version: 66.13
glider: 401
mission: 22
dive: 600
start: 8 6 117 16 7 40
data:
$ID,401
$MISSION,22
$DIVE,600
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,060817,151705,6016.1626,-17323.8125,5,0.7,17,7.2,0.3,257.2,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-3.3
$GPS2,060817,151705,6016.1626,-17323.8125,5,0.7,17,7.2,0.3,257.2,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.231033,0.302756
$KALMAN_X,64080.546875,-1890.364258,-363.020447,-230661.781250,92.569458
$KALMAN_Y,42633.531250,1953.143677,632.351501,67479.835938,-61.349548
$MHEAD_RNG_PITCHd_Wd,315.5,20336,-7.9,-8.333,-12.34,10098
$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,-571.3,2394,1949,2369,4092,0.0,0.0,0,21,5.65,0.00,-4.88,0.000,20482,0.026,0.000,1847,1950,2912,2912,4094,0,0,0,0,0,0,26.13,28.83,26.14,10.33,51.92
$GC,24,-1.57,-571.3,1846,1950,2912,4094,0.1,0.0,1,34,0.00,1.15,-2.20,0.000,16644,0.000,1.271,1847,2366,3153,3153,4095,0,0,0,0,0,0,26.32,24.92,26.30,10.44,50.90
$GC,161,-1.57,-571.3,1846,2365,3156,4095,15.2,-12.4,21,169,0.00,1.05,0.00,0.000,1030,0.000,0.028,1847,1944,3156,3156,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.50,50.59
$GC,206,-1.57,-571.3,1846,1943,3157,4094,20.5,-11.3,27,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1943,3157,3157,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.49,51.18
$GC,253,-1.57,-571.3,1846,1943,3157,4095,25.2,-10.3,33,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1944,3158,3158,4095,0,0,0,0,0,0,26.38,26.40,26.39,10.46,49.72
$GC,299,-1.57,-571.3,1846,1943,3158,4095,30.1,-10.8,39,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1944,3158,3158,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.45,49.29
$GC,345,-1.57,-571.3,1846,1943,3159,4095,35.1,-10.6,45,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1943,3159,3159,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.44,48.34
$GC,391,-1.57,-571.3,1846,1944,3160,4094,39.5,-9.1,51,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1943,3160,3160,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.42,48.42
$GC,437,-1.57,-571.3,1846,1943,3161,4094,43.7,-9.0,57,447,0.00,1.05,0.00,0.000,516,0.000,0.051,1846,1527,3161,3161,4095,0,0,0,0,0,0,26.48,26.20,26.49,10.40,47.28
$GC,555,-1.57,-571.3,1846,1527,3163,4095,54.9,-9.5,74,565,0.00,1.02,0.00,0.000,1030,0.000,0.025,1847,1971,3163,3163,4095,0,0,0,0,0,0,26.34,26.32,26.35,10.39,46.96
$GC,601,-1.57,-571.3,1846,1971,3164,4095,59.7,-10.8,80,610,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1971,3165,3165,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.38,46.25
$STATE,618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,618,begin apogee
$GC,623,-0.45,0.0,1845,1971,3164,4094,61.6,-10.4,82,667,3.62,0.00,32.25,1.302,10244,0.052,0.000,2183,1971,2490,2490,4094,0,0,0,0,0,0,26.27,25.03,24.32,10.38,46.69
$STATE,668,end apogee,CONTROL_FINISHED_OK
$STATE,668,begin climb
$GC,670,1.57,571.3,2183,1971,2490,4094,64.0,0.0,87,715,6.95,0.00,32.85,1.283,11270,0.036,0.000,2830,1973,1818,1818,4094,0,0,0,0,0,0,25.55,25.71,23.84,10.24,45.66
$GC,753,1.57,571.3,2829,1973,1817,4094,58.7,9.6,97,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1973,1817,1817,4094,0,0,0,0,0,0,25.51,25.53,25.52,10.09,44.52
$GC,800,1.57,571.3,2830,1973,1816,4094,54.2,9.7,103,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1973,1816,1816,4094,0,0,0,0,0,0,25.72,25.72,25.72,10.09,44.60
$GC,843,1.57,571.3,2830,1973,1815,4094,49.7,9.6,109,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1973,1815,1815,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.08,44.92
$GC,888,1.57,571.3,2829,1973,1814,4094,45.4,9.6,115,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1973,1814,1814,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.08,44.99
$GC,933,1.57,571.3,2829,1973,1813,4094,41.1,9.6,121,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1973,1813,1813,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.08,45.86
$GC,978,1.57,571.3,2829,1973,1812,4094,36.9,9.5,127,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1973,1813,1813,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.08,46.37
$GC,1022,1.57,571.3,2830,1973,1811,4094,32.7,9.5,133,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1973,1811,1811,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.08,46.10
$GC,1067,1.57,571.3,2830,1973,1810,4094,28.6,9.2,139,1076,0.00,1.05,0.00,0.000,260,0.000,0.042,2830,2370,1810,1810,4094,0,0,0,0,0,0,26.18,25.91,26.20,10.09,46.88
$GC,1112,1.57,571.3,2829,2369,1809,4094,24.2,9.7,145,1122,0.00,1.02,0.00,0.000,1030,0.000,0.030,2830,1965,1809,1809,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.11,46.88
$GC,1158,1.57,571.3,2829,1965,1808,4094,19.9,9.3,151,1167,0.00,1.15,0.00,0.000,516,0.000,0.057,2830,1524,1808,1808,4094,0,0,0,0,0,0,26.27,25.96,26.28,10.12,48.07
$GC,1185,1.57,571.3,2829,1524,1807,4094,17.4,9.3,154,1195,0.00,1.02,0.00,0.000,1030,0.000,0.025,2830,1971,1807,1807,4094,0,0,0,0,0,0,26.10,26.10,26.11,10.13,49.29
$GC,1233,1.57,571.3,2829,1971,1806,4094,13.2,9.1,160,1242,0.00,1.00,0.00,0.000,260,0.000,0.044,2830,2355,1806,1806,4094,0,0,0,0,0,0,26.32,26.05,26.34,10.14,49.13
$GC,1330,1.57,571.3,2829,2355,1804,4094,4.5,8.7,174,1340,0.00,1.00,0.00,0.000,1030,0.000,0.031,2830,1960,1803,1803,4094,0,0,0,0,0,0,26.16,26.13,26.22,10.18,49.88
$STATE,1360,end climb,SURFACE_DEPTH_REACHED
$STATE,1361,begin surface coast
$FINISH,0.3,1.024205
$STATE,1382,end surface coast,CONTROL_FINISHED_OK
$STATE,1382,begin surface
$SM_CCo,1479,0.00,0.000,0,0,1802,586.42
$SM_GC,1.00,27.15,0.00,0.00,0.021,0.000,0.000,230,1959,1802,-6.59,0.41,586.42,0,0,0,0,0,0,26.06,26.43,26.17
$IRIDIUM_FIX,5952.82,-17420.78,060817,134932
$TT8_MAMPS,0.025466,0.241178
$HUMID,51.06
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.84,15.928
$10V_AH,10.17,19.553
$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,43.375,11.525,65.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,497.286,60.340,164.990,756.378,62.325,33.413,450.277,0.000,437.078,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1270.665,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.372,491.640,389.344,576.475,753.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330844
$DATA_FILE_SIZE,17796,181
$CAP_FILE_SIZE,33782,0
$CFSIZE,1024409600,989986816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,163335,6017.050,-17324.650,6,0.8,41,7.2,0.3,290.7,10,5.0