version: 66.13
glider: 401
mission: 22
dive: 610
start: 8 6 117 21 0 26
data:
$ID,401
$MISSION,22
$DIVE,610
$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,28
$R_STBD_OVSHOOT,45
$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
$GPS1,060817,205142,6019.4229,-17327.9043,6,0.9,24,7.2,0.2,314.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-35.8
$GPS2,060817,205918,6019.4404,-17327.9492,5,0.7,23,7.2,0.3,256.2,11,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.181814,0.339117
$KALMAN_X,63758.335938,-2000.287842,-572.786011,-233916.265625,-20.975159
$KALMAN_Y,43546.503906,2407.782959,982.337952,71810.359375,-45.885010
$MHEAD_RNG_PITCHd_Wd,324.6,13184,-7.7,-8.333,-12.22,10360
$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,-585.0,240,1951,1605,4092,0.0,0.0,0,21,10.43,0.00,0.00,0.000,2049,0.079,0.000,1148,1952,1605,1605,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.22,49.68
$GC,23,-1.58,-585.0,1147,1951,1605,4094,0.6,0.0,1,50,7.32,0.00,-13.98,0.000,18438,0.048,0.000,1828,1952,3169,3169,4094,0,0,0,0,0,0,25.96,25.02,26.02,10.22,50.15
$GC,88,-1.58,-585.0,1828,1952,3171,4094,2.1,-8.1,9,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1951,3171,3171,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.56,49.96
$GC,135,-1.58,-585.0,1828,1952,3171,4095,8.8,-15.7,15,144,0.00,1.10,0.00,0.000,260,0.000,0.042,1828,2361,3170,3170,4094,0,0,0,0,0,0,26.24,25.96,26.25,10.56,48.93
$GC,160,-1.58,-585.0,1828,2360,3172,4094,13.1,-15.7,18,169,0.00,1.02,0.00,0.000,1030,0.000,0.025,1829,1954,3172,3172,4094,0,0,0,0,0,0,26.04,26.03,26.07,10.56,48.77
$GC,207,-1.58,-585.0,1828,1954,3173,4094,19.3,-13.2,24,216,0.00,1.10,0.00,0.000,516,0.000,0.048,1829,1516,3173,3173,4094,0,0,0,0,0,0,26.31,26.01,26.32,10.53,48.18
$GC,254,-1.58,-585.0,1828,1516,3174,4094,25.2,-12.5,30,263,0.00,0.93,0.00,0.000,1030,0.000,0.025,1829,1921,3174,3174,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.51,47.83
$GC,301,-1.58,-585.0,1828,1921,3175,4094,30.9,-12.1,36,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1921,3175,3175,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.48,47.36
$GC,347,-1.58,-585.0,1828,1922,3176,4094,36.5,-12.2,42,356,0.00,1.17,0.00,0.000,260,0.000,0.042,1829,2371,3176,3176,4094,0,0,0,0,0,0,26.40,26.10,26.41,10.46,46.25
$GC,379,-1.58,-585.0,1828,2371,3177,4094,40.4,-11.8,46,387,0.00,1.10,0.00,0.000,1030,0.000,0.028,1829,1925,3177,3177,4094,0,0,0,0,0,0,26.22,26.17,26.23,10.45,45.66
$GC,424,-1.58,-585.0,1828,1925,3178,4094,45.5,-11.6,52,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,1925,3178,3178,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.44,45.62
$GC,468,-1.58,-585.0,1828,1924,3179,4094,50.6,-11.5,58,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,1925,3179,3179,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.43,44.80
$GC,513,-1.58,-585.0,1828,1925,3179,4095,55.7,-11.4,64,523,0.00,1.17,0.00,0.000,260,0.000,0.041,1829,2367,3180,3180,4094,0,0,0,0,0,0,26.49,26.20,26.51,10.42,44.56
$STATE,550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,550,begin apogee
$GC,557,-0.45,0.0,1828,1957,3180,4095,60.3,-11.8,69,600,3.83,0.00,33.22,1.292,10244,0.054,0.000,2186,1957,2484,2484,4094,0,0,0,0,0,0,26.23,25.32,24.27,10.42,44.52
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,604,1.58,585.0,2186,1957,2484,4094,63.1,0.0,74,648,6.95,0.00,33.22,1.268,11270,0.038,0.000,2829,1957,1803,1803,4094,0,0,0,0,0,0,25.48,25.65,23.83,10.28,44.05
$GC,686,1.58,585.0,2828,1956,1801,4094,58.0,9.4,84,696,0.00,1.12,0.00,0.000,260,0.000,0.039,2829,2365,1801,1801,4094,0,0,0,0,0,0,25.50,25.25,25.51,10.12,43.10
$GC,751,1.58,585.0,2828,2364,1799,4094,51.4,9.7,93,761,0.00,0.98,0.00,0.000,1030,0.000,0.027,2829,1981,1799,1799,4094,0,0,0,0,0,0,25.57,25.54,25.59,10.11,43.54
$GC,797,1.58,585.0,2829,1981,1799,4094,47.0,9.7,99,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1981,1799,1799,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,43.77
$GC,842,1.58,585.0,2828,1981,1798,4094,42.6,9.3,105,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1981,1797,1797,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.11,44.13
$GC,886,1.58,585.0,2828,1981,1796,4094,38.4,9.5,111,895,0.00,1.05,0.00,0.000,260,0.000,0.042,2829,2369,1796,1796,4095,0,0,0,0,0,0,26.05,25.77,26.06,10.10,44.36
$GC,957,1.58,585.0,2829,2369,1795,4095,31.7,9.4,121,967,0.00,0.98,0.00,0.000,1030,0.000,0.030,2829,1981,1794,1794,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.10,44.80
$GC,1004,1.58,585.0,2828,1981,1794,4094,27.7,8.7,127,1014,0.00,1.20,0.00,0.000,516,0.000,0.055,2829,1523,1793,1793,4094,0,0,0,0,0,0,26.20,25.90,26.20,10.09,45.27
$GC,1056,1.58,585.0,2829,1522,1793,4094,23.0,8.9,134,1065,0.00,1.08,0.00,0.000,1030,0.000,0.025,2829,1985,1793,1793,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.11,45.78
$GC,1101,1.58,585.0,2829,1985,1792,4094,19.1,8.5,140,1111,0.00,0.98,0.00,0.000,260,0.000,0.043,2829,2359,1791,1791,4094,0,0,0,0,0,0,26.29,26.01,26.30,10.12,46.53
$GC,1148,1.58,585.0,2829,2359,1790,4094,15.2,8.4,146,1157,0.00,0.95,0.00,0.000,1030,0.000,0.030,2829,1979,1791,1791,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.13,47.55
$GC,1195,1.72,675.0,2828,1978,1789,4094,11.5,7.4,152,1207,0.35,1.17,5.82,0.543,10756,0.036,0.055,2876,1525,1695,1695,4094,0,0,0,0,0,0,26.15,25.95,25.26,10.16,48.26
$GC,1263,1.75,694.9,2875,1525,1694,4094,6.1,8.1,161,1273,0.00,0.98,2.83,0.240,9222,0.000,0.026,2877,1962,1672,1672,4095,0,0,0,0,0,0,26.17,26.15,25.38,10.16,49.25
$GC,1311,1.80,729.4,2876,1963,1671,4095,2.3,8.0,167,1321,0.12,1.02,3.50,0.321,10500,0.065,0.040,2895,2355,1631,1631,4094,0,0,0,0,0,0,26.15,26.00,25.38,10.16,49.96
$STATE,1329,end climb,FINISH_DEPTH_REACHED
$STATE,1329,begin subsurface finish
$FINISH1,0.4,1.024143,102
$GC,1337,0.15,101.5,2895,1943,1631,4094,0.4,8.3,169,1357,5.18,1.15,-6.32,0.000,20740,0.025,1.287,2389,2350,2368,2368,4094,0,0,0,0,0,0,26.12,24.91,26.17,10.16,50.51
$FINISH2,0.2
$STATE,1358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1358,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,192923
$TT8_MAMPS,0.025466,0.262899
$HUMID,50.66
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.83,16.273
$10V_AH,10.16,19.915
$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,34.175,22.350,78.600,0.000,0.000,22.660,17.754,264.125,0.000,0.000,24.549,487.704,0.000,162.638,1032.459,151.272,33.480,467.529,0.000,414.134,0.000,0.543,0.000
$DEVICE_MAMPS,78.795,1286.730,1292.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.738,464.464,367.762,544.659,708.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,17713,171
$CAP_FILE_SIZE,42657,0
$CFSIZE,1024409600,989495296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,205918,6019.440,-17327.949,5,0.7,23,7.2,0.3,256.2,11,4.9