version: 66.13
glider: 401
mission: 22
dive: 611
start: 8 6 117 21 25 13
data:
$ID,401
$MISSION,22
$DIVE,611
$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,17
$R_STBD_OVSHOOT,53
$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
$GPS1,060817,205918,6019.4404,-17327.9492,5,0.7,23,7.2,0.3,256.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-1.7
$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,-0.180024,0.337326
$KALMAN_X,63846.460938,-1945.161377,-522.912903,-234129.421875,-45.215149
$KALMAN_Y,43354.421875,2326.105469,868.791443,72221.093750,-9.098022
$MHEAD_RNG_PITCHd_Wd,324.7,13184,-7.8,-8.333,-12.30,10198
$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,-577.2,2389,1966,2368,4092,0.0,0.0,0,21,5.72,0.00,-4.82,0.000,20482,0.026,0.000,1835,1966,2910,2910,4095,0,0,0,0,0,0,26.15,28.83,26.17,10.35,50.47
$GC,24,-1.58,-577.2,1834,1966,2911,4095,0.1,0.0,1,33,0.00,0.00,-2.28,0.000,16390,0.000,0.000,1834,1966,3161,3161,4094,0,0,0,0,0,0,26.34,25.63,26.32,10.47,51.02
$GC,69,-1.58,-577.2,1833,1966,3161,4094,3.6,-11.1,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1966,3161,3161,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.52,51.10
$GC,115,-1.58,-577.2,1834,1966,3163,4095,9.8,-14.7,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1966,3163,3163,4095,0,0,0,0,0,0,26.30,26.32,26.30,10.53,50.15
$GC,159,-1.58,-577.2,1834,1966,3164,4095,16.6,-14.8,19,168,0.00,1.15,0.00,0.000,516,0.000,0.048,1834,1514,3164,3164,4095,0,0,0,0,0,0,26.33,26.03,26.34,10.51,50.63
$GC,232,-1.58,-577.2,1834,1514,3165,4095,25.4,-12.2,29,241,0.00,0.98,0.00,0.000,1030,0.000,0.025,1834,1936,3166,3166,4095,0,0,0,0,0,0,26.18,26.17,26.22,10.47,49.72
$GC,277,-1.58,-577.2,1834,1936,3166,4095,30.9,-11.9,35,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1937,3166,3166,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.45,48.77
$GC,321,-1.58,-577.2,1834,1936,3167,4094,35.9,-11.1,41,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1936,3167,3167,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.44,47.75
$GC,366,-1.58,-577.2,1834,1937,3168,4095,40.7,-10.5,47,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1937,3168,3168,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.42,47.51
$GC,412,-1.58,-577.2,1833,1937,3169,4094,45.5,-10.8,53,421,0.00,1.12,0.00,0.000,260,0.000,0.044,1834,2368,3169,3169,4095,0,0,0,0,0,0,26.48,26.21,26.50,10.41,47.67
$GC,457,-1.58,-577.2,1833,2368,3170,4095,50.5,-10.9,59,467,0.00,1.10,0.00,0.000,1030,0.000,0.028,1834,1924,3169,3169,4094,0,0,0,0,0,0,26.29,26.26,26.32,10.40,46.49
$GC,503,-1.58,-577.2,1834,1923,3171,4094,55.6,-11.2,65,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1924,3171,3171,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.40,46.18
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,546,begin apogee
$GC,551,-0.45,0.0,1834,1923,3172,4094,60.5,-11.1,71,595,3.78,0.00,32.65,1.290,10244,0.053,0.000,2184,1924,2488,2488,4095,0,0,0,0,0,0,26.27,25.03,24.32,10.40,45.94
$STATE,596,end apogee,CONTROL_FINISHED_OK
$STATE,596,begin climb
$GC,599,1.58,577.2,2183,1923,2488,4095,63.2,0.0,76,644,6.95,1.02,33.03,1.270,10756,0.039,0.054,2827,1529,1810,1810,4094,0,0,0,0,0,0,25.48,25.44,23.86,10.25,45.90
$GC,661,1.58,577.2,2827,1529,1810,4094,59.7,9.1,83,670,0.00,1.00,0.00,0.000,1030,0.000,0.026,2827,1976,1810,1810,4094,0,0,0,0,0,0,25.22,25.21,25.23,10.11,44.84
$GC,706,1.58,577.2,2827,1980,1809,4094,55.4,9.5,89,716,0.00,0.95,0.00,0.000,260,0.000,0.041,2827,2333,1809,1809,4094,0,0,0,0,0,0,25.64,25.39,25.65,10.10,44.40
$GC,812,1.58,577.2,2827,2333,1807,4094,45.0,10.5,104,822,0.00,1.00,0.00,0.000,1030,0.000,0.030,2827,1944,1807,1807,4094,0,0,0,0,0,0,25.73,25.70,25.74,10.09,45.27
$GC,858,1.58,577.2,2827,1944,1806,4094,40.3,9.9,110,867,0.00,1.10,0.00,0.000,516,0.000,0.056,2827,1524,1806,1806,4094,0,0,0,0,0,0,26.01,25.74,26.03,10.09,45.35
$GC,897,1.58,577.2,2827,1523,1805,4094,36.5,9.8,115,906,0.00,0.90,0.00,0.000,1030,0.000,0.024,2827,1928,1805,1805,4094,0,0,0,0,0,0,25.90,25.88,25.91,10.08,45.51
$GC,944,1.58,577.2,2827,1928,1804,4094,32.2,9.5,121,953,0.00,1.10,0.00,0.000,260,0.000,0.041,2828,2347,1803,1803,4094,0,0,0,0,0,0,26.14,25.86,26.15,10.08,45.62
$GC,1028,1.58,577.2,2827,2347,1802,4094,23.9,9.5,133,1038,0.00,0.98,0.00,0.000,1030,0.000,0.031,2828,1962,1802,1802,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.09,46.81
$GC,1076,1.58,577.2,2827,1962,1801,4094,19.8,8.8,139,1084,0.00,1.12,0.00,0.000,516,0.000,0.056,2827,1528,1801,1801,4094,0,0,0,0,0,0,26.27,25.97,26.28,10.10,46.73
$GC,1134,1.59,587.2,2827,1528,1800,4094,14.8,8.2,147,1143,0.00,0.93,0.00,0.000,1030,0.000,0.025,2827,1949,1800,1800,4094,0,0,0,0,0,0,26.14,26.13,26.15,10.11,47.48
$GC,1180,1.73,677.8,2826,1949,1799,4094,11.3,7.4,153,1190,0.43,0.00,6.32,0.570,10502,0.034,0.000,2880,1949,1692,1692,4094,0,0,0,0,0,0,26.14,25.90,25.25,10.13,48.66
$GC,1228,1.75,694.9,2879,1948,1692,4094,7.5,8.2,159,1237,0.00,0.00,2.75,0.230,8198,0.000,0.000,2879,1950,1672,1672,4094,0,0,0,0,0,0,26.30,25.73,25.30,10.14,49.80
$GC,1274,1.75,694.9,2879,1950,1671,4094,3.6,8.4,165,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1951,1671,1671,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.15,50.51
$STATE,1291,end climb,FINISH_DEPTH_REACHED
$STATE,1291,begin subsurface finish
$FINISH1,1.8,1.024134,102
$GC,1297,0.15,102.2,2879,1950,1670,4094,1.8,8.5,167,1316,5.25,0.00,-5.80,0.000,20742,0.055,0.000,2396,1953,2365,2365,4094,0,0,0,0,0,0,26.07,25.59,26.15,10.15,50.11
$FINISH2,0.2
$STATE,1317,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1317,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,192923
$TT8_MAMPS,0.026215,0.223202
$HUMID,50.74
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.86,16.298
$10V_AH,10.22,19.942
$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,22.125,15.475,74.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,465.032,0.000,145.286,708.681,56.314,33.426,428.404,0.000,254.590,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,55.845,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.729,459.196,0.000,538.136,701.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,17867,169
$CAP_FILE_SIZE,33919,0
$CFSIZE,1024409600,989446144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,205918,6019.440,-17327.949,5,0.7,23,7.2,0.3,256.2,11,4.9