version: 66.13
glider: 401
mission: 22
dive: 608
start: 8 6 117 20 1 32
data:
$ID,401
$MISSION,22
$DIVE,608
$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,31
$R_STBD_OVSHOOT,43
$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
$GPS1,060817,193527,6018.7529,-17326.7188,6,0.9,17,7.2,0.0,0.0,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.4
$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,-0.222656,0.315560
$KALMAN_X,64037.625000,-1905.845581,-466.311615,-233252.031250,-0.769989
$KALMAN_Y,43461.761719,2270.456787,866.393372,70898.578125,27.543823
$MHEAD_RNG_PITCHd_Wd,317.6,14861,-7.7,-8.333,-12.18,10455
$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,-585.0,2389,1947,2377,4092,0.0,0.0,0,21,5.68,0.00,-4.47,0.000,20482,0.024,0.000,1838,1947,2884,2884,4094,0,0,0,0,0,0,26.15,28.83,26.18,10.34,50.27
$GC,24,-1.58,-585.0,1838,1947,2883,4094,0.2,0.0,1,33,0.00,0.00,-2.62,0.000,16390,0.000,0.000,1838,1947,3169,3169,4094,0,0,0,0,0,0,26.35,25.63,26.34,10.46,50.55
$GC,69,-1.58,-585.0,1837,1947,3170,4094,3.6,-11.1,7,79,0.00,1.10,0.00,0.000,260,0.000,0.042,1838,2362,3170,3170,4095,0,0,0,0,0,0,26.27,26.00,26.29,10.52,50.23
$GC,114,-1.58,-585.0,1837,2361,3170,4095,9.3,-13.0,13,124,0.00,1.00,0.00,0.000,1030,0.000,0.027,1838,1965,3171,3171,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.53,50.27
$GC,160,-1.58,-585.0,1837,1965,3172,4094,15.6,-13.8,19,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1965,3172,3172,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.52,49.92
$GC,205,-1.58,-585.0,1837,1965,3173,4094,21.0,-12.0,25,214,0.00,1.15,0.00,0.000,516,0.000,0.049,1838,1514,3173,3173,4095,0,0,0,0,0,0,26.38,26.09,26.39,10.51,49.64
$GC,265,-1.58,-585.0,1838,1513,3174,4095,27.5,-10.9,33,275,0.00,1.00,0.00,0.000,1030,0.000,0.024,1838,1948,3174,3174,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.48,49.13
$GC,312,-1.58,-585.0,1837,1948,3175,4095,32.2,-10.2,39,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1948,3175,3175,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.45,48.03
$GC,359,-1.58,-585.0,1837,1948,3176,4094,36.9,-10.2,45,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1949,3176,3176,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.44,47.40
$GC,405,-1.58,-585.0,1837,1949,3177,4095,41.8,-10.7,51,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1949,3178,3178,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.43,46.81
$GC,451,-1.58,-585.0,1837,1949,3178,4094,46.8,-11.0,57,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1949,3178,3178,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.41,46.18
$GC,495,-1.58,-585.0,1837,1949,3178,4095,51.7,-10.9,63,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1949,3178,3178,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,45.98
$GC,539,-1.58,-585.0,1837,1949,3179,4095,56.3,-10.4,69,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1949,3179,3179,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.41,46.41
$STATE,575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,575,begin apogee
$GC,580,-0.45,0.0,1838,1949,3180,4095,60.4,-11.0,74,623,3.70,0.00,33.20,1.291,10244,0.050,0.000,2187,1951,2483,2483,4095,0,0,0,0,0,0,26.29,25.04,24.34,10.40,45.58
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,627,1.58,585.0,2187,1950,2483,4095,62.8,0.0,79,673,6.88,1.15,33.12,1.266,10756,0.035,0.051,2831,1514,1803,1803,4095,0,0,0,0,0,0,25.48,25.44,23.85,10.25,45.19
$GC,689,1.58,585.0,2830,1513,1802,4095,59.5,8.7,86,699,0.00,1.05,0.00,0.000,1030,0.000,0.026,2831,1972,1802,1802,4094,0,0,0,0,0,0,25.23,25.21,25.28,10.11,44.92
$GC,736,1.58,585.0,2830,1971,1801,4094,55.3,9.5,92,746,0.00,1.00,0.00,0.000,260,0.000,0.040,2831,2346,1801,1801,4094,0,0,0,0,0,0,25.65,25.39,25.66,10.10,44.13
$GC,808,1.58,585.0,2830,2346,1799,4094,48.0,10.0,102,817,0.00,1.02,0.00,0.000,1030,0.000,0.031,2830,1949,1799,1799,4094,0,0,0,0,0,0,25.66,25.63,25.69,10.09,44.56
$GC,855,1.58,585.0,2830,1948,1798,4094,43.4,9.8,108,865,0.00,1.12,0.00,0.000,516,0.000,0.055,2830,1520,1798,1798,4095,0,0,0,0,0,0,25.97,25.67,25.98,10.09,44.80
$GC,907,1.58,585.0,2830,1520,1797,4095,38.2,9.7,115,916,0.00,0.95,0.00,0.000,1030,0.000,0.025,2831,1941,1797,1797,4094,0,0,0,0,0,0,25.86,25.87,25.94,10.09,45.31
$GC,952,1.58,585.0,2830,1940,1796,4094,34.0,9.6,121,961,0.00,1.08,0.00,0.000,260,0.000,0.041,2831,2349,1796,1796,4094,0,0,0,0,0,0,26.11,25.84,26.13,10.08,45.35
$GC,1149,1.58,585.0,2830,2348,1792,4094,16.3,8.5,150,1159,0.00,0.95,0.00,0.000,1030,0.000,0.031,2831,1971,1792,1792,4094,0,0,0,0,0,0,26.10,26.07,26.11,10.12,48.18
$GC,1195,1.72,682.4,2830,1970,1791,4094,12.6,7.4,156,1206,0.35,0.00,6.22,0.568,10246,0.037,0.000,2877,1971,1688,1688,4094,0,0,0,0,0,0,26.18,25.89,25.25,10.15,49.64
$GC,1243,1.89,792.1,2876,1971,1687,4094,9.3,7.3,162,1254,0.45,0.00,7.20,0.573,10246,0.039,0.000,2927,1971,1559,1559,4094,0,0,0,0,0,0,26.08,25.85,25.23,10.14,50.39
$GC,1291,1.89,792.1,2926,1971,1558,4094,4.9,9.3,168,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1971,1558,1558,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.13,49.92
$STATE,1320,end climb,FINISH_DEPTH_REACHED
$STATE,1320,begin subsurface finish
$FINISH1,1.8,1.024179,99
$GC,1327,0.15,99.0,2926,1971,1557,4094,1.8,9.6,172,1345,5.75,0.00,-6.95,0.000,20742,0.049,0.000,2389,1971,2374,2374,4094,0,0,0,0,0,0,26.07,25.09,26.11,10.13,50.82
$FINISH2,0.2
$STATE,1346,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,180410
$TT8_MAMPS,0.025466,0.247919
$HUMID,50.78
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.85,16.203
$10V_AH,10.18,19.842
$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,22.800,12.575,79.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.904,0.000,141.925,723.281,59.721,33.428,420.865,0.000,420.126,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,55.080,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.422,472.606,374.211,554.093,721.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330888
$DATA_FILE_SIZE,17815,174
$CAP_FILE_SIZE,32840,0
$CFSIZE,1024409600,989593600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,193527,6018.753,-17326.719,6,0.9,17,7.2,0.0,0.0,9,4.6