version: 66.13
glider: 401
mission: 22
dive: 606
start: 8 6 117 19 1 15
data:
$ID,401
$MISSION,22
$DIVE,606
$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,50
$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
$GPS1,060817,181001,6017.9531,-17325.7090,6,0.7,49,7.2,0.5,322.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-3.3
$GPS2,060817,181001,6017.9531,-17325.7090,6,0.7,49,7.2,0.5,322.7,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.242773,0.310346
$KALMAN_X,64273.628906,-1891.467285,-435.019257,-232577.062500,98.395477
$KALMAN_Y,43006.449219,2189.483887,818.713501,70000.242188,-68.897095
$MHEAD_RNG_PITCHd_Wd,314.8,16606,-7.4,-8.333,-11.94,10991
$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,7,-1.55,-585.0,2390,1974,2370,4092,0.0,0.0,0,20,5.50,0.00,-4.43,0.000,20482,0.027,0.000,1859,1974,2868,2868,4095,0,0,0,0,0,0,26.13,28.83,26.16,10.34,50.66
$GC,23,-1.55,-585.0,1858,1974,2868,4095,0.1,0.0,1,33,0.00,1.05,-2.78,0.000,16644,0.000,1.268,1859,2357,3169,3169,4094,0,0,0,0,0,0,26.34,24.94,26.34,10.45,50.98
$GC,108,-1.55,-585.0,1858,2356,3171,4094,7.3,-11.3,13,117,0.00,1.02,0.00,0.000,1030,0.000,0.029,1859,1945,3171,3171,4095,0,0,0,0,0,0,26.08,26.07,26.10,10.52,50.43
$GC,154,-1.55,-585.0,1858,1946,3172,4095,13.0,-13.0,19,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1945,3172,3172,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.52,50.94
$GC,197,-1.55,-585.0,1858,1945,3173,4094,18.5,-11.7,25,207,0.00,1.08,0.00,0.000,516,0.000,0.050,1859,1521,3173,3173,4094,0,0,0,0,0,0,26.37,26.08,26.39,10.51,50.47
$GC,230,-1.55,-585.0,1858,1521,3173,4094,22.0,-11.1,29,239,0.00,0.95,0.00,0.000,1030,0.000,0.026,1858,1935,3173,3173,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.50,50.66
$GC,276,-1.55,-585.0,1858,1935,3174,4095,26.8,-10.2,35,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1935,3175,3175,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.48,49.13
$GC,320,-1.55,-585.0,1858,1936,3175,4095,30.9,-9.2,41,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1936,3175,3175,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.45,48.34
$GC,363,-1.55,-585.0,1858,1936,3175,4095,34.9,-9.4,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1936,3176,3176,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.43,47.87
$GC,407,-1.55,-585.0,1858,1937,3177,4095,39.1,-9.8,53,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1938,3177,3177,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.42,47.04
$GC,451,-1.55,-585.0,1858,1938,3177,4094,43.4,-9.8,59,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,1937,3178,3178,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.41,46.73
$GC,496,-1.55,-585.0,1858,1937,3178,4095,47.8,-9.9,65,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1938,3178,3178,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.40,47.00
$GC,540,-1.55,-585.0,1858,1937,3180,4094,52.2,-10.2,71,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,1938,3179,3179,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.40,46.57
$GC,584,-1.55,-585.0,1858,1937,3180,4094,56.8,-10.2,77,594,0.00,1.10,0.00,0.000,260,0.000,0.044,1859,2358,3180,3180,4094,0,0,0,0,0,0,26.56,26.28,26.58,10.39,46.14
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,622,-0.45,0.0,1858,1949,3180,4094,60.0,-10.1,81,666,3.50,0.00,33.03,1.288,10244,0.050,0.000,2184,1949,2484,2484,4095,0,0,0,0,0,0,26.29,25.04,24.35,10.39,45.74
$STATE,667,end apogee,CONTROL_FINISHED_OK
$STATE,667,begin climb
$GC,669,1.55,585.0,2184,1949,2484,4095,62.5,0.0,86,713,6.80,0.00,33.20,1.261,11270,0.035,0.000,2819,1949,1802,1802,4094,0,0,0,0,0,0,25.54,25.71,23.86,10.25,45.90
$GC,751,1.55,585.0,2819,1949,1801,4094,57.5,8.5,96,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1949,1801,1801,4095,0,0,0,0,0,0,25.52,25.53,25.53,10.09,44.48
$GC,797,1.55,585.0,2819,1949,1800,4095,53.2,9.2,102,806,0.00,1.12,0.00,0.000,260,0.000,0.040,2819,2360,1800,1800,4094,0,0,0,0,0,0,25.72,25.44,25.73,10.09,45.23
$GC,861,1.55,585.0,2818,2360,1799,4094,47.0,9.6,111,871,0.00,1.02,0.00,0.000,1030,0.000,0.031,2819,1961,1799,1799,4094,0,0,0,0,0,0,25.70,25.65,25.70,10.09,44.84
$GC,906,1.55,585.0,2819,1960,1798,4094,42.8,9.2,117,916,0.00,1.15,0.00,0.000,516,0.000,0.055,2819,1519,1798,1798,4094,0,0,0,0,0,0,25.98,25.69,26.00,10.08,45.39
$GC,952,1.55,585.0,2819,1518,1797,4094,38.6,9.2,123,961,0.00,1.02,0.00,0.000,1030,0.000,0.025,2819,1965,1797,1797,4095,0,0,0,0,0,0,25.86,25.86,25.89,10.08,45.27
$GC,997,1.55,585.0,2818,1964,1796,4095,34.5,9.2,129,1006,0.00,1.02,0.00,0.000,260,0.000,0.041,2819,2354,1796,1796,4094,0,0,0,0,0,0,26.12,25.85,26.13,10.08,45.39
$GC,1057,1.55,585.0,2819,2353,1795,4094,29.1,9.3,137,1066,0.00,1.00,0.00,0.000,1030,0.000,0.031,2819,1961,1795,1795,4094,0,0,0,0,0,0,25.97,25.94,25.98,10.07,46.18
$GC,1104,1.55,585.0,2819,1961,1793,4094,25.1,8.5,143,1113,0.00,1.15,0.00,0.000,516,0.000,0.055,2819,1519,1794,1794,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.08,46.06
$GC,1162,1.61,623.8,2819,1518,1793,4094,20.2,8.0,151,1173,0.10,0.95,3.40,0.398,11270,0.050,0.026,2838,1950,1756,1756,4094,0,0,0,0,0,0,26.08,26.09,25.14,10.11,46.88
$GC,1211,1.63,640.4,2837,1950,1755,4094,16.5,8.2,157,1220,0.00,1.00,2.62,0.227,8452,0.000,0.037,2838,2351,1737,1737,4094,0,0,0,0,0,0,26.29,25.70,25.20,10.12,47.59
$GC,1276,1.78,740.3,2837,2351,1736,4094,11.2,7.4,166,1294,0.50,1.02,6.90,0.585,11270,0.025,0.031,2894,1946,1619,1619,4094,0,0,0,0,0,0,26.11,26.07,25.23,10.14,49.68
$GC,1332,1.80,750.0,2893,1946,1618,4094,6.9,8.2,173,1342,0.00,0.00,2.28,0.116,8198,0.000,0.000,2894,1946,1609,1609,4095,0,0,0,0,0,0,26.29,25.72,25.29,10.14,50.78
$GC,1379,1.80,750.0,2894,1946,1607,4095,2.8,8.7,179,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1946,1607,1607,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.14,50.27
$STATE,1396,end climb,SURFACE_DEPTH_REACHED
$STATE,1396,begin surface coast
$FINISH,0.2,1.024180
$STATE,1417,end surface coast,CONTROL_FINISHED_OK
$STATE,1417,begin surface
$SM_CCo,1514,0.00,0.000,0,0,1606,754.71
$SM_GC,0.92,27.70,0.00,0.00,0.021,0.000,0.000,239,1945,1606,-6.55,-0.23,754.71,0,0,0,0,0,0,26.14,26.36,26.17
$IRIDIUM_FIX,5952.82,-17420.78,060817,164308
$TT8_MAMPS,0.025466,0.240429
$HUMID,50.31
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.86,16.131
$10V_AH,10.18,19.770
$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,44.100,16.725,81.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,507.866,60.365,180.023,759.523,67.397,33.410,477.703,0.000,442.184,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,1268.370,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.014,499.833,395.739,585.746,757.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,17766,184
$CAP_FILE_SIZE,39121,0
$CFSIZE,1024409600,989691904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,192718,6018.707,-17326.664,6,0.8,15,7.2,0.0,0.0,10,4.7