version: 66.13
glider: 401
mission: 22
dive: 581
start: 8 6 117 7 19 50
data:
$ID,401
$MISSION,22
$DIVE,581
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,060817,065415,6013.4966,-17320.3223,5,0.8,17,7.2,0.0,93.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-1.1
$GPS2,060817,065415,6013.4966,-17320.3223,5,0.8,17,7.2,0.0,93.6,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.263737,0.289231
$KALMAN_X,62524.171875,-2378.751465,-463.125488,-225209.031250,174.022156
$KALMAN_Y,45149.406250,2196.893555,1095.300293,59315.195312,-98.585693
$MHEAD_RNG_PITCHd_Wd,310.4,26214,-7.5,-8.333,-12.02,10811
$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,-585.0,2391,1944,2362,4092,0.0,0.0,0,21,5.65,0.00,-4.93,0.000,20482,0.024,0.000,1841,1945,2912,2912,4095,0,0,0,0,0,0,26.13,28.83,26.15,10.33,51.02
$GC,24,-1.56,-585.0,1840,1945,2913,4095,0.1,0.0,1,34,0.00,1.15,-2.28,0.000,16644,0.000,1.269,1841,2363,3168,3168,4095,0,0,0,0,0,0,26.31,24.93,26.30,10.44,50.86
$GC,136,-1.56,-585.0,1840,2363,3170,4095,12.4,-12.0,17,145,0.00,1.02,0.00,0.000,1030,0.000,0.028,1841,1956,3170,3170,4095,0,0,0,0,0,0,26.06,26.05,26.10,10.47,50.27
$GC,181,-1.56,-585.0,1840,1956,3171,4095,17.7,-12.0,23,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3172,3172,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.45,49.64
$GC,226,-1.56,-585.0,1840,1956,3172,4095,23.2,-12.2,29,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3173,3173,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.45,49.40
$GC,271,-1.56,-585.0,1840,1956,3173,4095,28.4,-11.7,35,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3173,3173,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.44,48.54
$GC,317,-1.56,-585.0,1840,1956,3174,4095,33.4,-11.4,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3175,3175,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.43,48.07
$GC,362,-1.56,-585.0,1840,1956,3175,4095,38.6,-10.9,47,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3175,3175,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.42,47.75
$GC,406,-1.56,-585.0,1840,1956,3176,4094,43.8,-11.7,53,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3176,3176,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.41,47.71
$GC,451,-1.56,-585.0,1840,1956,3177,4094,48.8,-11.2,59,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3177,3177,4094,0,0,0,0,0,0,26.49,26.50,26.51,10.40,46.81
$GC,497,-1.56,-585.0,1840,1956,3178,4094,53.4,-10.4,65,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3178,3178,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.39,46.88
$GC,542,-1.56,-585.0,1840,1956,3179,4095,58.1,-10.6,71,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1956,3179,3179,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.39,46.29
$STATE,560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,560,begin apogee
$GC,565,-0.45,0.0,1840,1956,3179,4094,60.1,-10.5,73,609,3.72,0.00,33.12,1.290,10244,0.053,0.000,2185,1956,2486,2486,4094,0,0,0,0,0,0,26.26,25.01,24.30,10.39,46.57
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,613,1.56,585.0,2185,1956,2486,4094,62.5,0.0,78,657,6.85,0.00,33.35,1.265,11270,0.034,0.000,2822,1956,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.84,10.24,45.58
$GC,695,1.56,585.0,2822,1955,1801,4094,57.2,9.2,88,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1956,1802,1802,4094,0,0,0,0,0,0,25.50,25.51,25.51,10.09,44.40
$GC,740,1.56,585.0,2822,1955,1800,4094,52.7,9.5,94,749,0.00,1.12,0.00,0.000,260,0.000,0.041,2822,2364,1800,1800,4095,0,0,0,0,0,0,25.70,25.45,25.71,10.08,45.43
$GC,811,1.56,585.0,2822,2363,1798,4095,45.6,9.9,104,821,0.00,1.05,0.00,0.000,1030,0.000,0.030,2823,1956,1798,1798,4094,0,0,0,0,0,0,25.68,25.65,25.70,10.08,45.31
$GC,858,1.56,585.0,2822,1956,1798,4094,41.3,9.5,110,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1956,1797,1797,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.09,45.35
$GC,903,1.56,585.0,2822,1956,1796,4094,36.9,9.4,116,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1956,1796,1796,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,46.53
$GC,948,1.56,585.0,2822,1956,1796,4094,32.9,8.9,122,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1956,1796,1796,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.09,46.49
$GC,992,1.56,585.0,2822,1956,1795,4094,29.0,8.7,128,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1956,1795,1795,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.09,46.61
$GC,1038,1.56,585.0,2822,1956,1794,4094,25.2,8.6,134,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1956,1794,1794,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.09,46.85
$GC,1083,1.56,585.0,2822,1956,1793,4094,21.2,8.4,140,1092,0.00,1.08,0.00,0.000,260,0.000,0.040,2823,2358,1793,1793,4094,0,0,0,0,0,0,26.25,25.97,26.26,10.09,47.04
$GC,1161,1.56,585.0,2822,2357,1791,4094,14.1,9.4,151,1170,0.00,0.95,0.00,0.000,1030,0.000,0.031,2823,1980,1791,1791,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.10,47.87
$GC,1206,1.56,585.0,2822,1979,1790,4094,10.0,9.1,157,1216,0.00,1.17,0.00,0.000,516,0.000,0.054,2823,1525,1790,1790,4094,0,0,0,0,0,0,26.34,26.04,26.35,10.10,48.14
$GC,1278,1.67,660.2,2822,1525,1788,4094,4.1,7.6,167,1289,0.28,1.05,4.95,0.455,11270,0.034,0.026,2861,1980,1713,1713,4094,0,0,0,0,0,0,26.17,26.17,25.39,10.13,48.77
$STATE,1303,end climb,FINISH_DEPTH_REACHED
$STATE,1303,begin subsurface finish
$FINISH1,1.9,1.024043,109
$GC,1310,0.16,108.5,2861,1980,1713,4094,1.9,7.8,170,1330,5.03,1.02,-5.10,0.000,20740,0.055,1.285,2399,2358,2362,2362,4094,0,0,0,0,0,0,26.08,24.95,26.15,10.14,49.64
$FINISH2,0.6
$STATE,1331,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1331,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,052648
$TT8_MAMPS,0.026215,0.20223
$HUMID,50.15
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.84,15.343
$10V_AH,10.23,18.876
$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,21.525,9.625,71.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,463.612,0.000,144.372,724.931,54.151,33.426,432.533,0.000,258.697,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1285.200,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.680,467.397,0.000,547.782,717.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,17815,172
$CAP_FILE_SIZE,31898,0
$CFSIZE,1024409600,990937088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,065415,6013.497,-17320.322,5,0.8,17,7.2,0.0,93.6,10,5.0