version: 66.13
glider: 401
mission: 22
dive: 579
start: 8 6 117 6 22 39
data:
$ID,401
$MISSION,22
$DIVE,579
$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,31
$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,0.20
$_SM_ANGLEo,-1.7
$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,-0.282606,0.265473
$KALMAN_X,62035.359375,-2510.107666,-588.043030,-224443.515625,206.311218
$KALMAN_Y,45198.652344,2187.156738,1193.725952,58571.242188,-64.310181
$MHEAD_RNG_PITCHd_Wd,306.0,26743,-7.6,-8.333,-12.13,10559
$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,7,-1.57,-585.0,2398,1942,2364,4092,0.0,0.0,0,20,5.80,0.00,-4.10,0.000,20482,0.027,0.000,1836,1943,2824,2824,4095,0,0,0,0,0,0,26.12,28.83,26.13,10.32,51.92
$GC,23,-1.57,-585.0,1835,1943,2824,4095,0.2,0.0,1,33,0.00,1.17,-3.08,0.000,16644,0.000,1.274,1835,2376,3170,3170,4094,0,0,0,0,0,0,26.31,24.91,26.32,10.41,51.37
$GC,95,-1.57,-585.0,1834,2376,3171,4094,7.3,-11.8,11,103,0.00,1.08,0.00,0.000,1030,0.000,0.029,1835,1946,3171,3171,4095,0,0,0,0,0,0,26.03,26.04,26.08,10.49,51.33
$GC,139,-1.57,-585.0,1835,1945,3172,4095,12.5,-11.5,17,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3172,3172,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.46,51.14
$GC,185,-1.57,-585.0,1835,1946,3173,4095,17.6,-11.4,23,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3173,3173,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.45,50.35
$GC,230,-1.57,-585.0,1834,1946,3174,4095,23.1,-11.9,29,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3174,3174,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.44,49.17
$GC,275,-1.57,-585.0,1835,1946,3175,4095,28.5,-11.8,35,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3175,3175,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.43,48.74
$GC,320,-1.57,-585.0,1834,1946,3176,4095,33.8,-11.9,41,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3176,3176,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.43,48.77
$GC,366,-1.57,-585.0,1835,1946,3177,4095,38.8,-11.1,47,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3177,3177,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.42,48.34
$GC,410,-1.57,-585.0,1835,1946,3178,4095,43.8,-11.0,53,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3178,3178,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.41,48.22
$GC,454,-1.57,-585.0,1835,1946,3178,4095,48.7,-11.1,59,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3179,3179,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.40,47.55
$GC,501,-1.57,-585.0,1834,1946,3180,4094,53.6,-10.9,65,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3180,3180,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.39,47.08
$GC,546,-1.57,-585.0,1834,1946,3180,4094,58.5,-10.5,71,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1946,3180,3180,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.38,46.85
$STATE,561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,561,begin apogee
$GC,566,-0.45,0.0,1835,1946,3181,4095,60.4,-10.7,73,610,3.78,0.00,33.28,1.294,10244,0.052,0.000,2186,1946,2484,2484,4094,0,0,0,0,0,0,26.26,25.01,24.30,10.38,46.65
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,614,1.57,585.0,2185,1946,2484,4094,62.5,0.0,78,658,6.95,0.00,33.20,1.262,11270,0.037,0.000,2829,1946,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.84,10.24,46.02
$GC,696,1.57,585.0,2829,1946,1802,4094,56.6,9.9,88,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1946,1801,1801,4095,0,0,0,0,0,0,25.49,25.51,25.51,10.09,44.88
$GC,741,1.57,585.0,2828,1945,1801,4095,51.9,10.3,94,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1946,1800,1800,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.08,45.58
$GC,786,1.57,585.0,2829,1946,1800,4094,47.5,9.7,100,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1946,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.84,10.08,45.27
$GC,831,1.57,585.0,2828,1946,1798,4094,43.1,9.7,106,840,0.00,1.15,0.00,0.000,260,0.000,0.042,2829,2371,1798,1798,4094,0,0,0,0,0,0,25.92,25.65,25.94,10.08,45.74
$GC,902,1.57,585.0,2829,2371,1797,4094,36.0,9.9,116,911,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1962,1797,1797,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.08,45.78
$GC,947,1.57,585.0,2828,1961,1796,4094,31.6,9.6,122,957,0.00,1.15,0.00,0.000,516,0.000,0.056,2829,1519,1795,1795,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.08,46.33
$GC,986,1.57,585.0,2828,1518,1796,4094,28.1,9.2,127,996,0.00,1.05,0.00,0.000,1030,0.000,0.025,2829,1971,1795,1795,4094,0,0,0,0,0,0,25.97,25.92,25.98,10.09,46.85
$GC,1032,1.57,585.0,2829,1971,1794,4094,23.9,9.1,133,1041,0.00,1.05,0.00,0.000,260,0.000,0.043,2829,2370,1794,1794,4094,0,0,0,0,0,0,26.20,25.96,26.20,10.09,47.48
$GC,1097,1.57,585.0,2828,2370,1793,4094,17.8,9.3,142,1106,0.00,1.05,0.00,0.000,1030,0.000,0.031,2829,1957,1793,1793,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.09,48.03
$GC,1144,1.57,585.0,2829,1956,1791,4094,13.4,9.7,148,1152,0.00,1.12,0.00,0.000,516,0.000,0.056,2829,1524,1791,1791,4094,0,0,0,0,0,0,26.29,25.98,26.31,10.10,47.67
$GC,1189,1.57,585.0,2829,1524,1790,4094,8.9,9.8,154,1198,0.00,1.02,0.00,0.000,1030,0.000,0.026,2829,1974,1790,1790,4095,0,0,0,0,0,0,26.14,26.12,26.15,10.11,48.22
$GC,1234,1.57,585.0,2828,1973,1789,4095,5.0,8.7,160,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1973,1789,1789,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.14,48.74
$STATE,1270,end climb,SURFACE_DEPTH_REACHED
$STATE,1270,begin surface coast
$FINISH,0.2,1.001145
$STATE,1298,end surface coast,CONTROL_FINISHED_OK
$STATE,1298,begin surface
$SM_CCo,1395,0.00,0.000,0,0,1788,599.30
$SM_GC,1.14,27.23,0.00,0.00,0.021,0.000,0.000,229,1978,1788,-6.59,1.37,599.30,0,0,0,0,0,0,26.06,26.41,26.16
$IRIDIUM_FIX,5952.82,-17420.78,060817,040605
$TT8_MAMPS,0.025466,0.211967
$HUMID,50.90
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.84,15.275
$10V_AH,10.22,18.805
$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,43.750,11.925,66.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,461.300,60.552,167.349,710.258,57.830,33.416,450.153,0.000,254.446,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1273.725,1293.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.750,459.216,0.000,538.345,702.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,14363,169
$CAP_FILE_SIZE,33942,0
$CFSIZE,1024409600,991035392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,064646,6013.529,-17320.449,8,0.8,17,7.2,0.0,111.6,11,4.8