version: 66.13
glider: 401
mission: 22
dive: 593
start: 8 6 117 12 57 31
data:
$ID,401
$MISSION,22
$DIVE,593
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,060817,123144,6014.5337,-17322.0742,6,1.0,26,7.2,0.3,242.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-1.7
$GPS2,060817,123144,6014.5337,-17322.0742,6,1.0,26,7.2,0.3,242.3,9,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.189572,0.322580
$KALMAN_X,63699.558594,-1926.697144,-261.370728,-228699.734375,3.364807
$KALMAN_Y,42918.394531,1798.185913,454.794067,64510.835938,-34.387115
$MHEAD_RNG_PITCHd_Wd,322.4,23739,-8.2,-8.333,-12.56,9664
$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,-545.9,2389,1942,2372,4092,0.0,0.0,0,20,5.50,0.00,-4.35,0.000,20482,0.021,0.000,1854,1942,2861,2861,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.33,50.74
$GC,23,-1.56,-545.9,1853,1942,2861,4094,0.2,0.0,1,33,0.00,1.15,-2.40,0.000,16644,0.000,1.274,1854,2359,3122,3122,4095,0,0,0,0,0,0,26.35,24.96,26.33,10.43,50.47
$GC,95,-1.56,-545.9,1853,2359,3123,4095,6.1,-11.3,11,104,0.00,1.02,0.00,0.000,1030,0.000,0.029,1853,1949,3123,3123,4095,0,0,0,0,0,0,26.08,26.04,26.09,10.50,50.86
$GC,140,-1.56,-545.9,1853,1948,3125,4095,10.9,-10.5,17,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,1949,3125,3125,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.48,50.31
$GC,186,-1.56,-545.9,1853,1948,3125,4094,15.7,-11.0,23,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1949,3125,3125,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.46,49.92
$GC,231,-1.56,-545.9,1853,1949,3126,4095,20.9,-11.6,29,240,0.00,1.10,0.00,0.000,260,0.000,0.043,1853,2358,3126,3126,4094,0,0,0,0,0,0,26.39,26.11,26.41,10.45,49.44
$GC,277,-1.56,-545.9,1853,2358,3127,4094,26.1,-11.5,35,286,0.00,1.00,0.00,0.000,1030,0.000,0.028,1853,1959,3127,3127,4094,0,0,0,0,0,0,26.21,26.19,26.23,10.44,48.50
$GC,322,-1.56,-545.9,1853,1959,3128,4094,31.3,-11.1,41,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1959,3128,3128,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.43,48.26
$GC,369,-1.56,-545.9,1853,1959,3129,4094,36.4,-11.6,47,378,0.00,1.10,0.00,0.000,516,0.000,0.049,1854,1523,3129,3129,4095,0,0,0,0,0,0,26.47,26.18,26.48,10.42,47.63
$GC,435,-1.56,-545.9,1853,1523,3130,4095,43.9,-11.2,56,445,0.00,0.98,0.00,0.000,1030,0.000,0.025,1854,1948,3130,3130,4095,0,0,0,0,0,0,26.30,26.28,26.32,10.40,47.67
$GC,481,-1.56,-545.9,1853,1948,3131,4095,49.1,-11.1,62,489,0.00,1.08,0.00,0.000,260,0.000,0.044,1853,2361,3131,3131,4095,0,0,0,0,0,0,26.52,26.23,26.53,10.39,46.57
$GC,558,-1.56,-545.9,1853,2361,3133,4095,57.5,-10.8,73,568,0.00,0.95,0.00,0.000,1030,0.000,0.027,1853,1979,3133,3133,4095,0,0,0,0,0,0,26.37,26.32,26.36,10.38,46.45
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,590,-0.45,0.0,1853,1940,3133,4094,60.3,-10.7,76,633,3.58,0.00,31.12,1.292,10244,0.052,0.000,2185,1940,2484,2484,4094,0,0,0,0,0,0,26.27,25.08,24.37,10.38,46.41
$STATE,634,end apogee,CONTROL_FINISHED_OK
$STATE,634,begin climb
$GC,636,1.56,545.9,2185,1939,2484,4094,62.9,0.0,81,680,6.85,0.00,31.05,1.272,11270,0.036,0.000,2825,1940,1848,1848,4094,0,0,0,0,0,0,25.58,25.74,23.88,10.24,45.58
$GC,718,1.56,545.9,2824,1939,1847,4094,57.7,9.5,91,727,0.00,1.12,0.00,0.000,260,0.000,0.038,2825,2354,1847,1847,4094,0,0,0,0,0,0,25.54,25.27,25.55,10.09,45.55
$GC,828,1.56,545.9,2824,2353,1845,4094,46.8,9.6,107,838,0.00,1.00,0.00,0.000,1030,0.000,0.031,2825,1966,1845,1845,4095,0,0,0,0,0,0,25.70,25.68,25.72,10.09,45.62
$GC,874,1.56,545.9,2825,1966,1844,4095,42.6,9.3,113,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1966,1844,1844,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.09,45.62
$GC,919,1.56,545.9,2825,1966,1843,4094,38.5,9.2,119,928,0.00,1.17,0.00,0.000,516,0.000,0.056,2825,1517,1843,1843,4094,0,0,0,0,0,0,26.06,25.78,26.07,10.09,45.82
$GC,957,1.56,545.9,2825,1517,1842,4094,34.8,9.4,124,967,0.00,1.05,0.00,0.000,1030,0.000,0.025,2825,1970,1842,1842,4095,0,0,0,0,0,0,25.91,25.91,25.95,10.09,46.69
$GC,1003,1.56,545.9,2824,1969,1841,4095,30.7,8.8,130,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1970,1841,1841,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.09,46.18
$GC,1049,1.56,545.9,2825,1969,1840,4094,26.6,9.0,136,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1970,1840,1840,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.10,46.81
$GC,1094,1.56,545.9,2824,1969,1839,4094,22.5,8.7,142,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1970,1839,1839,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.09,46.92
$GC,1139,1.56,545.9,2824,1969,1838,4094,18.5,9.1,148,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1970,1838,1838,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.10,47.24
$GC,1184,1.56,545.9,2825,1969,1837,4094,14.5,8.8,154,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1970,1836,1836,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.10,48.07
$GC,1230,1.56,545.9,2824,1970,1836,4095,10.7,8.4,160,1239,0.00,1.02,0.00,0.000,260,0.000,0.042,2825,2364,1836,1836,4094,0,0,0,0,0,0,26.36,26.08,26.36,10.11,48.11
$STATE,1331,end climb,FINISH_DEPTH_REACHED
$STATE,1332,begin subsurface finish
$FINISH1,1.9,1.024137,102
$GC,1339,0.15,101.9,2825,1948,1834,4094,1.9,8.4,175,1357,4.70,0.00,-4.47,0.000,20486,0.059,0.000,2395,1945,2369,2369,4094,0,0,0,0,0,0,26.13,25.65,26.21,10.17,49.80
$FINISH2,0.2
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,110204
$TT8_MAMPS,0.025466,0.211218
$HUMID,50.78
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.88,15.720
$10V_AH,10.23,19.303
$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,20.625,14.900,62.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.008,0.000,140.273,742.854,53.786,33.427,423.171,0.000,265.789,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,1273.725,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.382,481.006,0.000,563.923,735.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330920
$DATA_FILE_SIZE,17721,177
$CAP_FILE_SIZE,32561,0
$CFSIZE,1024409600,990347264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,123144,6014.534,-17322.074,6,1.0,26,7.2,0.3,242.3,9,5.0