version: 66.13
glider: 401
mission: 22
dive: 578
start: 8 6 117 5 57 53
data:
$ID,401
$MISSION,22
$DIVE,578
$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,27
$R_STBD_OVSHOOT,57
$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
$GPS1,060817,053209,6013.1680,-17320.2988,5,0.8,15,7.2,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-1.1
$GPS2,060817,053209,6013.1680,-17320.2988,5,0.8,15,7.2,0.0,0.0,10,4.7
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.280838,0.254709
$KALMAN_X,61756.855469,-2556.637695,-634.951172,-224071.578125,167.928467
$KALMAN_Y,45481.125000,2182.027344,1231.406372,58255.871094,8.010376
$MHEAD_RNG_PITCHd_Wd,305.0,26743,-8.0,-8.333,-12.40,9986
$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,-564.8,2399,1973,2363,4092,0.0,0.0,0,21,5.80,0.00,-4.40,0.000,20482,0.024,0.000,1837,1974,2860,2860,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.33,50.51
$GC,24,-1.57,-564.8,1837,1973,2860,4094,0.2,0.0,1,34,0.00,1.02,-2.62,0.000,16644,0.000,1.268,1837,2349,3145,3145,4095,0,0,0,0,0,0,26.34,24.96,26.34,10.43,51.10
$GC,115,-1.57,-564.8,1836,2349,3147,4095,8.7,-11.7,14,124,0.00,1.00,0.00,0.000,1030,0.000,0.029,1837,1952,3148,3148,4095,0,0,0,0,0,0,26.08,26.06,26.10,10.49,50.47
$GC,161,-1.57,-564.8,1836,1952,3148,4095,13.8,-11.3,20,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3149,3149,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.46,50.00
$GC,208,-1.57,-564.8,1836,1952,3149,4095,19.1,-11.3,26,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3149,3149,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.45,49.52
$GC,254,-1.57,-564.8,1836,1952,3150,4095,24.5,-11.8,32,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3150,3150,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.44,49.33
$GC,300,-1.57,-564.8,1836,1952,3151,4095,29.9,-11.6,38,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1953,3151,3151,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.43,48.30
$GC,344,-1.57,-564.8,1836,1952,3151,4094,35.3,-11.7,44,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3152,3152,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.43,47.87
$GC,388,-1.57,-564.8,1836,1952,3153,4094,40.5,-11.6,50,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1953,3153,3153,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.42,47.48
$GC,433,-1.57,-564.8,1836,1952,3154,4095,45.5,-11.0,56,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1953,3154,3154,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.40,47.24
$GC,478,-1.57,-564.8,1836,1952,3155,4094,50.3,-11.1,62,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1953,3155,3155,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.40,46.65
$GC,523,-1.57,-564.8,1836,1952,3156,4094,55.0,-10.2,68,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3156,3156,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.39,46.41
$GC,567,-1.57,-564.8,1836,1952,3157,4095,59.8,-10.8,74,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1952,3157,3157,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.39,46.65
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,589,-0.45,0.0,1836,1952,3157,4094,61.9,-10.8,76,633,3.75,0.00,32.33,1.309,10244,0.053,0.000,2184,1952,2482,2482,4094,0,0,0,0,0,0,26.28,25.03,24.32,10.38,46.37
$STATE,634,end apogee,CONTROL_FINISHED_OK
$STATE,634,begin climb
$GC,636,1.57,564.8,2184,1952,2482,4094,64.2,0.0,81,680,6.90,0.00,32.10,1.282,11270,0.035,0.000,2828,1952,1826,1826,4094,0,0,0,0,0,0,25.54,25.70,23.84,10.24,46.29
$GC,718,1.57,564.8,2827,1952,1825,4094,59.0,9.5,91,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1952,1825,1825,4094,0,0,0,0,0,0,25.51,25.53,25.52,10.10,44.60
$GC,764,1.57,564.8,2827,1951,1824,4094,54.3,10.3,97,774,0.00,1.08,0.00,0.000,260,0.000,0.041,2828,2344,1823,1823,4094,0,0,0,0,0,0,25.71,25.47,25.72,10.09,44.52
$GC,829,1.57,564.8,2827,2343,1823,4094,47.5,10.1,106,839,0.00,1.00,0.00,0.000,1030,0.000,0.029,2828,1955,1822,1822,4094,0,0,0,0,0,0,25.68,25.65,25.70,10.09,45.82
$GC,875,1.57,564.8,2827,1955,1821,4094,43.0,9.6,112,884,0.00,1.12,0.00,0.000,516,0.000,0.056,2828,1525,1821,1821,4094,0,0,0,0,0,0,25.98,25.67,25.98,10.09,45.39
$GC,914,1.57,564.8,2827,1525,1820,4094,39.1,10.0,117,922,0.00,0.98,0.00,0.000,1030,0.000,0.025,2828,1957,1820,1820,4095,0,0,0,0,0,0,25.86,25.84,25.87,10.09,45.47
$GC,960,1.57,564.8,2828,1956,1819,4095,34.9,9.6,123,969,0.00,1.05,0.00,0.000,260,0.000,0.042,2828,2352,1819,1819,4095,0,0,0,0,0,0,26.10,25.82,26.11,10.09,45.98
$GC,1032,1.57,564.8,2827,2352,1818,4095,27.9,9.3,133,1041,0.00,1.00,0.00,0.000,1030,0.000,0.031,2829,1959,1818,1818,4094,0,0,0,0,0,0,25.98,25.91,25.99,10.10,46.81
$GC,1079,1.57,564.8,2827,1959,1817,4094,23.8,8.9,139,1088,0.00,1.15,0.00,0.000,516,0.000,0.056,2828,1519,1817,1817,4094,0,0,0,0,0,0,26.23,25.92,26.24,10.10,47.24
$GC,1125,1.57,564.8,2827,1518,1816,4094,19.6,9.1,145,1134,0.00,0.95,0.00,0.000,1030,0.000,0.026,2828,1944,1815,1815,4094,0,0,0,0,0,0,26.09,26.07,26.10,10.10,47.28
$GC,1172,1.57,564.8,2827,1944,1815,4094,15.4,9.0,151,1182,0.00,1.05,0.00,0.000,260,0.000,0.041,2828,2345,1815,1815,4094,0,0,0,0,0,0,26.30,26.00,26.32,10.11,47.36
$GC,1243,1.57,564.8,2827,2344,1813,4094,8.8,8.9,161,1253,0.00,1.00,0.00,0.000,1030,0.000,0.031,2829,1950,1814,1814,4094,0,0,0,0,0,0,26.12,26.10,26.16,10.12,48.03
$GC,1291,1.73,667.7,2827,1950,1812,4094,5.4,7.3,167,1302,0.35,1.10,6.32,0.525,10756,0.036,0.055,2875,1522,1704,1704,4094,0,0,0,0,0,0,26.17,25.98,25.34,10.14,48.70
$STATE,1330,end climb,FINISH_DEPTH_REACHED
$STATE,1330,begin subsurface finish
$FINISH1,1.9,1.024050,108
$GC,1338,0.16,108.1,2874,1947,1703,4094,1.9,8.4,172,1357,5.18,1.17,-5.53,0.000,20996,0.054,1.297,2398,1523,2364,2364,4095,0,0,0,0,0,0,26.07,24.92,26.14,10.14,49.92
$FINISH2,0.3
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,040605
$TT8_MAMPS,0.026215,0.242676
$HUMID,50.70
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.84,15.250
$10V_AH,10.17,18.778
$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,21.975,15.675,70.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,480.133,1.352,149.325,724.437,59.137,33.426,440.351,0.000,419.575,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1297.440,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.373,472.638,374.299,554.319,721.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,17819,174
$CAP_FILE_SIZE,34081,0
$CFSIZE,1024409600,991068160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,053209,6013.168,-17320.299,5,0.8,15,7.2,0.0,0.0,10,4.7