version: 66.13
glider: 401
mission: 22
dive: 595
start: 8 6 117 13 55 53
data:
$ID,401
$MISSION,22
$DIVE,595
$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,26
$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
$GPS1,060817,134737,6015.2944,-17322.9199,9,0.8,44,7.2,0.0,197.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-43.7
$GPS2,060817,135446,6015.2764,-17322.9766,5,0.8,15,7.2,0.0,0.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.206782,0.314741
$KALMAN_X,63558.015625,-1980.839600,-350.475464,-229254.234375,3.192047
$KALMAN_Y,43092.027344,1909.105469,574.491150,65456.894531,16.489685
$MHEAD_RNG_PITCHd_Wd,319.5,22135,-8.1,-8.333,-12.48,9821
$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,-555.0,230,1950,1830,4092,0.0,0.0,0,20,10.02,0.00,0.00,0.000,2049,0.103,0.000,1069,1947,1830,1830,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,50.55
$GC,22,-1.57,-555.0,1068,1947,1830,4094,1.0,0.0,1,49,8.07,1.10,-11.73,0.000,18692,0.042,1.273,1827,2367,3133,3133,4094,0,0,0,0,0,0,25.96,24.79,26.01,10.26,50.35
$GC,153,-1.57,-555.0,1827,2367,3136,4094,11.4,-11.3,19,162,0.00,1.05,0.00,0.000,1030,0.000,0.028,1827,1946,3136,3136,4095,0,0,0,0,0,0,26.07,26.00,26.05,10.51,49.25
$GC,198,-1.57,-555.0,1827,1945,3136,4095,17.1,-12.5,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1946,3136,3136,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.48,48.70
$GC,243,-1.57,-555.0,1826,1946,3137,4095,22.6,-12.3,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1946,3137,3137,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.47,48.14
$GC,288,-1.57,-555.0,1826,1946,3138,4095,28.1,-12.0,37,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1946,3138,3138,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.46,47.00
$GC,334,-1.57,-555.0,1827,1946,3139,4095,33.3,-11.5,43,342,0.00,1.05,0.00,0.000,516,0.000,0.049,1827,1528,3139,3139,4095,0,0,0,0,0,0,26.39,26.10,26.40,10.45,46.61
$GC,385,-1.57,-555.0,1826,1528,3140,4095,39.5,-12.0,50,395,0.00,0.95,-0.03,0.000,17414,0.000,0.025,1827,1943,3161,3161,4095,0,0,0,0,0,0,26.21,26.19,25.75,10.43,46.61
$GC,433,-1.57,-555.0,1827,1943,3161,4095,44.9,-11.5,56,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1943,3162,3162,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.43,45.86
$GC,478,-1.57,-555.0,1826,1943,3161,4094,50.5,-11.9,62,487,0.00,1.12,0.00,0.000,260,0.000,0.044,1827,2371,3163,3163,4095,0,0,0,0,0,0,26.32,26.04,26.33,10.42,45.23
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,569,-0.45,0.0,1827,1952,3164,4094,60.3,-11.5,74,612,3.85,0.00,32.83,1.303,10244,0.054,0.000,2186,1952,2484,2484,4094,0,0,0,0,0,0,26.11,24.92,24.17,10.40,45.23
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,615,1.57,555.0,2185,1952,2484,4094,63.2,0.0,79,660,6.90,0.00,31.77,1.277,11270,0.037,0.000,2824,1952,1837,1837,4094,0,0,0,0,0,0,25.41,25.56,23.77,10.26,44.56
$GC,698,1.57,555.0,2824,1952,1836,4094,57.9,9.6,89,707,0.00,1.15,0.00,0.000,260,0.000,0.038,2824,2369,1836,1836,4094,0,0,0,0,0,0,25.48,25.22,25.48,10.11,43.66
$GC,764,1.57,555.0,2824,2369,1835,4094,51.3,9.9,98,773,0.00,1.05,0.00,0.000,1030,0.000,0.030,2824,1963,1835,1835,4094,0,0,0,0,0,0,25.52,25.51,25.57,10.11,44.25
$GC,810,1.57,555.0,2824,1962,1834,4094,46.7,9.9,104,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1963,1834,1834,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.11,45.23
$GC,854,1.57,555.0,2823,1962,1833,4094,42.4,9.6,110,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1963,1833,1833,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.10,44.36
$GC,899,1.57,555.0,2824,1963,1831,4094,38.2,9.1,116,909,0.00,1.10,0.00,0.000,260,0.000,0.041,2824,2369,1832,1832,4094,0,0,0,0,0,0,26.03,25.76,26.04,10.10,44.95
$GC,951,1.57,555.0,2824,2368,1831,4094,33.4,9.3,123,961,0.00,1.02,0.00,0.000,1030,0.000,0.030,2824,1966,1830,1830,4094,0,0,0,0,0,0,25.88,25.86,25.91,10.10,45.82
$GC,998,1.57,555.0,2824,1966,1830,4094,29.2,9.1,129,1008,0.00,1.15,0.00,0.000,516,0.000,0.055,2825,1525,1830,1830,4094,0,0,0,0,0,0,26.15,25.85,26.17,10.10,46.41
$GC,1057,1.57,555.0,2823,1525,1828,4094,23.9,9.0,137,1066,0.00,1.05,0.00,0.000,1030,0.000,0.025,2824,1980,1828,1828,4094,0,0,0,0,0,0,26.03,26.01,26.02,10.11,46.02
$GC,1103,1.57,555.0,2824,1980,1828,4094,19.8,8.9,143,1111,0.00,1.00,0.00,0.000,260,0.000,0.042,2824,2362,1827,1827,4095,0,0,0,0,0,0,26.25,25.98,26.27,10.11,46.37
$GC,1173,1.57,555.0,2823,2361,1826,4095,13.6,8.7,153,1182,0.00,0.98,0.00,0.000,1030,0.000,0.029,2824,1974,1826,1826,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.11,47.67
$GC,1219,1.59,568.4,2824,1974,1825,4094,9.8,8.2,159,1228,0.00,1.15,0.00,0.000,516,0.000,0.055,2824,1526,1825,1825,4094,0,0,0,0,0,0,26.34,26.03,26.35,10.12,47.59
$GC,1252,1.62,591.9,2824,1526,1824,4094,7.2,8.1,163,1262,0.10,1.08,3.17,0.305,11270,0.047,0.025,2841,1992,1793,1793,4094,0,0,0,0,0,0,26.13,26.15,25.34,10.14,47.99
$GC,1300,1.66,614.8,2840,1991,1791,4094,3.4,8.1,169,1310,0.00,0.95,3.00,0.262,8452,0.000,0.037,2841,2364,1763,1763,4094,0,0,0,0,0,0,26.37,25.82,25.39,10.17,49.60
$STATE,1318,end climb,FINISH_DEPTH_REACHED
$STATE,1319,begin subsurface finish
$FINISH1,1.6,1.024153,101
$GC,1327,0.15,100.8,2841,1953,1763,4094,1.6,7.9,171,1345,4.80,1.15,-5.20,0.000,20740,0.047,1.288,2391,2359,2367,2367,4094,0,0,0,0,0,0,26.13,24.94,26.18,10.17,49.44
$FINISH2,0.2
$STATE,1346,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,122606
$TT8_MAMPS,0.025466,0.208971
$HUMID,50.19
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.77,15.785
$10V_AH,10.23,19.375
$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,33.750,20.250,70.775,0.000,0.000,23.018,14.481,253.619,0.000,0.000,16.859,483.387,0.000,150.885,1023.316,137.225,33.453,441.721,0.000,261.952,0.000,0.542,0.000
$DEVICE_MAMPS,102.510,1288.260,1302.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.375,470.095,0.000,550.967,717.024,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329384
$DATA_FILE_SIZE,17712,173
$CAP_FILE_SIZE,39533,0
$CFSIZE,1024409600,990232576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,135446,6015.276,-17322.977,5,0.8,15,7.2,0.0,0.0,10,4.9