version: 66.13
glider: 401
mission: 22
dive: 599
start: 8 6 117 15 43 24
data:
$ID,401
$MISSION,22
$DIVE,599
$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,50
$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
$GPS1,060817,151705,6016.1626,-17323.8125,5,0.7,17,7.2,0.3,257.2,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-2.2
$GPS2,060817,151705,6016.1626,-17323.8125,5,0.7,17,7.2,0.3,257.2,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.228320,0.297526
$KALMAN_X,63796.144531,-1897.290039,-357.395538,-230377.203125,7.997833
$KALMAN_Y,43035.871094,1931.848267,612.413330,67120.351562,72.030029
$MHEAD_RNG_PITCHd_Wd,315.3,20336,-8.1,-8.333,-12.53,9720
$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,-549.2,2393,1953,2372,4092,0.0,0.0,0,21,5.72,0.00,-4.85,0.000,20482,0.027,0.000,1841,1954,2915,2915,4095,0,0,0,0,0,0,26.13,28.83,26.16,10.33,50.98
$GC,24,-1.56,-549.2,1840,1953,2914,4095,0.1,0.0,1,34,0.00,1.10,-1.95,0.000,16644,0.000,1.273,1841,2351,3128,3128,4095,0,0,0,0,0,0,26.34,24.94,26.32,10.44,50.78
$GC,148,-1.56,-549.2,1840,2351,3130,4095,14.0,-12.0,19,157,0.00,1.02,0.00,0.000,1030,0.000,0.029,1840,1941,3130,3130,4095,0,0,0,0,0,0,26.10,26.07,26.12,10.49,50.35
$GC,193,-1.56,-549.2,1840,1941,3131,4095,19.5,-11.7,25,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3131,3131,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.47,49.96
$GC,238,-1.56,-549.2,1840,1941,3132,4095,24.6,-11.4,31,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3132,3132,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.46,49.17
$GC,284,-1.56,-549.2,1840,1941,3133,4095,29.6,-11.2,37,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3133,3133,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.43,48.93
$GC,328,-1.56,-549.2,1840,1941,3134,4094,34.6,-11.4,43,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3134,3134,4094,0,0,0,0,0,0,26.44,26.45,26.46,10.42,48.38
$GC,373,-1.56,-549.2,1840,1941,3135,4094,39.7,-11.1,49,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3135,3135,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.41,47.87
$GC,418,-1.56,-549.2,1840,1941,3136,4094,44.7,-11.7,55,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3135,3135,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.40,47.04
$GC,463,-1.56,-549.2,1840,1941,3136,4095,50.0,-11.5,61,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3137,3137,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.39,46.73
$GC,508,-1.56,-549.2,1840,1941,3137,4095,55.0,-11.3,67,517,0.00,1.05,0.00,0.000,516,0.000,0.050,1841,1523,3138,3138,4095,0,0,0,0,0,0,26.52,26.22,26.53,10.38,46.45
$STATE,551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,551,begin apogee
$GC,558,-0.45,0.0,1840,1944,3139,4095,60.2,-11.3,73,602,3.72,0.00,31.40,1.289,10244,0.052,0.000,2186,1945,2483,2483,4094,0,0,0,0,0,0,26.23,25.04,24.35,10.38,46.49
$STATE,603,end apogee,CONTROL_FINISHED_OK
$STATE,603,begin climb
$GC,605,1.56,549.2,2186,1945,2483,4094,62.7,0.0,78,650,6.88,0.00,31.25,1.268,11270,0.036,0.000,2826,1948,1844,1844,4094,0,0,0,0,0,0,25.56,25.72,23.87,10.24,45.39
$GC,688,1.56,549.2,2825,1947,1843,4094,57.3,9.6,88,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1948,1843,1843,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.09,44.72
$GC,733,1.56,549.2,2825,1947,1842,4094,52.8,9.5,94,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1948,1842,1842,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.09,45.31
$GC,777,1.56,549.2,2825,1947,1841,4094,48.4,9.8,100,787,0.00,1.12,0.00,0.000,260,0.000,0.041,2826,2367,1841,1841,4094,0,0,0,0,0,0,25.85,25.58,25.86,10.09,44.80
$GC,829,1.56,549.2,2826,2366,1841,4094,43.4,9.7,107,839,0.00,1.05,0.00,0.000,1030,0.000,0.030,2826,1958,1840,1840,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.09,45.82
$GC,875,1.56,549.2,2825,1958,1839,4094,39.1,9.4,113,884,0.00,1.15,0.00,0.000,516,0.000,0.056,2826,1520,1839,1839,4094,0,0,0,0,0,0,26.03,25.74,26.05,10.08,45.74
$GC,920,1.56,549.2,2825,1519,1838,4094,34.8,9.3,119,929,0.00,1.05,0.00,0.000,1030,0.000,0.025,2826,1971,1838,1838,4094,0,0,0,0,0,0,25.90,25.89,25.93,10.09,46.45
$GC,967,1.56,549.2,2825,1971,1838,4094,30.8,8.8,125,976,0.00,1.02,0.00,0.000,260,0.000,0.043,2826,2362,1837,1837,4094,0,0,0,0,0,0,26.15,25.87,26.17,10.10,46.02
$GC,1025,1.56,549.2,2826,2362,1836,4094,25.2,9.6,133,1035,0.00,1.00,0.00,0.000,1030,0.000,0.030,2826,1967,1836,1836,4094,0,0,0,0,0,0,26.03,25.97,26.03,10.09,46.81
$GC,1071,1.56,549.2,2825,1967,1835,4094,20.9,9.4,139,1081,0.00,1.15,0.00,0.000,516,0.000,0.055,2826,1526,1835,1835,4094,0,0,0,0,0,0,26.25,25.94,26.27,10.10,47.67
$GC,1123,1.56,549.2,2825,1525,1834,4094,16.3,8.4,146,1133,0.00,1.00,0.00,0.000,1030,0.000,0.025,2826,1966,1834,1834,4094,0,0,0,0,0,0,26.13,26.09,26.13,10.13,47.87
$GC,1171,1.60,572.2,2825,1966,1833,4094,12.6,8.1,152,1181,0.00,1.02,2.67,0.229,8452,0.000,0.038,2826,2362,1815,1815,4094,0,0,0,0,0,0,26.33,25.75,25.27,10.14,48.89
$GC,1283,1.67,623.4,2825,2361,1813,4094,3.4,7.8,168,1293,0.25,1.00,4.20,0.383,11270,0.036,0.028,2862,1960,1755,1755,4094,0,0,0,0,0,0,26.17,26.14,25.40,10.17,50.27
$STATE,1301,end climb,FINISH_DEPTH_REACHED
$STATE,1301,begin subsurface finish
$FINISH1,1.6,1.024172,100
$GC,1308,0.15,99.5,2862,1960,1754,4094,1.6,8.0,170,1328,5.10,1.15,-5.25,0.000,20996,0.059,1.292,2394,1527,2369,2369,4094,0,0,0,0,0,0,26.09,24.94,26.16,10.16,50.27
$FINISH2,0.3
$STATE,1329,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1329,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,134932
$TT8_MAMPS,0.025466,0.212716
$HUMID,51.61
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.87,15.904
$10V_AH,10.23,19.513
$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,21.675,16.950,69.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,468.588,0.000,142.068,722.000,54.240,33.427,423.232,0.000,258.778,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,1292.085,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.795,467.316,0.000,547.760,716.143,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330844
$DATA_FILE_SIZE,17736,172
$CAP_FILE_SIZE,32976,0
$CFSIZE,1024409600,990035968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,151705,6016.163,-17323.812,5,0.7,17,7.2,0.3,257.2,11,5.0