version: 66.13
glider: 401
mission: 22
dive: 605
start: 8 6 117 18 36 31
data:
$ID,401
$MISSION,22
$DIVE,605
$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,21
$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
$GPS1,060817,181001,6017.9531,-17325.7090,6,0.7,49,7.2,0.5,322.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-3.2
$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,-0.238726,0.304601
$KALMAN_X,63979.828125,-1897.441040,-434.582825,-232278.828125,13.194946
$KALMAN_Y,43400.609375,2172.026367,813.666809,69630.109375,58.788513
$MHEAD_RNG_PITCHd_Wd,314.7,16606,-7.6,-8.333,-12.15,10509
$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,-585.0,2391,1965,2374,4092,0.0,0.0,0,21,5.72,0.00,-4.88,0.000,20482,0.026,0.000,1840,1965,2922,2922,4094,0,0,0,0,0,0,26.12,28.83,26.14,10.35,51.02
$GC,24,-1.57,-585.0,1839,1965,2922,4094,0.2,0.0,1,34,0.00,1.10,-2.22,0.000,16644,0.000,1.273,1839,2360,3165,3165,4094,0,0,0,0,0,0,26.32,24.91,26.32,10.46,50.55
$GC,89,-1.57,-585.0,1839,2360,3166,4094,5.5,-11.9,10,99,0.00,1.05,0.00,0.000,1030,0.000,0.030,1839,1941,3166,3166,4095,0,0,0,0,0,0,26.04,26.01,26.10,10.52,50.55
$GC,136,-1.57,-585.0,1839,1941,3166,4095,11.8,-14.3,16,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1941,3167,3167,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.53,50.07
$GC,181,-1.57,-585.0,1839,1941,3168,4094,18.2,-13.2,22,190,0.00,1.05,0.00,0.000,516,0.000,0.048,1839,1521,3168,3168,4095,0,0,0,0,0,0,26.34,26.06,26.35,10.52,50.31
$GC,226,-1.57,-585.0,1839,1521,3169,4095,23.7,-11.9,28,236,0.00,0.95,0.00,0.000,1030,0.000,0.027,1839,1935,3169,3169,4095,0,0,0,0,0,0,26.21,26.15,26.19,10.50,49.48
$GC,272,-1.57,-585.0,1839,1935,3170,4095,28.7,-10.6,34,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1935,3170,3170,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.47,49.29
$GC,319,-1.57,-585.0,1838,1936,3171,4094,33.5,-10.8,40,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1936,3171,3171,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.44,47.95
$GC,363,-1.57,-585.0,1838,1936,3172,4095,38.5,-10.8,46,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1936,3172,3172,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.43,47.36
$GC,408,-1.57,-585.0,1839,1936,3173,4094,43.3,-10.9,52,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1936,3173,3173,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.42,47.16
$GC,453,-1.57,-585.0,1839,1936,3174,4095,48.1,-10.5,58,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1936,3174,3174,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.42,46.25
$GC,499,-1.57,-585.0,1839,1936,3175,4094,53.0,-11.1,64,509,0.00,1.12,0.00,0.000,260,0.000,0.044,1839,2367,3175,3175,4095,0,0,0,0,0,0,26.52,26.23,26.53,10.41,46.10
$GC,545,-1.57,-585.0,1839,2367,3175,4095,58.1,-10.8,70,554,0.00,1.08,0.00,0.000,1030,0.000,0.028,1839,1931,3175,3175,4095,0,0,0,0,0,0,26.31,26.28,26.34,10.40,46.06
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,569,-0.45,0.0,1839,1931,3176,4095,60.2,-11.2,72,613,3.72,0.00,33.03,1.286,10244,0.052,0.000,2185,1931,2483,2483,4094,0,0,0,0,0,0,26.27,25.03,24.33,10.40,45.66
$STATE,614,end apogee,CONTROL_FINISHED_OK
$STATE,614,begin climb
$GC,616,1.57,585.0,2184,1931,2483,4094,62.9,0.0,77,661,6.93,0.00,33.17,1.266,11270,0.036,0.000,2829,1931,1802,1802,4095,0,0,0,0,0,0,25.52,25.69,23.85,10.25,45.47
$GC,698,1.57,585.0,2828,1931,1802,4095,57.7,9.3,87,708,0.00,1.17,0.00,0.000,260,0.000,0.039,2829,2359,1801,1801,4094,0,0,0,0,0,0,25.51,25.26,25.52,10.11,44.13
$GC,765,1.57,585.0,2828,2359,1800,4094,51.1,10.0,96,774,0.00,1.02,0.00,0.000,1030,0.000,0.030,2829,1963,1800,1800,4094,0,0,0,0,0,0,25.58,25.55,25.60,10.10,44.29
$GC,811,1.57,585.0,2828,1962,1799,4094,46.5,9.5,102,820,0.00,1.17,0.00,0.000,516,0.000,0.055,2829,1518,1799,1799,4094,0,0,0,0,0,0,25.89,25.60,25.91,10.10,44.76
$GC,856,1.57,585.0,2828,1517,1797,4094,42.1,9.5,108,866,0.00,1.00,0.03,0.002,9222,0.000,0.024,2829,1952,1798,1798,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.09,45.43
$GC,902,1.57,585.0,2828,1952,1797,4094,37.6,9.8,114,911,0.00,1.08,0.00,0.000,260,0.000,0.042,2829,2358,1796,1796,4094,0,0,0,0,0,0,26.06,25.78,26.07,10.08,45.43
$GC,954,1.57,585.0,2829,2357,1796,4094,32.7,9.3,121,963,0.00,1.02,0.00,0.000,1030,0.000,0.031,2829,1956,1795,1795,4095,0,0,0,0,0,0,25.90,25.87,25.91,10.08,45.31
$GC,1001,1.57,585.0,2828,1956,1795,4095,28.5,9.2,127,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1956,1795,1795,4095,0,0,0,0,0,0,26.17,26.20,26.19,10.08,45.66
$GC,1046,1.57,585.0,2828,1956,1794,4095,24.3,8.8,133,1055,0.00,1.12,0.00,0.000,516,0.000,0.056,2829,1524,1794,1794,4094,0,0,0,0,0,0,26.22,25.94,26.24,10.09,46.22
$GC,1085,1.57,585.0,2828,1524,1794,4094,20.8,9.0,138,1094,0.00,1.02,0.00,0.000,1030,0.000,0.025,2829,1975,1793,1793,4094,0,0,0,0,0,0,26.08,26.06,26.09,10.11,47.00
$GC,1132,1.60,605.2,2828,1974,1792,4094,17.1,8.1,144,1141,0.00,0.95,2.50,0.200,8452,0.000,0.038,2829,2359,1778,1778,4094,0,0,0,0,0,0,26.30,25.72,25.20,10.13,47.63
$GC,1203,1.65,637.0,2829,2358,1777,4094,11.1,8.0,154,1214,0.10,1.00,3.33,0.341,11270,0.047,0.030,2849,1960,1741,1741,4094,0,0,0,0,0,0,26.11,26.10,25.29,10.15,49.96
$GC,1252,1.70,672.1,2849,1960,1739,4094,7.4,8.0,160,1263,0.10,1.08,3.65,0.363,10756,0.073,0.053,2872,1523,1699,1699,4094,0,0,0,0,0,0,26.16,25.78,25.34,10.16,50.23
$GC,1312,1.70,672.1,2872,1522,1697,4094,2.2,8.5,168,1322,0.00,1.00,0.00,0.000,1030,0.000,0.025,2872,1968,1696,1696,4094,0,0,0,0,0,0,26.17,26.17,26.19,10.17,50.35
$STATE,1331,end climb,FINISH_DEPTH_REACHED
$STATE,1331,begin subsurface finish
$FINISH1,0.5,1.024153,101
$GC,1338,0.15,100.8,2872,1970,1697,4094,0.5,8.4,170,1357,4.93,0.00,-5.80,0.000,20742,0.026,0.000,2390,1971,2370,2370,4095,0,0,0,0,0,0,26.15,25.62,26.20,10.17,50.51
$FINISH2,0.2
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,164308
$TT8_MAMPS,0.025466,0.211967
$HUMID,50.98
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.85,16.105
$10V_AH,10.25,19.729
$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,21.500,19.000,75.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,479.096,0.000,151.635,723.699,59.604,33.425,449.010,0.000,258.836,0.000,0.542,0.000
$DEVICE_MAMPS,72.675,1272.960,1285.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.483,467.315,0.000,547.654,717.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,17928,172
$CAP_FILE_SIZE,36299,0
$CFSIZE,1024409600,989741056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,181001,6017.953,-17325.709,6,0.7,49,7.2,0.5,322.7,11,5.0