version: 66.13
glider: 401
mission: 22
dive: 604
start: 8 6 117 18 11 8
data:
$ID,401
$MISSION,22
$DIVE,604
$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,23
$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
$GPS1,060817,180212,6017.9019,-17325.6426,6,0.7,20,7.2,0.0,309.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-34.3
$GPS2,060817,181001,6017.9531,-17325.7090,6,0.7,49,7.2,0.5,322.7,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.249143,0.307275
$KALMAN_X,63829.140625,-1971.958496,-495.395416,-231976.843750,36.176880
$KALMAN_Y,43577.957031,2236.288574,900.651611,69272.117188,43.102417
$MHEAD_RNG_PITCHd_Wd,313.8,16606,-7.3,-8.333,-11.90,11100
$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,-1.54,-585.0,230,1954,1626,4092,0.0,0.0,0,20,9.95,0.00,0.00,0.000,2049,0.079,0.000,1099,1954,1626,1626,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.23,49.37
$GC,22,-1.54,-585.0,1099,1954,1626,4094,0.6,0.0,1,50,7.88,1.15,-13.70,0.000,18692,0.041,1.275,1839,2365,3170,3170,4095,0,0,0,0,0,0,25.98,24.82,26.04,10.22,49.76
$GC,106,-1.54,-585.0,1838,2366,3172,4095,5.2,-12.1,12,115,0.00,1.05,0.00,0.000,1030,0.000,0.028,1839,1944,3172,3172,4095,0,0,0,0,0,0,26.01,25.96,26.00,10.56,49.25
$GC,152,-1.54,-585.0,1838,1944,3173,4095,11.7,-15.0,18,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1944,3173,3173,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.56,48.77
$GC,196,-1.54,-585.0,1838,1944,3174,4095,17.9,-13.0,24,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1944,3175,3175,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.55,48.38
$GC,241,-1.54,-585.0,1838,1945,3175,4095,23.4,-12.0,30,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1945,3176,3176,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.52,47.71
$GC,286,-1.54,-585.0,1838,1945,3176,4095,28.5,-11.3,36,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1944,3176,3176,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.50,47.79
$GC,331,-1.54,-585.0,1838,1945,3177,4095,33.4,-10.9,42,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1945,3177,3177,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.48,46.49
$GC,375,-1.54,-585.0,1838,1945,3178,4095,38.1,-10.7,48,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1945,3178,3178,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.46,45.74
$GC,420,-1.54,-585.0,1838,1945,3179,4095,42.9,-10.9,54,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1945,3178,3178,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.45,45.58
$GC,465,-1.54,-585.0,1838,1945,3179,4095,47.9,-11.1,60,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1945,3180,3180,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.44,44.76
$GC,510,-1.54,-585.0,1838,1944,3180,4094,52.7,-10.9,66,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1945,3181,3181,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.43,44.99
$GC,555,-1.54,-585.0,1838,1945,3181,4095,57.6,-11.0,72,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1944,3181,3181,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.42,44.40
$STATE,579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,579,begin apogee
$GC,585,-0.45,0.0,1839,1945,3183,4094,60.4,-10.8,75,628,3.72,0.00,33.25,1.291,10244,0.051,0.000,2186,1944,2484,2484,4094,0,0,0,0,0,0,26.25,25.32,24.30,10.41,45.19
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,1.54,585.0,2186,1944,2484,4094,63.0,0.0,80,676,6.80,0.00,33.17,1.270,11270,0.037,0.000,2817,1944,1802,1802,4094,0,0,0,0,0,0,25.50,25.66,23.84,10.27,44.25
$GC,713,1.54,585.0,2816,1944,1801,4094,58.0,8.7,90,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1944,1800,1800,4094,0,0,0,0,0,0,25.51,25.52,25.52,10.12,43.26
$GC,760,1.54,585.0,2816,1944,1800,4094,53.7,9.3,96,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1944,1800,1800,4094,0,0,0,0,0,0,25.72,25.72,25.72,10.11,43.38
$GC,806,1.54,585.0,2816,1944,1799,4094,49.4,9.4,102,815,0.00,1.15,0.00,0.000,260,0.000,0.040,2817,2367,1799,1799,4094,0,0,0,0,0,0,25.85,25.58,25.86,10.11,44.01
$GC,870,1.54,585.0,2816,2367,1797,4094,43.2,9.6,111,880,0.00,1.05,0.00,0.000,1030,0.000,0.028,2817,1955,1798,1798,4094,0,0,0,0,0,0,25.77,25.74,25.75,10.10,44.13
$GC,916,1.54,585.0,2816,1954,1797,4094,39.1,8.8,117,925,0.00,1.12,0.00,0.000,516,0.000,0.054,2817,1523,1796,1796,4094,0,0,0,0,0,0,26.06,25.76,26.07,10.10,44.32
$GC,961,1.54,585.0,2816,1522,1796,4094,35.1,8.7,123,971,0.00,1.00,0.00,0.000,1030,0.000,0.025,2817,1962,1796,1796,4094,0,0,0,0,0,0,25.94,25.90,25.95,10.10,44.99
$GC,1007,1.54,585.0,2816,1962,1795,4094,31.2,8.6,129,1016,0.00,1.05,0.00,0.000,260,0.000,0.041,2817,2363,1795,1795,4094,0,0,0,0,0,0,26.17,25.89,26.18,10.09,44.92
$GC,1072,1.54,585.0,2815,2363,1794,4094,25.4,8.8,138,1082,0.00,1.00,0.00,0.000,1030,0.000,0.030,2817,1967,1793,1793,4094,0,0,0,0,0,0,26.03,25.98,26.05,10.09,45.43
$GC,1118,1.54,585.0,2816,1966,1793,4094,21.5,8.6,144,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1967,1793,1793,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.11,46.37
$GC,1162,1.55,589.4,2816,1967,1791,4094,17.8,8.3,150,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1967,1791,1791,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.14,47.20
$GC,1208,1.65,654.4,2816,1967,1791,4094,14.3,7.7,156,1218,0.25,0.00,4.82,0.509,10246,0.043,0.000,2853,1967,1720,1720,4094,0,0,0,0,0,0,26.14,25.91,25.25,10.16,48.77
$GC,1256,1.82,768.2,2853,1966,1719,4094,10.8,7.3,162,1267,0.40,0.00,7.43,0.596,10246,0.034,0.000,2900,1967,1588,1588,4094,0,0,0,0,0,0,26.12,25.86,25.22,10.16,49.44
$GC,1305,1.90,822.5,2899,1966,1587,4094,7.0,7.8,168,1315,0.25,0.00,4.55,0.439,10246,0.047,0.000,2931,1967,1523,1523,4094,0,0,0,0,0,0,26.06,25.86,25.25,10.14,49.64
$GC,1353,1.90,822.5,2930,1966,1522,4094,2.8,8.9,174,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1967,1522,1522,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.14,49.76
$STATE,1369,end climb,FINISH_DEPTH_REACHED
$STATE,1369,begin subsurface finish
$FINISH1,0.9,1.024178,99
$GC,1376,0.15,99.1,2931,1966,1522,4094,0.9,9.1,176,1394,5.57,0.00,-7.22,0.000,20486,0.024,0.000,2391,1966,2375,2375,4094,0,0,0,0,0,0,26.06,25.10,26.11,10.14,49.60
$FINISH2,0.2
$STATE,1395,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1395,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,164308
$TT8_MAMPS,0.025466,0.249417
$HUMID,50.27
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.84,16.080
$10V_AH,10.18,19.702
$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,34.825,8.575,83.225,0.000,0.000,24.902,18.633,255.237,0.000,0.000,50.542,490.271,0.000,165.719,1081.369,146.890,33.452,481.180,0.000,431.220,0.000,0.542,0.000
$DEVICE_MAMPS,78.795,1275.255,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.466,483.482,382.822,566.895,739.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329356
$DATA_FILE_SIZE,17798,178
$CAP_FILE_SIZE,40570,0
$CFSIZE,1024409600,989790208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,181001,6017.953,-17325.709,6,0.7,49,7.2,0.5,322.7,11,5.0