,-12.65,0.000,18692,0.040,1.268,1831,2364,3146,3146,4094,0,0,0,0,0,0,25.94,24.77,26.00,10.24,50.07
$GC,180,-1.57,-564.5,1830,2364,3149,4094,16.1,-12.8,23,189,0.00,1.05,0.00,0.000,1030,0.000,0.028,1830,1945,3149,3149,4095,0,0,0,0,0,0,26.03,26.02,26.03,10.52,48.77
$GC,226,-1.57,-564.5,1830,1945,3150,4095,21.8,-12.0,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1945,3151,3151,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.49,48.26
$GC,272,-1.57,-564.5,1830,1945,3151,4095,27.0,-11.1,35,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1945,3151,3151,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.48,47.87
$GC,318,-1.57,-564.5,1830,1945,3152,4094,32.1,-11.3,41,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1945,3152,3152,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.47,46.88
$GC,362,-1.57,-564.5,1830,1945,3153,4094,37.3,-11.7,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1944,3154,3154,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.45,46.49
$GC,407,-1.57,-564.5,1830,1944,3154,4095,42.7,-12.1,53,416,0.00,1.08,0.00,0.000,516,0.000,0.049,1830,1519,3154,3154,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.43,46.10
$GC,459,-1.57,-564.5,1830,1519,3155,4095,48.9,-11.9,60,468,0.00,0.98,0.00,0.000,1030,0.000,0.026,1830,1943,3155,3155,4095,0,0,0,0,0,0,26.25,26.22,26.26,10.42,46.22
$GC,506,-1.57,-564.5,1830,1943,3156,4095,54.0,-11.6,66,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1943,3156,3156,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.41,45.82
$GC,552,-1.57,-564.5,1830,1943,3157,4094,59.5,-11.8,72,561,0.00,1.10,0.00,0.000,260,0.000,0.044,1830,2364,3157,3157,4095,0,0,0,0,0,0,26.48,26.20,26.50,10.40,44.68
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,576,-0.45,0.0,1830,1945,3157,4095,61.9,-11.5,74,619,3.80,0.00,32.15,1.310,10244,0.053,0.000,2186,1945,2487,2487,4094,0,0,0,0,0,0,26.21,24.97,24.27,10.40,44.60
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.57,564.5,2185,1945,2488,4094,64.6,0.0,79,667,6.88,0.00,32.45,1.289,11270,0.033,0.000,2824,1946,1825,1825,4094,0,0,0,0,0,0,25.46,25.65,23.81,10.27,44.25
$GC,705,1.57,564.5,2823,1945,1825,4094,59.3,9.4,89,713,0.00,1.12,0.00,0.000,516,0.000,0.056,2824,1524,1825,1825,4094,0,0,0,0,0,0,25.49,25.21,25.51,10.11,43.89
$GC,756,1.57,564.5,2824,1524,1823,4094,54.5,9.3,96,765,0.00,0.95,0.00,0.000,1030,0.000,0.024,2824,1944,1823,1823,4094,0,0,0,0,0,0,25.55,25.53,25.56,10.11,43.66
$GC,802,1.57,564.5,2824,1944,1822,4094,50.2,9.5,102,811,0.00,1.08,0.00,0.000,260,0.000,0.041,2824,2350,1822,1822,4094,0,0,0,0,0,0,25.84,25.58,25.86,10.10,43.89
$GC,854,1.57,564.5,2824,2350,1821,4094,45.1,9.5,109,864,0.00,1.05,0.00,0.000,1030,0.000,0.030,2824,1943,1821,1821,4094,0,0,0,0,0,0,25.75,25.72,25.76,10.09,44.84
$GC,901,1.57,564.5,2824,1943,1820,4094,40.8,9.2,115,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,1820,1820,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.09,45.43
$GC,948,1.57,564.5,2824,1942,1819,4094,36.6,9.3,121,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,1819,1819,4094,0,0,0,0,0,0,26.10,26.10,26.10,10.10,44.92
$GC,994,1.57,564.5,2824,1942,1818,4094,32.5,8.8,127,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,1818,1818,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.10,45.19
$GC,1040,1.57,564.5,2823,1942,1818,4094,28.4,8.9,133,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,1817,1817,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.10,46.49
$GC,1084,1.57,564.5,2824,1942,1816,4094,24.4,8.8,139,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,1816,1816,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.10,46.14
$GC,1129,1.57,564.5,2824,1942,1815,4095,20.5,8.6,145,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,1814,1814,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.10,46.45
$GC,1174,1.57,564.5,2824,1942,1815,4094,16.7,8.4,151,1183,0.00,1.10,0.00,0.000,260,0.000,0.039,2824,2356,1815,1815,4094,0,0,0,0,0,0,26.32,26.03,26.32,10.12,46.92
$GC,1239,1.58,567.6,2824,2356,1814,4094,11.4,8.3,160,1247,0.00,1.02,0.00,0.000,1030,0.000,0.031,2824,1952,1812,1812,4095,0,0,0,0,0,0,26.14,26.10,26.16,10.15,48.26
$GC,1285,1.58,571.9,2824,1951,1812,4095,7.6,8.3,166,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1952,1812,1812,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.17,49.92
$GC,1330,1.71,660.3,2824,1951,1811,4094,4.2,7.4,172,1341,0.40,1.08,5.97,0.503,10500,0.034,0.039,2876,2358,1711,1711,4094,0,0,0,0,0,0,26.22,26.01,25.38,10.18,49.68
$STATE,1355,end climb,FINISH_DEPTH_REACHED
$STATE,1356,begin subsurface finish
$FINISH1,1.9,1.024168,100
$GC,1364,0.15,99.8,2876,1942,1711,4094,1.9,7.8,175,1382,5.25,1.15,-5.65,0.000,20740,0.056,1.287,2393,2351,2372,2372,4094,0,0,0,0,0,0,26.08,24.93,26.16,10.16,50.59
$FINISH2,0.2
$STATE,1383,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1383,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,134932
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.43
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.81,15.880
$10V_AH,10.17,19.486
$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,34.275,15.975,70.575,0.000,0.000,25.538,20.814,289.980,0.000,0.000,19.234,491.099,0.000,159.263,1084.848,144.190,33.454,463.023,0.000,430.327,0.000,0.542,0.000
$DEVICE_MAMPS,84.915,1287.495,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.134,480.711,380.732,563.633,733.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,17834,177
$CAP_FILE_SIZE,39770,0
$CFSIZE,1024409600,990085120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,151705,6016.163,-17323.812,5,0.7,17,7.2,0.3,257.2,11,5.0