version: 66.13
glider: 401
mission: 22
dive: 583
start: 8 6 117 8 21 39
data:
$ID,401
$MISSION,22
$DIVE,583
$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,39
$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
$GPS1,060817,080951,6013.6992,-17320.5293,8,0.7,41,7.2,0.2,150.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-40.3
$GPS2,060817,082032,6013.6196,-17320.3906,6,0.9,17,7.2,0.0,130.8,9,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.234733,0.301584
$KALMAN_X,63054.386719,-2309.191895,-407.453339,-225928.109375,221.075165
$KALMAN_Y,44648.781250,2196.573975,1034.056885,60101.585938,-254.640869
$MHEAD_RNG_PITCHd_Wd,314.9,25988,-7.8,-8.333,-12.30,10186
$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,-1.58,-576.5,229,1947,1781,4092,0.0,0.0,0,21,10.93,0.00,0.00,0.000,2049,0.093,0.000,1155,1948,1781,1781,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.26,49.44
$GC,23,-1.58,-576.5,1154,1947,1781,4094,0.8,0.0,1,51,7.20,1.15,-12.45,0.000,18692,0.041,1.272,1829,2363,3159,3159,4094,0,0,0,0,0,0,25.93,24.78,25.99,10.27,49.72
$GC,113,-1.58,-576.5,1829,2363,3160,4094,6.8,-11.1,13,123,0.00,1.05,0.00,0.000,1030,0.000,0.028,1830,1944,3160,3160,4095,0,0,0,0,0,0,25.97,25.94,25.96,10.56,49.09
$GC,159,-1.58,-576.5,1829,1944,3161,4095,12.0,-11.4,19,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1944,3161,3161,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.52,48.11
$GC,205,-1.58,-576.5,1829,1944,3162,4095,17.3,-11.7,25,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1944,3163,3163,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.51,47.16
$GC,250,-1.58,-576.5,1829,1944,3163,4094,23.1,-12.8,31,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1944,3163,3163,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.49,46.77
$GC,294,-1.58,-576.5,1829,1944,3164,4095,28.5,-11.5,37,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1944,3165,3165,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.48,46.53
$GC,339,-1.58,-576.5,1829,1944,3165,4095,34.0,-12.0,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1944,3165,3165,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.47,46.69
$GC,385,-1.58,-576.5,1829,1944,3166,4095,39.5,-12.6,49,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1944,3166,3166,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.46,46.06
$GC,430,-1.58,-576.5,1829,1944,3167,4095,45.0,-11.3,55,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1944,3167,3167,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.44,45.39
$GC,475,-1.58,-576.5,1829,1944,3168,4095,50.0,-11.3,61,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1944,3168,3168,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.44,45.74
$GC,520,-1.58,-576.5,1829,1944,3168,4095,54.8,-10.7,67,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1944,3169,3169,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.42,44.56
$GC,566,-1.58,-576.5,1829,1944,3170,4095,59.7,-11.1,73,576,0.00,1.12,0.00,0.000,260,0.000,0.043,1830,2366,3170,3170,4095,0,0,0,0,0,0,26.48,26.20,26.50,10.41,44.32
$STATE,583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,583,begin apogee
$GC,590,-0.45,0.0,1829,1954,3170,4095,61.9,-10.9,75,634,3.85,0.00,32.83,1.325,10244,0.054,0.000,2185,1953,2486,2486,4095,0,0,0,0,0,0,26.22,24.96,24.24,10.41,44.44
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,637,1.58,576.5,2185,1953,2486,4095,64.6,0.0,80,682,6.93,0.00,32.97,1.300,11270,0.034,0.000,2830,1953,1812,1812,4094,0,0,0,0,0,0,25.47,25.63,23.78,10.27,43.81
$GC,720,1.58,576.5,2829,1953,1811,4094,59.4,9.4,90,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1953,1811,1811,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.12,43.03
$GC,765,1.58,576.5,2829,1953,1810,4094,54.6,10.1,96,774,0.00,1.12,0.00,0.000,260,0.000,0.040,2830,2365,1810,1810,4094,0,0,0,0,0,0,25.69,25.42,25.70,10.12,43.66
$GC,851,1.58,576.5,2829,2365,1808,4094,45.7,10.5,108,860,0.00,1.02,0.00,0.000,1030,0.000,0.028,2830,1965,1807,1807,4094,0,0,0,0,0,0,25.70,25.68,25.73,10.10,43.77
$GC,896,1.58,576.5,2829,1964,1807,4094,40.8,10.4,114,906,0.00,1.15,0.00,0.000,516,0.000,0.056,2830,1527,1807,1807,4094,0,0,0,0,0,0,26.00,25.70,26.01,10.11,45.03
$GC,929,1.58,576.5,2829,1526,1806,4094,37.5,10.3,118,938,0.00,1.10,0.00,0.000,1030,0.000,0.025,2830,1995,1806,1806,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.11,45.35
$GC,974,1.58,576.5,2829,1994,1805,4094,32.6,10.8,124,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1995,1805,1805,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.11,45.58
$GC,1019,1.58,576.5,2828,1994,1803,4094,28.0,10.1,130,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1995,1802,1802,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,45.66
$GC,1065,1.58,576.5,2829,1995,1803,4094,23.8,9.4,136,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1995,1803,1803,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.11,46.06
$GC,1109,1.58,576.5,2829,1995,1802,4094,19.7,9.0,142,1119,0.00,0.98,0.00,0.000,260,0.000,0.043,2830,2368,1802,1802,4094,0,0,0,0,0,0,26.25,25.97,26.26,10.12,46.92
$GC,1169,1.58,576.5,2829,2368,1800,4094,14.3,9.3,150,1178,0.00,0.95,0.00,0.000,1030,0.000,0.029,2830,1988,1800,1800,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.12,46.73
$GC,1215,1.58,576.5,2829,1987,1799,4094,9.9,9.4,156,1224,0.00,1.23,0.00,0.000,516,0.000,0.054,2830,1516,1799,1799,4094,0,0,0,0,0,0,26.33,26.02,26.34,10.12,47.08
$GC,1286,1.61,600.1,2829,1515,1797,4094,3.7,8.1,166,1296,0.00,1.08,2.33,0.126,9222,0.000,0.026,2829,1981,1786,1786,4094,0,0,0,0,0,0,26.18,26.20,25.41,10.15,48.46
$STATE,1311,end climb,FINISH_DEPTH_REACHED
$STATE,1311,begin subsurface finish
$FINISH1,1.6,1.024090,105
$GC,1317,0.16,105.3,2829,1980,1786,4094,1.6,8.0,169,1337,4.72,1.05,-4.95,0.000,20740,0.057,1.287,2397,2366,2365,2365,4094,0,0,0,0,0,0,26.10,24.96,26.18,10.17,48.54
$FINISH2,0.3
$STATE,1338,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1338,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,081145
$TT8_MAMPS,0.025466,0.20223
$HUMID,49.40
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.78,15.419
$10V_AH,10.25,18.951
$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,33.625,14.050,68.125,0.000,0.000,43.631,54.180,348.240,0.000,0.000,18.470,470.032,44.945,157.115,1183.727,142.927,33.452,462.861,0.000,258.931,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1286.730,1324.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.668,464.612,0.000,544.553,714.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,17802,171
$CAP_FILE_SIZE,40230,0
$CFSIZE,1024409600,990822400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,082032,6013.620,-17320.391,6,0.9,17,7.2,0.0,130.8,9,4.8