version: 66.13
glider: 401
mission: 22
dive: 590
start: 8 6 117 11 34 47
data:
$ID,401
$MISSION,22
$DIVE,590
$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,28
$R_STBD_OVSHOOT,53
$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
$GPS1,060817,110843,6014.0098,-17321.3301,5,0.9,50,7.2,0.4,217.9,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-2.3
$GPS2,060817,110843,6014.0098,-17321.3301,5,0.9,50,7.2,0.4,217.9,8,3.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.178223,0.330697
$KALMAN_X,63667.902344,-1974.282837,-232.497849,-227943.468750,27.217880
$KALMAN_Y,43214.285156,1846.537231,503.832275,63145.417969,-112.818573
$MHEAD_RNG_PITCHd_Wd,324.5,24921,-8.1,-8.333,-12.51,9761
$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,-551.5,2390,1968,2370,4091,0.0,0.0,0,21,5.68,0.00,-4.55,0.000,20482,0.023,0.000,1842,1969,2883,2883,4095,0,0,0,0,0,0,26.14,28.83,26.15,10.33,50.55
$GC,24,-1.56,-551.5,1842,1968,2883,4095,0.3,0.0,1,34,0.00,1.02,-2.20,0.000,16644,0.000,1.271,1842,2346,3129,3129,4095,0,0,0,0,0,0,26.34,24.96,26.34,10.43,51.14
$GC,109,-1.56,-551.5,1841,2346,3131,4095,8.7,-11.4,13,118,0.00,1.00,0.00,0.000,1030,0.000,0.028,1842,1949,3131,3131,4095,0,0,0,0,0,0,26.08,26.06,26.12,10.49,51.10
$GC,154,-1.56,-551.5,1842,1948,3131,4095,13.7,-11.1,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1949,3132,3132,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.46,50.59
$GC,199,-1.56,-551.5,1841,1949,3133,4094,18.9,-11.8,25,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1949,3133,3133,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.45,50.19
$GC,244,-1.56,-551.5,1842,1949,3134,4095,24.1,-11.5,31,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1949,3133,3133,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.44,49.17
$GC,290,-1.56,-551.5,1842,1948,3135,4095,29.2,-11.6,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1948,3135,3135,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.44,48.22
$GC,334,-1.56,-551.5,1841,1948,3136,4095,34.2,-11.3,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1949,3135,3135,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.43,48.14
$GC,379,-1.56,-551.5,1841,1948,3136,4095,39.1,-11.1,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1949,3136,3136,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.41,47.44
$GC,424,-1.56,-551.5,1841,1948,3137,4095,44.1,-11.1,55,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1948,3137,3137,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.40,47.36
$GC,469,-1.56,-551.5,1842,1948,3138,4094,49.0,-11.1,61,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1949,3138,3138,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.39,47.20
$GC,514,-1.56,-551.5,1841,1948,3139,4094,54.0,-11.4,67,524,0.00,1.08,0.00,0.000,260,0.000,0.044,1842,2353,3139,3139,4094,0,0,0,0,0,0,26.53,26.26,26.54,10.39,46.33
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,578,-0.45,0.0,1842,1941,3140,4095,60.4,-10.6,75,622,3.70,0.00,31.42,1.284,10244,0.054,0.000,2184,1941,2484,2484,4095,0,0,0,0,0,0,26.27,25.06,24.39,10.38,46.37
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,625,1.56,551.5,2184,1941,2484,4095,62.9,0.0,80,669,6.88,0.00,31.45,1.267,11270,0.037,0.000,2824,1941,1841,1841,4094,0,0,0,0,0,0,25.56,25.73,23.89,10.25,46.53
$GC,707,1.56,551.5,2824,1941,1840,4094,57.8,9.2,90,717,0.00,1.12,0.00,0.000,260,0.000,0.038,2824,2354,1840,1840,4094,0,0,0,0,0,0,25.53,25.28,25.55,10.10,44.72
$GC,820,1.56,551.5,2824,2354,1838,4094,47.0,9.5,106,828,0.00,1.00,0.00,0.000,1030,0.000,0.030,2824,1965,1838,1838,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.09,45.58
$GC,866,1.56,551.5,2824,1964,1837,4094,42.9,9.0,112,875,0.00,1.17,0.00,0.000,516,0.000,0.055,2824,1518,1836,1836,4094,0,0,0,0,0,0,25.99,25.67,26.01,10.09,45.62
$GC,918,1.56,551.5,2824,1517,1836,4094,38.0,9.3,119,927,0.00,0.98,0.00,0.000,1030,0.000,0.026,2825,1948,1836,1836,4094,0,0,0,0,0,0,25.89,25.86,25.94,10.09,46.10
$GC,964,1.56,551.5,2824,1948,1835,4094,33.9,9.1,125,973,0.00,1.08,0.00,0.000,260,0.000,0.042,2824,2356,1835,1835,4094,0,0,0,0,0,0,26.13,25.86,26.14,10.09,46.41
$GC,1022,1.56,551.5,2824,2356,1834,4094,28.6,9.1,133,1032,0.00,1.02,0.00,0.000,1030,0.000,0.030,2824,1954,1833,1833,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.10,47.32
$GC,1068,1.56,551.5,2824,1953,1833,4094,24.6,8.7,139,1077,0.00,1.15,0.00,0.000,516,0.000,0.057,2825,1512,1833,1833,4094,0,0,0,0,0,0,26.24,25.93,26.25,10.10,47.75
$GC,1120,1.56,551.5,2824,1512,1832,4094,20.0,9.1,146,1129,0.00,1.00,0.00,0.000,1030,0.000,0.026,2824,1955,1831,1831,4094,0,0,0,0,0,0,26.09,26.08,26.11,10.10,47.67
$GC,1167,1.56,551.5,2824,1955,1831,4094,15.8,9.2,152,1175,0.00,1.05,0.00,0.000,260,0.000,0.041,2824,2360,1830,1830,4094,0,0,0,0,0,0,26.32,26.04,26.33,10.11,47.71
$GC,1237,1.56,551.5,2824,2360,1829,4094,9.2,9.2,162,1247,0.00,1.02,0.00,0.000,1030,0.000,0.029,2824,1955,1828,1828,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.11,48.85
$GC,1285,1.56,551.5,2824,1955,1828,4094,5.2,8.4,168,1294,0.00,1.10,0.00,0.000,516,0.000,0.054,2825,1526,1828,1828,4094,0,0,0,0,0,0,26.39,26.09,26.41,10.15,49.60
$STATE,1321,end climb,FINISH_DEPTH_REACHED
$STATE,1322,begin subsurface finish
$FINISH1,1.9,1.024143,102
$GC,1329,0.15,101.6,2824,1965,1827,4094,1.9,8.1,173,1348,4.65,0.00,-4.50,0.000,20486,0.054,0.000,2395,1970,2370,2370,4094,0,0,0,0,0,0,26.14,25.64,26.22,10.17,49.76
$FINISH2,0.3
$STATE,1349,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1349,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,093838
$TT8_MAMPS,0.025466,0.240429
$HUMID,50.59
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.89,15.630
$10V_AH,10.17,19.203
$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,20.900,16.850,62.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,472.758,0.000,141.640,734.189,56.677,33.428,425.776,0.000,425.863,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1271.430,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.333,475.368,376.439,557.505,729.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330884
$DATA_FILE_SIZE,17832,175
$CAP_FILE_SIZE,32650,0
$CFSIZE,1024409600,990494720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,110843,6014.010,-17321.330,5,0.9,50,7.2,0.4,217.9,8,3.0