version: 66.13
glider: 401
mission: 22
dive: 602
start: 8 6 117 17 12 14
data:
$ID,401
$MISSION,22
$DIVE,602
$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,30
$R_STBD_OVSHOOT,51
$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
$GPS1,060817,164645,6017.0752,-17324.8301,5,1.0,16,7.2,0.0,235.5,9,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-2.6
$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,-0.228299,0.310645
$KALMAN_X,63830.894531,-1899.067017,-403.869781,-231326.703125,-3.636566
$KALMAN_Y,43246.285156,2057.239502,729.202454,68358.171875,65.057373
$MHEAD_RNG_PITCHd_Wd,316.5,18410,-7.7,-8.333,-12.20,10409
$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,-585.0,2388,1939,2378,4092,0.0,0.0,0,21,5.68,0.00,-5.15,0.000,20482,0.026,0.000,1835,1939,2957,2957,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.35,50.07
$GC,24,-1.58,-585.0,1835,1939,2957,4094,0.1,0.0,1,34,0.00,1.12,-1.92,0.000,16644,0.000,1.266,1835,2350,3168,3168,4095,0,0,0,0,0,0,26.33,24.93,26.29,10.47,50.31
$GC,83,-1.58,-585.0,1834,2351,3169,4095,4.6,-10.6,9,92,0.00,1.00,0.00,0.000,1030,0.000,0.028,1836,1950,3170,3170,4095,0,0,0,0,0,0,26.04,26.01,26.09,10.52,50.15
$GC,130,-1.58,-585.0,1834,1950,3170,4095,10.4,-13.6,15,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1951,3170,3170,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.53,50.03
$GC,176,-1.58,-585.0,1834,1950,3172,4094,16.8,-13.3,21,185,0.00,1.08,0.00,0.000,260,0.000,0.043,1835,2355,3172,3172,4094,0,0,0,0,0,0,26.33,26.05,26.34,10.52,49.29
$GC,234,-1.58,-585.0,1834,2355,3173,4094,23.7,-10.9,29,244,0.00,0.95,0.00,0.000,1030,0.000,0.027,1835,1976,3173,3173,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.49,48.58
$GC,282,-1.58,-585.0,1834,1976,3174,4095,28.7,-11.0,35,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1976,3174,3174,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.48,48.03
$GC,328,-1.58,-585.0,1834,1976,3175,4095,33.8,-10.4,41,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1976,3175,3175,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.46,47.71
$GC,373,-1.58,-585.0,1834,1976,3175,4095,38.5,-10.5,47,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1976,3176,3176,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.44,47.24
$GC,420,-1.58,-585.0,1834,1976,3176,4094,43.3,-9.8,53,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,1976,3177,3177,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.43,46.45
$GC,466,-1.58,-585.0,1834,1976,3177,4095,48.3,-11.0,59,475,0.00,1.17,0.00,0.000,516,0.000,0.050,1835,1512,3177,3177,4095,0,0,0,0,0,0,26.51,26.22,26.52,10.42,46.14
$GC,531,-1.58,-585.0,1834,1512,3179,4095,55.6,-10.8,68,541,0.00,1.02,0.00,0.000,1030,0.000,0.025,1835,1954,3179,3179,4094,0,0,0,0,0,0,26.33,26.31,26.34,10.41,46.45
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1835,1954,3180,4095,60.6,-11.2,74,624,3.78,0.00,33.15,1.293,10244,0.052,0.000,2185,1954,2483,2483,4095,0,0,0,0,0,0,26.27,25.02,24.32,10.40,45.39
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,628,1.58,585.0,2185,1954,2483,4095,63.1,0.0,79,673,6.93,0.00,33.15,1.268,11270,0.036,0.000,2831,1958,1802,1802,4094,0,0,0,0,0,0,25.53,25.68,23.84,10.25,45.39
$GC,710,1.58,585.0,2831,1957,1801,4094,57.7,9.2,89,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1957,1801,1801,4094,0,0,0,0,0,0,25.51,25.53,25.52,10.10,43.81
$GC,757,1.58,585.0,2831,1957,1801,4094,53.3,9.5,95,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1800,1800,4095,0,0,0,0,0,0,25.72,25.72,25.72,10.10,44.36
$GC,803,1.58,585.0,2831,1957,1800,4095,48.8,9.6,101,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1799,1799,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.09,44.32
$GC,849,1.58,585.0,2831,1957,1798,4094,44.4,9.4,107,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1798,1798,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.09,44.52
$GC,896,1.58,585.0,2831,1957,1797,4094,40.2,9.1,113,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1958,1797,1797,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.09,44.72
$GC,943,1.58,585.0,2831,1957,1796,4094,35.6,9.3,119,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1957,1796,1796,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.09,45.43
$GC,989,1.58,585.0,2831,1957,1795,4094,31.4,9.1,125,998,0.00,1.10,0.00,0.000,260,0.000,0.042,2831,2372,1795,1795,4094,0,0,0,0,0,0,26.15,25.88,26.17,10.09,45.94
$GC,1047,1.58,585.0,2830,2372,1794,4094,25.4,9.6,133,1056,0.00,1.10,0.00,0.000,1030,0.000,0.030,2831,1942,1794,1794,4094,0,0,0,0,0,0,25.99,25.98,26.02,10.10,45.90
$GC,1094,1.58,585.0,2831,1942,1793,4094,21.1,9.6,139,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1942,1793,1793,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,46.57
$GC,1141,1.58,585.0,2831,1942,1792,4094,17.1,8.4,145,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1942,1791,1791,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.13,47.24
$GC,1185,1.70,666.4,2831,1942,1791,4094,13.6,7.5,151,1194,0.28,0.00,5.47,0.545,10246,0.040,0.000,2871,1942,1705,1705,4094,0,0,0,0,0,0,26.13,25.89,25.22,10.15,49.17
$GC,1232,1.83,755.8,2870,1942,1704,4094,9.9,7.5,157,1250,0.30,1.12,6.22,0.548,10500,0.041,0.039,2906,2372,1602,1602,4094,0,0,0,0,0,0,26.08,25.89,25.22,10.15,49.72
$GC,1321,1.83,755.8,2905,2371,1599,4094,2.1,9.3,169,1330,0.00,1.08,0.00,0.000,1030,0.000,0.031,2906,1951,1599,1599,4094,0,0,0,0,0,0,26.10,26.04,26.09,10.14,49.76
$STATE,1338,end climb,FINISH_DEPTH_REACHED
$STATE,1338,begin subsurface finish
$FINISH1,0.1,1.002209,0
$GC,1345,0.00,0.0,2906,1949,1598,4094,0.1,9.3,171,1364,5.78,1.17,-7.55,0.000,20996,0.024,1.294,2340,1516,2492,2492,4094,0,0,0,0,0,0,26.12,24.90,26.15,10.15,50.15
$FINISH2,0.3
$STATE,1365,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1365,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,164118
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.14
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.84,16.009
$10V_AH,10.17,19.628
$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,22.725,11.925,78.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,483.425,0.377,154.049,721.381,62.514,33.422,447.725,0.000,417.454,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1293.615,1292.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.281,469.871,372.114,550.961,718.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330800
$DATA_FILE_SIZE,17955,173
$CAP_FILE_SIZE,33900,0
$CFSIZE,1024409600,989888512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,904.06,0x2138e4,1,24
$GPS,060817,164645,6017.075,-17324.830,5,1.0,16,7.2,0.0,235.5,9,4.8