version: 66.13
glider: 401
mission: 22
dive: 589
start: 8 6 117 11 9 51
data:
$ID,401
$MISSION,22
$DIVE,589
$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,44
$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
$GPS1,060817,110003,6014.0850,-17321.3242,6,0.9,41,7.2,0.3,173.1,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-38.1
$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,-0.183160,0.342985
$KALMAN_X,63571.984375,-2055.307129,-273.988525,-227714.484375,65.523071
$KALMAN_Y,43417.394531,1951.230103,623.101562,62707.687500,-180.000427
$MHEAD_RNG_PITCHd_Wd,324.7,24921,-7.6,-8.333,-12.10,10633
$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,-585.0,229,1959,1786,4092,0.0,0.0,0,20,9.65,0.00,0.00,0.000,2049,0.090,0.000,1055,1959,1786,1786,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.25,49.88
$GC,22,-1.57,-585.0,1054,1958,1785,4094,0.7,0.0,1,49,8.32,0.00,-12.45,0.000,18694,0.044,0.000,1832,1959,3168,3168,4095,0,0,0,0,0,0,25.96,25.49,26.03,10.25,49.40
$GC,87,-1.57,-585.0,1832,1959,3168,4095,3.8,-11.3,9,96,0.00,1.05,0.00,0.000,260,0.000,0.041,1832,2359,3168,3168,4094,0,0,0,0,0,0,26.19,25.91,26.20,10.55,49.92
$GC,132,-1.57,-585.0,1831,2359,3169,4094,9.0,-10.8,15,141,0.00,1.02,0.00,0.000,1030,0.000,0.028,1833,1947,3169,3169,4095,0,0,0,0,0,0,26.01,25.98,26.04,10.54,49.09
$GC,177,-1.57,-585.0,1831,1947,3170,4095,14.3,-11.8,21,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3171,3171,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.50,48.11
$GC,222,-1.57,-585.0,1831,1947,3171,4094,19.6,-12.0,27,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1947,3171,3171,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.49,47.63
$GC,268,-1.57,-585.0,1831,1947,3172,4094,25.0,-12.2,33,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3172,3172,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.48,46.92
$GC,313,-1.57,-585.0,1831,1947,3173,4095,30.7,-12.4,39,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3173,3173,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.47,46.53
$GC,358,-1.57,-585.0,1831,1947,3174,4095,36.1,-11.9,45,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3174,3174,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.46,46.57
$GC,403,-1.57,-585.0,1831,1947,3175,4094,41.4,-11.8,51,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3175,3175,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.44,46.02
$GC,449,-1.57,-585.0,1831,1947,3176,4095,46.4,-11.1,57,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1947,3176,3176,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.44,45.55
$GC,494,-1.57,-585.0,1832,1947,3177,4094,51.5,-11.3,63,503,0.00,1.10,0.00,0.000,260,0.000,0.042,1832,2362,3177,3177,4094,0,0,0,0,0,0,26.48,26.20,26.49,10.43,45.86
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,577,-0.45,0.0,1832,1945,3178,4094,60.2,-11.3,74,619,3.78,0.00,33.17,1.298,10244,0.052,0.000,2186,1946,2484,2484,4095,0,0,0,0,0,0,26.24,25.25,24.27,10.41,44.84
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,622,1.57,585.0,2185,1946,2484,4095,62.8,0.0,79,670,6.90,0.00,33.28,1.273,11270,0.036,0.000,2827,1946,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.82,10.27,44.36
$GC,708,1.57,585.0,2826,1946,1801,4094,57.4,9.3,89,717,0.00,1.12,0.00,0.000,260,0.000,0.038,2827,2360,1801,1801,4094,0,0,0,0,0,0,25.51,25.25,25.52,10.12,43.58
$GC,812,1.57,585.0,2826,2359,1798,4094,47.4,9.5,104,821,0.00,1.00,0.00,0.000,1030,0.000,0.029,2827,1969,1799,1799,4094,0,0,0,0,0,0,25.66,25.65,25.69,10.10,44.56
$GC,859,1.57,585.0,2826,1969,1798,4094,43.2,9.1,110,868,0.00,1.17,0.00,0.000,516,0.000,0.054,2827,1521,1797,1797,4094,0,0,0,0,0,0,25.96,25.67,25.98,10.10,44.64
$GC,911,1.57,585.0,2826,1521,1796,4094,38.4,8.8,117,920,0.00,1.02,0.00,0.000,1030,0.000,0.024,2827,1967,1796,1796,4094,0,0,0,0,0,0,25.85,25.85,25.87,10.10,44.92
$GC,957,1.57,585.0,2826,1967,1795,4094,34.6,8.4,123,967,0.00,1.02,0.00,0.000,260,0.000,0.041,2827,2358,1796,1796,4094,0,0,0,0,0,0,26.11,25.84,26.12,10.11,45.51
$GC,1016,1.57,585.0,2826,2358,1794,4094,29.4,8.7,131,1026,0.00,1.00,0.00,0.000,1030,0.000,0.030,2827,1963,1794,1794,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.11,45.94
$GC,1061,1.57,585.0,2826,1963,1794,4094,25.6,8.4,137,1071,0.00,1.15,0.00,0.000,516,0.000,0.055,2827,1521,1793,1793,4094,0,0,0,0,0,0,26.22,25.91,26.23,10.11,46.57
$GC,1114,1.57,585.0,2826,1521,1792,4094,21.2,8.4,144,1123,0.00,1.02,0.00,0.000,1030,0.000,0.027,2827,1971,1792,1792,4094,0,0,0,0,0,0,26.08,26.06,26.08,10.11,46.81
$GC,1161,1.57,585.0,2826,1970,1791,4094,17.4,8.5,150,1170,0.00,1.02,0.00,0.000,260,0.000,0.042,2827,2363,1791,1791,4094,0,0,0,0,0,0,26.30,26.02,26.32,10.11,47.08
$GC,1238,1.57,585.0,2826,2363,1789,4094,10.5,8.6,161,1248,0.00,0.98,0.00,0.000,1030,0.000,0.028,2827,1972,1789,1789,4094,0,0,0,0,0,0,26.14,26.12,26.15,10.12,47.83
$GC,1284,1.63,625.0,2827,1972,1788,4094,6.8,7.9,167,1295,0.10,1.12,3.10,0.291,10756,0.075,0.051,2846,1520,1759,1759,4094,0,0,0,0,0,0,26.20,25.83,25.39,10.14,47.75
$STATE,1342,end climb,FINISH_DEPTH_REACHED
$STATE,1342,begin subsurface finish
$FINISH1,1.9,1.024162,100
$GC,1350,0.15,100.2,2846,1962,1757,4094,1.9,8.1,175,1369,4.90,0.00,-5.28,0.000,20998,0.055,0.000,2390,1968,2370,2370,4095,0,0,0,0,0,0,26.17,25.65,26.22,10.17,49.64
$FINISH2,0.2
$STATE,1370,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1370,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,093838
$TT8_MAMPS,0.025466,0.208222
$HUMID,49.92
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.82,15.607
$10V_AH,10.25,19.164
$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,33.650,16.900,69.550,0.000,0.000,25.475,27.441,293.574,0.000,0.000,52.094,486.127,0.000,151.674,1135.000,137.948,33.480,450.744,0.000,267.385,0.000,0.542,0.000
$DEVICE_MAMPS,90.270,55.080,1298.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.134,480.940,0.000,564.331,737.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,17921,177
$CAP_FILE_SIZE,39033,0
$CFSIZE,1024409600,990527488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,657.21,0x236164,1,24
$GPS,060817,110843,6014.010,-17321.330,5,0.9,50,7.2,0.4,217.9,8,3.0