version: 66.13
glider: 401
mission: 22
dive: 582
start: 8 6 117 7 44 7
data:
$ID,401
$MISSION,22
$DIVE,582
$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,19
$R_STBD_OVSHOOT,41
$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
$GPS1,060817,065415,6013.4966,-17320.3223,5,0.8,17,7.2,0.0,93.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-1.9
$GPS2,060817,065415,6013.4966,-17320.3223,5,0.8,17,7.2,0.0,93.6,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260634,0.289166
$KALMAN_X,62779.917969,-2326.957764,-419.400085,-225560.953125,199.868164
$KALMAN_Y,44863.457031,2172.051025,1033.825195,59688.671875,-145.323486
$MHEAD_RNG_PITCHd_Wd,310.8,26214,-7.6,-8.333,-12.08,10665
$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,-1.56,-585.0,2399,1956,2361,4092,0.0,0.0,0,21,5.65,0.00,-4.75,0.000,20482,0.024,0.000,1851,1956,2911,2911,4094,0,0,0,0,0,0,26.13,28.83,26.14,10.31,51.10
$GC,24,-1.56,-585.0,1850,1956,2911,4094,0.2,0.0,1,34,0.00,1.12,-2.03,0.000,16644,0.000,1.269,1850,2362,3170,3170,4095,0,0,0,0,0,0,26.30,24.92,26.29,10.43,51.02
$GC,89,-1.56,-585.0,1850,2361,3171,4095,7.3,-11.7,10,98,0.00,1.05,0.00,0.000,1030,0.000,0.028,1850,1945,3171,3171,4094,0,0,0,0,0,0,26.02,25.99,26.07,10.48,50.98
$GC,135,-1.56,-585.0,1850,1945,3172,4094,12.3,-10.6,16,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1945,3172,3172,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.46,50.59
$GC,179,-1.56,-585.0,1850,1945,3173,4094,17.0,-10.7,22,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1944,3173,3173,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.44,50.70
$GC,224,-1.56,-585.0,1850,1945,3174,4094,21.9,-11.1,28,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1945,3174,3174,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.44,49.64
$GC,269,-1.56,-585.0,1850,1945,3175,4095,26.9,-10.9,34,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1944,3175,3175,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.43,49.29
$GC,313,-1.56,-585.0,1850,1945,3176,4095,31.8,-11.1,40,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1944,3176,3176,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.43,48.22
$GC,358,-1.56,-585.0,1850,1944,3177,4094,36.4,-10.2,46,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1945,3177,3177,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.41,48.66
$GC,403,-1.56,-585.0,1849,1944,3177,4095,40.8,-10.0,52,412,0.00,1.12,0.00,0.000,260,0.000,0.042,1850,2367,3178,3178,4095,0,0,0,0,0,0,26.46,26.17,26.47,10.41,47.55
$GC,474,-1.56,-585.0,1850,2367,3178,4095,47.9,-9.9,62,483,0.00,1.05,0.00,0.000,1030,0.000,0.029,1850,1944,3179,3179,4094,0,0,0,0,0,0,26.26,26.23,26.29,10.39,47.99
$GC,521,-1.56,-585.0,1850,1943,3180,4094,52.6,-9.8,68,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1943,3180,3180,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.39,47.08
$GC,568,-1.56,-585.0,1850,1943,3180,4094,57.1,-9.7,74,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1943,3180,3180,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,47.48
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,602,-0.45,0.0,1850,1943,3181,4094,60.4,-9.7,78,646,3.62,0.00,33.30,1.297,10244,0.052,0.000,2186,1944,2484,2484,4095,0,0,0,0,0,0,26.27,25.01,24.30,10.38,46.57
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,650,1.56,585.0,2186,1943,2484,4095,62.7,0.0,83,695,6.90,1.08,33.28,1.274,10756,0.038,0.053,2824,1525,1802,1802,4094,0,0,0,0,0,0,25.45,25.41,23.82,10.23,46.02
$GC,706,1.58,591.9,2824,1524,1802,4094,59.9,8.3,89,716,0.00,1.02,1.30,0.004,9222,0.000,0.026,2825,1959,1802,1802,4094,0,0,0,0,0,0,25.13,25.11,25.14,10.08,44.92
$GC,752,1.58,591.9,2824,1961,1802,4094,55.5,9.8,95,761,0.00,1.05,2.17,0.124,8452,0.000,0.037,2824,2354,1796,1796,4094,0,0,0,0,0,0,25.59,24.96,24.26,10.08,44.80
$GC,849,1.58,591.9,2824,2354,1794,4094,45.6,9.9,109,859,0.00,1.00,0.00,0.000,1030,0.000,0.030,2824,1965,1794,1794,4094,0,0,0,0,0,0,25.68,25.65,25.70,10.07,45.31
$GC,895,1.58,591.9,2824,1964,1793,4094,41.0,10.2,115,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1965,1793,1793,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.07,45.62
$GC,940,1.58,591.9,2824,1964,1792,4094,36.7,9.7,121,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1965,1791,1791,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.08,46.29
$GC,985,1.58,591.9,2824,1964,1791,4094,32.4,9.6,127,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1965,1791,1791,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.08,46.53
$GC,1030,1.58,591.9,2824,1964,1790,4094,28.2,9.4,133,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1965,1789,1789,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.08,46.53
$GC,1074,1.58,591.9,2824,1964,1789,4094,24.2,9.2,139,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1965,1789,1789,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.08,47.40
$GC,1120,1.58,591.9,2824,1964,1788,4094,20.2,8.7,145,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1965,1787,1787,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.09,47.24
$GC,1164,1.58,591.9,2824,1964,1787,4094,16.3,8.6,151,1173,0.00,1.05,0.00,0.000,260,0.000,0.040,2824,2358,1787,1787,4094,0,0,0,0,0,0,26.28,26.03,26.29,10.08,47.67
$GC,1224,1.58,591.9,2824,2357,1786,4094,11.5,8.4,159,1232,0.00,0.95,0.00,0.000,1030,0.000,0.029,2825,1980,1786,1786,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.09,47.99
$GC,1270,1.59,601.3,2824,1979,1784,4094,7.6,8.2,165,1279,0.00,1.17,0.00,0.000,516,0.000,0.054,2824,1522,1784,1784,4095,0,0,0,0,0,0,26.35,26.04,26.36,10.10,48.11
$STATE,1348,end climb,SURFACE_DEPTH_REACHED
$STATE,1348,begin surface coast
$FINISH,0.3,1.024085
$STATE,1371,end surface coast,CONTROL_FINISHED_OK
$STATE,1371,begin surface
$SM_CCo,1468,0.00,0.000,0,0,1782,603.60
$SM_GC,1.06,27.10,1.00,0.00,0.022,0.025,0.000,230,1941,1782,-6.59,-2.41,603.60,0,0,0,0,0,0,26.08,26.20,26.18
$IRIDIUM_FIX,5952.82,-17420.78,060817,052648
$TT8_MAMPS,0.025466,0.25466
$HUMID,50.98
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.82,15.368
$10V_AH,10.16,18.916
$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,43.275,13.750,70.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,491.715,59.601,169.224,747.163,62.309,33.417,456.524,0.000,433.928,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1269.135,1297.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.188,486.180,385.032,570.651,744.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,17794,179
$CAP_FILE_SIZE,35216,0
$CFSIZE,1024409600,990871552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,080951,6013.699,-17320.529,8,0.7,41,7.2,0.2,150.0,10,5.0