version: 66.13
glider: 401
mission: 22
dive: 584
start: 8 6 117 8 46 5
data:
$ID,401
$MISSION,22
$DIVE,584
$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,20
$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
$GPS1,060817,082032,6013.6196,-17320.3906,6,0.9,17,7.2,0.0,130.8,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-3.3
$GPS2,060817,082032,6013.6196,-17320.3906,6,0.9,17,7.2,0.0,130.8,9,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.223991,0.304612
$KALMAN_X,63179.710938,-2202.827148,-324.097839,-226244.140625,141.937164
$KALMAN_Y,44499.246094,2104.265381,878.417358,60502.441406,-161.218750
$MHEAD_RNG_PITCHd_Wd,316.5,25988,-8.0,-8.333,-12.43,9919
$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,7,-1.57,-560.8,2397,1955,2365,4092,0.0,0.0,0,20,5.65,0.00,-4.30,0.000,20482,0.030,0.000,1854,1955,2850,2850,4094,0,0,0,0,0,0,26.12,28.83,26.14,10.32,50.39
$GC,23,-1.57,-560.8,1853,1955,2850,4094,0.2,0.0,1,33,0.00,1.15,-2.67,0.000,16644,0.000,1.270,1853,2368,3141,3141,4095,0,0,0,0,0,0,26.32,24.94,26.32,10.43,50.51
$GC,103,-1.57,-560.8,1853,2368,3143,4095,6.8,-10.9,12,112,0.00,1.08,0.00,0.000,1030,0.000,0.029,1853,1937,3143,3143,4094,0,0,0,0,0,0,26.08,26.02,26.08,10.50,50.35
$GC,150,-1.57,-560.8,1853,1937,3144,4094,11.9,-10.8,18,159,0.00,1.05,0.00,0.000,516,0.000,0.051,1854,1524,3144,3144,4095,0,0,0,0,0,0,26.32,26.02,26.33,10.47,50.03
$GC,182,-1.57,-560.8,1853,1524,3144,4095,15.7,-11.3,22,192,0.00,0.98,0.00,0.000,1030,0.000,0.025,1853,1948,3144,3144,4094,0,0,0,0,0,0,26.13,26.15,26.16,10.46,50.07
$GC,228,-1.57,-560.8,1853,1948,3145,4094,20.8,-11.2,28,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1948,3146,3146,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.45,49.29
$GC,273,-1.57,-560.8,1853,1948,3146,4095,25.9,-11.1,34,281,0.00,1.08,0.00,0.000,260,0.000,0.044,1853,2359,3146,3146,4094,0,0,0,0,0,0,26.40,26.12,26.41,10.44,49.13
$GC,317,-1.57,-560.8,1853,2359,3147,4094,30.7,-10.9,40,327,0.00,0.98,0.00,0.000,1030,0.000,0.027,1854,1970,3147,3147,4094,0,0,0,0,0,0,26.23,26.20,26.23,10.43,48.62
$GC,363,-1.57,-560.8,1853,1970,3148,4094,35.9,-11.2,46,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1970,3148,3148,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,47.71
$GC,406,-1.57,-560.8,1853,1970,3149,4095,40.8,-11.6,52,416,0.00,1.15,0.00,0.000,516,0.000,0.048,1854,1515,3149,3149,4095,0,0,0,0,0,0,26.47,26.17,26.48,10.41,47.55
$GC,445,-1.57,-560.8,1853,1515,3150,4095,45.2,-11.1,57,455,0.00,1.00,0.00,0.000,1030,0.000,0.025,1853,1949,3150,3150,4095,0,0,0,0,0,0,26.29,26.27,26.34,10.41,47.36
$GC,492,-1.57,-560.8,1853,1949,3151,4095,49.9,-10.0,63,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1949,3151,3151,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.39,46.85
$GC,539,-1.57,-560.8,1853,1949,3152,4095,54.6,-10.2,69,547,0.00,1.10,0.00,0.000,260,0.000,0.044,1853,2371,3152,3152,4095,0,0,0,0,0,0,26.53,26.24,26.54,10.39,47.28
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,595,-0.45,0.0,1853,1939,3152,4094,60.0,-10.3,76,638,3.55,0.00,31.73,1.291,10244,0.051,0.000,2186,1938,2488,2488,4095,0,0,0,0,0,0,26.27,25.08,24.37,10.38,46.18
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,641,1.57,560.8,2185,1938,2488,4095,62.6,0.0,81,686,6.88,0.00,32.05,1.268,11270,0.036,0.000,2826,1939,1830,1830,4094,0,0,0,0,0,0,25.55,25.71,23.87,10.24,46.10
$GC,723,1.57,560.8,2825,1938,1829,4094,57.3,9.5,91,733,0.00,1.20,0.00,0.000,260,0.000,0.040,2826,2372,1829,1829,4094,0,0,0,0,0,0,25.53,25.27,25.53,10.10,44.52
$GC,803,1.57,560.8,2825,2371,1828,4094,49.2,10.5,102,813,0.00,1.02,0.00,0.000,1030,0.000,0.029,2826,1973,1827,1827,4094,0,0,0,0,0,0,25.62,25.58,25.63,10.09,45.15
$GC,850,1.57,560.8,2825,1973,1827,4094,44.6,10.1,108,859,0.00,1.20,0.00,0.000,516,0.000,0.054,2826,1519,1827,1827,4094,0,0,0,0,0,0,25.93,25.62,25.94,10.09,45.78
$GC,914,1.57,560.8,2825,1518,1825,4094,38.4,9.0,117,924,0.00,1.02,0.00,0.000,1030,0.000,0.025,2826,1965,1825,1825,4094,0,0,0,0,0,0,25.86,25.84,25.87,10.09,46.18
$GC,960,1.57,560.8,2825,1966,1824,4094,34.4,8.7,123,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1966,1824,1824,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.09,46.18
$GC,1005,1.57,560.8,2825,1966,1823,4094,30.4,9.0,129,1014,0.00,1.02,0.00,0.000,260,0.000,0.041,2826,2355,1823,1823,4094,0,0,0,0,0,0,26.15,25.88,26.17,10.10,46.37
$GC,1050,1.57,560.8,2825,2355,1822,4094,26.2,9.1,135,1060,0.00,1.02,0.00,0.000,1030,0.000,0.030,2825,1952,1822,1822,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.10,47.00
$GC,1096,1.57,560.8,2825,1952,1821,4094,22.0,9.1,141,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1952,1821,1821,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.10,47.79
$GC,1139,1.57,560.8,2825,1952,1820,4094,18.0,9.1,147,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1952,1820,1820,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.10,47.16
$GC,1183,1.57,560.8,2825,1952,1819,4094,14.0,9.1,153,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1952,1819,1819,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.10,47.83
$GC,1228,1.57,560.8,2825,1952,1818,4094,9.9,9.1,159,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1952,1818,1818,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.11,47.95
$GC,1273,1.62,593.7,2825,1952,1817,4094,6.3,8.0,165,1282,0.00,0.00,3.05,0.280,8198,0.000,0.000,2826,1953,1789,1789,4094,0,0,0,0,0,0,26.38,25.82,25.38,10.13,48.14
$GC,1320,1.67,628.0,2825,1952,1788,4094,2.5,8.0,171,1330,0.25,0.00,3.40,0.311,10758,0.042,0.000,2863,1952,1749,1749,4094,0,0,0,0,0,0,26.18,25.99,25.43,10.16,49.44
$STATE,1337,end climb,FINISH_DEPTH_REACHED
$STATE,1337,begin subsurface finish
$FINISH1,0.9,1.024180,99
$GC,1344,0.15,99.0,2863,1952,1748,4094,0.9,7.7,173,1363,4.85,1.15,-5.38,0.000,20996,0.026,1.291,2391,1517,2373,2373,4094,0,0,0,0,0,0,26.15,24.96,26.20,10.15,49.80
$FINISH2,0.2
$STATE,1364,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1364,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,081145
$TT8_MAMPS,0.025466,0.250915
$HUMID,50.35
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.87,15.443
$10V_AH,10.16,18.990
$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,21.175,19.400,70.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,482.374,0.000,152.606,726.451,61.173,33.424,446.100,0.000,421.470,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1290.555,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.963,475.340,376.426,557.309,724.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,17832,175
$CAP_FILE_SIZE,36065,0
$CFSIZE,1024409600,990773248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,082032,6013.620,-17320.391,6,0.9,17,7.2,0.0,130.8,9,4.8