version: 66.13
glider: 401
mission: 22
dive: 607
start: 8 6 117 19 36 34
data:
$ID,401
$MISSION,22
$DIVE,607
$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,24
$R_STBD_OVSHOOT,56
$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
$GPS1,060817,192718,6018.7065,-17326.6641,6,0.8,15,7.2,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-31.6
$GPS2,060817,193527,6018.7529,-17326.7188,6,0.9,17,7.2,0.0,0.0,9,4.6
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.227919,0.314035
$KALMAN_X,63907.949219,-1974.574829,-525.645508,-232977.031250,26.879456
$KALMAN_Y,43638.027344,2340.401611,966.164551,70526.023438,-0.312012
$MHEAD_RNG_PITCHd_Wd,316.8,14861,-7.6,-8.333,-12.12,10579
$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,-585.0,239,1945,1606,4092,0.0,0.0,0,21,10.98,0.00,0.00,0.000,2049,0.089,0.000,1177,1946,1606,1606,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.22,49.25
$GC,23,-1.57,-585.0,1176,1945,1606,4094,0.7,0.0,1,51,7.25,1.15,-13.88,0.000,18692,0.066,1.274,1829,2351,3170,3170,4095,0,0,0,0,0,0,25.91,24.77,25.98,10.22,49.17
$GC,94,-1.57,-585.0,1828,2351,3171,4095,3.5,-10.9,10,103,0.00,1.02,0.00,0.000,1030,0.000,0.028,1829,1942,3171,3171,4094,0,0,0,0,0,0,25.94,25.91,25.97,10.56,49.64
$GC,141,-1.57,-585.0,1829,1942,3172,4094,9.5,-14.0,16,150,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1942,3173,3173,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.56,49.13
$GC,186,-1.57,-585.0,1829,1942,3173,4095,16.0,-13.9,22,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1942,3173,3173,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.56,48.46
$GC,229,-1.57,-585.0,1829,1942,3175,4094,21.3,-12.2,28,239,0.00,1.05,0.00,0.000,516,0.000,0.047,1829,1524,3174,3174,4095,0,0,0,0,0,0,26.30,26.02,26.32,10.54,47.83
$GC,294,-1.57,-585.0,1829,1524,3175,4095,28.5,-10.5,37,304,0.00,0.95,0.00,0.000,1030,0.000,0.024,1829,1941,3176,3176,4095,0,0,0,0,0,0,26.16,26.15,26.17,10.49,47.12
$GC,340,-1.57,-585.0,1829,1941,3176,4095,33.4,-10.8,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1941,3177,3177,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.47,46.49
$GC,387,-1.57,-585.0,1828,1941,3177,4094,38.3,-11.0,49,396,0.00,1.10,0.00,0.000,260,0.000,0.043,1829,2363,3177,3177,4095,0,0,0,0,0,0,26.41,26.13,26.43,10.46,46.25
$GC,426,-1.57,-585.0,1828,2363,3178,4095,42.6,-10.7,54,435,0.00,1.00,0.00,0.000,1030,0.000,0.026,1829,1962,3178,3178,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.44,45.51
$GC,473,-1.57,-585.0,1829,1961,3179,4094,47.6,-11.2,60,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1961,3178,3178,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.44,44.72
$GC,518,-1.57,-585.0,1829,1961,3180,4095,52.8,-11.3,66,527,0.00,1.10,0.00,0.000,516,0.000,0.049,1829,1522,3180,3180,4095,0,0,0,0,0,0,26.48,26.19,26.50,10.43,44.56
$GC,557,-1.57,-585.0,1829,1521,3181,4095,57.2,-11.2,71,566,0.00,0.98,0.00,0.000,1030,0.000,0.024,1829,1944,3181,3181,4095,0,0,0,0,0,0,26.30,26.27,26.32,10.42,44.44
$STATE,580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,580,begin apogee
$GC,586,-0.45,0.0,1829,1944,3181,4094,60.0,-11.3,74,630,3.83,0.00,33.30,1.287,10244,0.053,0.000,2185,1947,2484,2484,4094,0,0,0,0,0,0,26.24,24.99,24.29,10.42,44.56
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.57,585.0,2184,1946,2484,4094,62.8,0.0,79,677,6.95,0.00,33.28,1.264,11270,0.037,0.000,2829,1949,1802,1802,4094,0,0,0,0,0,0,25.50,25.65,23.83,10.28,43.93
$GC,715,1.57,585.0,2828,1948,1801,4094,57.7,9.6,89,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1949,1800,1800,4094,0,0,0,0,0,0,25.50,25.51,25.51,10.12,43.73
$GC,760,1.57,585.0,2829,1948,1800,4094,53.2,9.9,95,769,0.00,1.10,0.00,0.000,260,0.000,0.040,2829,2361,1800,1800,4094,0,0,0,0,0,0,25.70,25.44,25.72,10.11,43.18
$GC,813,1.57,585.0,2829,2360,1799,4094,48.0,10.1,102,823,0.00,1.00,0.00,0.000,1030,0.000,0.028,2829,1969,1799,1799,4094,0,0,0,0,0,0,25.66,25.62,25.67,10.11,43.77
$GC,859,1.57,585.0,2829,1969,1798,4094,43.3,9.8,108,869,0.00,1.17,0.00,0.000,516,0.000,0.054,2829,1521,1798,1798,4094,0,0,0,0,0,0,25.96,25.66,25.96,10.11,44.05
$GC,913,1.57,585.0,2829,1521,1796,4094,38.3,9.5,115,922,0.00,1.05,0.00,0.000,1030,0.000,0.024,2829,1974,1796,1796,4094,0,0,0,0,0,0,25.86,25.84,25.86,10.10,44.09
$GC,958,1.57,585.0,2829,1973,1795,4094,34.0,9.1,121,967,0.00,1.02,0.00,0.000,260,0.000,0.042,2829,2363,1795,1795,4094,0,0,0,0,0,0,26.11,25.84,26.12,10.10,44.99
$GC,1023,1.57,585.0,2829,2363,1794,4094,28.0,9.2,130,1032,0.00,1.00,0.00,0.000,1030,0.000,0.029,2830,1967,1794,1794,4094,0,0,0,0,0,0,25.97,25.94,25.99,10.10,45.03
$GC,1068,1.57,585.0,2829,1967,1793,4094,23.7,9.7,136,1078,0.00,1.15,0.00,0.000,516,0.000,0.054,2829,1523,1793,1793,4094,0,0,0,0,0,0,26.23,25.93,26.24,10.11,45.43
$GC,1126,1.57,585.0,2829,1523,1791,4094,18.4,8.6,144,1136,0.00,1.02,0.00,0.000,1030,0.000,0.024,2829,1974,1791,1791,4094,0,0,0,0,0,0,26.09,26.08,26.11,10.14,46.61
$GC,1173,1.57,585.0,2829,1973,1790,4094,14.6,8.4,150,1183,0.00,1.00,0.00,0.000,260,0.000,0.042,2829,2359,1790,1790,4095,0,0,0,0,0,0,26.32,26.05,26.33,10.15,47.99
$GC,1232,1.75,704.3,2829,2358,1789,4095,10.1,7.2,158,1251,0.45,0.98,7.30,0.590,11270,0.027,0.030,2884,1968,1661,1661,4094,0,0,0,0,0,0,26.15,26.10,25.25,10.17,49.01
$GC,1289,1.75,704.3,2883,1968,1659,4094,5.6,8.4,165,1298,0.00,1.15,0.00,0.000,516,0.000,0.055,2884,1525,1659,1659,4094,0,0,0,0,0,0,26.31,25.98,26.32,10.17,49.84
$GC,1328,1.75,704.3,2883,1525,1658,4094,2.1,8.4,170,1338,0.00,1.05,0.00,0.000,1030,0.000,0.026,2884,1981,1658,1658,4094,0,0,0,0,0,0,26.15,26.13,26.16,10.17,49.76
$STATE,1345,end climb,FINISH_DEPTH_REACHED
$STATE,1345,begin subsurface finish
$FINISH1,0.4,1.024208,97
$GC,1353,0.15,97.0,2884,1947,1658,4093,0.4,8.8,172,1370,5.07,0.00,-6.18,0.000,20742,0.025,0.000,2389,1947,2377,2377,4094,0,0,0,0,0,0,26.12,25.60,26.17,10.18,50.55
$FINISH2,0.2
$STATE,1371,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1371,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,180410
$TT8_MAMPS,0.025466,0.200732
$HUMID,50.27
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.83,16.177
$10V_AH,10.25,19.804
$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,34.525,21.125,73.875,0.000,0.000,25.177,17.359,302.503,0.000,0.000,19.084,483.602,0.000,165.129,1074.209,155.012,33.449,478.369,0.000,263.239,0.000,0.543,0.000
$DEVICE_MAMPS,88.740,1274.490,1286.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.617,472.738,0.000,553.963,723.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329424
$DATA_FILE_SIZE,17918,174
$CAP_FILE_SIZE,42473,0
$CFSIZE,1024409600,989642752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,193527,6018.753,-17326.719,6,0.9,17,7.2,0.0,0.0,9,4.6