version: 66.13
glider: 401
mission: 22
dive: 601
start: 8 6 117 16 47 53
data:
$ID,401
$MISSION,22
$DIVE,601
$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,22
$R_STBD_OVSHOOT,46
$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
$GPS1,060817,163335,6017.0498,-17324.6504,6,0.8,41,7.2,0.3,290.7,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-38.2
$GPS2,060817,164645,6017.0752,-17324.8301,5,1.0,16,7.2,0.0,235.5,9,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.234711,0.302886
$KALMAN_X,63691.164062,-1970.983032,-454.842773,-231046.171875,20.143555
$KALMAN_Y,43429.730469,2118.666992,801.861084,68010.023438,53.920898
$MHEAD_RNG_PITCHd_Wd,315.0,18410,-7.8,-8.333,-12.27,10253
$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,-1.58,-580.4,229,1959,1801,4092,0.0,0.0,0,20,10.43,0.00,0.00,0.000,2049,0.093,0.000,1114,1957,1802,1802,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.28,48.85
$GC,23,-1.58,-580.4,1114,1957,1802,4094,0.8,0.0,1,51,7.65,1.10,-12.23,0.000,18692,0.046,1.268,1826,2363,3165,3165,4095,0,0,0,0,0,0,25.91,24.77,25.98,10.28,48.34
$GC,126,-1.58,-580.4,1825,2363,3166,4095,7.9,-12.8,15,135,0.00,1.05,0.00,0.000,1030,0.000,0.027,1826,1941,3167,3167,4095,0,0,0,0,0,0,25.96,25.93,25.98,10.57,48.11
$GC,173,-1.58,-580.4,1825,1941,3168,4095,14.2,-13.7,21,182,0.00,1.12,0.00,0.000,260,0.000,0.042,1826,2360,3168,3168,4095,0,0,0,0,0,0,26.23,25.98,26.24,10.57,47.75
$GC,212,-1.58,-580.4,1825,2360,3169,4095,19.4,-12.8,26,221,0.00,0.98,0.00,0.000,1030,0.000,0.026,1826,1969,3169,3169,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.56,48.11
$GC,259,-1.58,-580.4,1825,1969,3170,4095,24.9,-11.7,32,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1969,3170,3170,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.54,46.88
$GC,303,-1.58,-580.4,1825,1969,3170,4094,29.9,-11.3,38,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1969,3170,3170,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.50,46.25
$GC,348,-1.58,-580.4,1825,1969,3172,4095,35.0,-11.1,44,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1969,3172,3172,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.48,45.94
$GC,394,-1.58,-580.4,1825,1969,3173,4094,40.1,-11.5,50,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1969,3173,3173,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.47,45.62
$GC,439,-1.58,-580.4,1825,1969,3173,4094,45.5,-11.5,56,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1969,3173,3173,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.45,45.23
$GC,483,-1.58,-580.4,1826,1968,3174,4095,50.5,-11.2,62,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,1969,3175,3175,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.44,44.48
$GC,528,-1.58,-580.4,1825,1968,3175,4094,55.7,-11.4,68,537,0.00,1.15,0.00,0.000,516,0.000,0.048,1826,1514,3175,3175,4095,0,0,0,0,0,0,26.47,26.17,26.48,10.43,44.01
$STATE,565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,565,begin apogee
$GC,571,-0.45,0.0,1826,1945,3176,4095,60.3,-11.7,73,615,3.88,0.00,33.03,1.291,10244,0.054,0.000,2185,1946,2485,2485,4094,0,0,0,0,0,0,26.22,24.97,24.27,10.43,43.89
$STATE,616,end apogee,CONTROL_FINISHED_OK
$STATE,616,begin climb
$GC,619,1.58,580.4,2185,1946,2485,4094,63.0,0.0,78,663,6.93,0.00,33.05,1.266,11270,0.036,0.000,2831,1949,1806,1806,4094,0,0,0,0,0,0,25.48,25.64,23.82,10.28,43.03
$GC,701,1.58,580.4,2830,1949,1806,4094,57.5,9.7,88,710,0.00,1.10,0.00,0.000,260,0.000,0.039,2831,2356,1805,1805,4094,0,0,0,0,0,0,25.49,25.25,25.51,10.13,43.18
$GC,760,1.58,580.4,2830,2356,1804,4094,51.5,10.1,96,769,0.00,1.05,0.00,0.000,1030,0.000,0.029,2831,1951,1804,1804,4095,0,0,0,0,0,0,25.53,25.51,25.56,10.12,42.63
$GC,806,1.58,580.4,2831,1950,1803,4095,47.0,9.6,102,815,0.00,1.12,0.00,0.000,516,0.000,0.054,2831,1523,1803,1803,4094,0,0,0,0,0,0,25.86,25.55,25.88,10.11,43.22
$GC,857,1.58,580.4,2830,1522,1801,4094,42.1,9.4,109,866,0.00,1.00,0.00,0.000,1030,0.000,0.024,2831,1961,1802,1802,4094,0,0,0,0,0,0,25.79,25.77,25.80,10.11,43.42
$GC,904,1.58,580.4,2830,1960,1801,4094,37.9,9.6,115,912,0.00,1.02,0.00,0.000,260,0.000,0.041,2830,2349,1801,1801,4094,0,0,0,0,0,0,26.04,25.81,26.06,10.10,43.77
$GC,974,1.58,580.4,2830,2350,1799,4094,30.7,9.9,125,984,0.00,1.00,0.00,0.000,1030,0.000,0.030,2831,1957,1799,1799,4094,0,0,0,0,0,0,25.93,25.89,25.95,10.10,44.21
$GC,1021,1.58,580.4,2830,1956,1798,4094,26.3,9.8,131,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1957,1798,1798,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,45.07
$GC,1065,1.58,580.4,2830,1956,1797,4094,22.0,9.2,137,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1957,1797,1797,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.12,45.66
$GC,1110,1.58,580.4,2830,1957,1796,4095,18.0,8.5,143,1119,0.00,1.05,0.00,0.000,260,0.000,0.039,2831,2353,1796,1796,4094,0,0,0,0,0,0,26.27,26.01,26.28,10.15,46.10
$GC,1162,1.59,589.0,2830,2352,1795,4094,13.8,8.2,150,1171,0.00,0.93,0.00,0.000,1030,0.000,0.030,2831,1983,1795,1795,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.17,48.42
$GC,1209,1.71,668.2,2830,1982,1794,4094,10.3,7.5,156,1219,0.32,0.00,5.60,0.527,10246,0.037,0.000,2875,1983,1703,1703,4094,0,0,0,0,0,0,26.15,25.91,25.27,10.18,48.74
$GC,1256,1.71,668.2,2875,1982,1703,4094,6.3,8.6,162,1266,0.00,1.00,0.00,0.000,260,0.000,0.041,2875,2358,1703,1703,4094,0,0,0,0,0,0,26.32,26.04,26.33,10.17,49.37
$STATE,1306,end climb,FINISH_DEPTH_REACHED
$STATE,1307,begin subsurface finish
$FINISH1,1.5,1.024201,97
$GC,1314,0.15,97.5,2875,1942,1701,4094,1.5,9.5,169,1333,5.00,0.00,-5.78,0.000,20486,0.027,0.000,2388,1940,2378,2378,4094,0,0,0,0,0,0,26.13,25.60,26.17,10.19,49.64
$FINISH2,0.2
$STATE,1334,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1334,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,164118
$TT8_MAMPS,0.025466,0.211967
$HUMID,50.39
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.82,15.983
$10V_AH,10.26,19.589
$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,34.200,16.775,71.675,0.000,0.000,70.325,76.662,387.577,0.000,0.000,17.812,475.001,89.734,154.058,1278.801,146.746,33.454,449.864,0.000,258.913,0.000,0.542,0.000
$DEVICE_MAMPS,93.330,1267.605,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.722,464.594,0.000,544.336,709.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,17739,171
$CAP_FILE_SIZE,41852,0
$CFSIZE,1024409600,989937664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,164645,6017.075,-17324.830,5,1.0,16,7.2,0.0,235.5,9,4.8