version: 66.13
glider: 401
mission: 22
dive: 612
start: 8 6 117 21 49 16
data:
$ID,401
$MISSION,22
$DIVE,612
$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,23
$R_STBD_OVSHOOT,59
$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,0.18
$_SM_ANGLEo,-1.1
$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,-0.177810,0.339301
$KALMAN_X,64073.312500,-1948.266602,-528.735352,-234346.781250,23.834839
$KALMAN_Y,42947.285156,2326.683350,854.117249,72641.265625,-125.009705
$MHEAD_RNG_PITCHd_Wd,325.1,13184,-7.8,-8.333,-12.27,10246
$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,-580.0,2396,1954,2365,4092,0.0,0.0,0,21,5.80,0.00,-4.50,0.000,20482,0.026,0.000,1838,1954,2870,2870,4095,0,0,0,0,0,0,26.12,28.83,26.14,10.33,51.61
$GC,24,-1.58,-580.0,1837,1954,2870,4095,0.1,0.0,1,33,0.00,0.00,-2.70,0.000,16390,0.000,0.000,1838,1954,3162,3162,4095,0,0,0,0,0,0,26.32,25.59,26.31,10.44,51.26
$GC,69,-1.58,-580.0,1837,1954,3163,4095,2.4,-8.7,7,78,0.00,1.05,0.00,0.000,260,0.000,0.041,1838,2349,3163,3163,4094,0,0,0,0,0,0,26.25,25.96,26.26,10.51,51.22
$GC,140,-1.58,-580.0,1837,2349,3165,4094,11.9,-14.3,17,150,0.00,1.02,0.00,0.000,1030,0.000,0.030,1837,1938,3165,3165,4095,0,0,0,0,0,0,26.09,26.06,26.11,10.51,51.61
$GC,188,-1.58,-580.0,1837,1938,3165,4095,17.7,-12.7,23,197,0.00,1.05,0.00,0.000,516,0.000,0.051,1837,1524,3166,3166,4094,0,0,0,0,0,0,26.35,26.08,26.36,10.48,50.66
$GC,246,-1.58,-580.0,1837,1524,3166,4094,24.8,-11.7,31,255,0.00,0.90,0.00,0.000,1030,0.000,0.026,1837,1922,3167,3167,4095,0,0,0,0,0,0,26.20,26.17,26.20,10.45,49.92
$GC,293,-1.58,-580.0,1837,1922,3168,4095,30.0,-11.7,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1922,3168,3168,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.43,48.97
$GC,339,-1.58,-580.0,1837,1922,3168,4095,35.0,-10.8,43,348,0.00,1.15,0.00,0.000,260,0.000,0.043,1837,2363,3168,3168,4095,0,0,0,0,0,0,26.44,26.15,26.46,10.42,48.34
$GC,385,-1.58,-580.0,1837,2363,3170,4095,39.8,-10.2,49,394,0.00,1.05,0.00,0.000,1030,0.000,0.028,1838,1939,3170,3170,4095,0,0,0,0,0,0,26.25,26.20,26.27,10.41,47.71
$GC,432,-1.58,-580.0,1837,1939,3170,4095,44.9,-11.0,55,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1939,3171,3171,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.41,46.92
$GC,479,-1.58,-580.0,1837,1939,3171,4095,50.0,-10.9,61,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1939,3171,3171,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.40,46.73
$GC,525,-1.58,-580.0,1837,1939,3172,4094,55.2,-11.2,67,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1939,3172,3172,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.39,46.73
$STATE,567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,567,begin apogee
$GC,572,-0.45,0.0,1837,1939,3173,4095,60.6,-12.2,73,616,3.75,0.00,32.95,1.299,10244,0.053,0.000,2185,1939,2483,2483,4094,0,0,0,0,0,0,26.27,25.01,24.32,10.39,46.53
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,620,1.58,580.0,2185,1939,2483,4094,63.1,0.0,78,665,6.95,0.00,32.88,1.274,11270,0.035,0.000,2828,1939,1808,1808,4094,0,0,0,0,0,0,25.51,25.69,23.85,10.24,45.70
$GC,702,1.58,580.0,2827,1939,1807,4094,57.9,8.5,88,712,0.00,1.17,0.00,0.000,260,0.000,0.040,2828,2363,1806,1806,4094,0,0,0,0,0,0,25.51,25.26,25.53,10.10,45.07
$GC,774,1.58,580.0,2828,2362,1805,4094,50.5,10.4,98,784,0.00,1.00,0.00,0.000,1030,0.000,0.029,2828,1974,1805,1805,4094,0,0,0,0,0,0,25.60,25.56,25.64,10.09,45.47
$GC,821,1.58,580.0,2828,1974,1803,4094,46.2,9.7,104,831,0.00,1.20,0.00,0.000,516,0.000,0.054,2828,1521,1803,1803,4094,0,0,0,0,0,0,25.91,25.61,25.92,10.08,45.43
$GC,868,1.58,580.0,2827,1520,1803,4094,41.5,10.0,110,878,0.00,1.05,0.00,0.000,1030,0.000,0.024,2829,1970,1802,1802,4094,0,0,0,0,0,0,25.79,25.79,25.83,10.08,45.66
$GC,915,1.58,580.0,2827,1969,1802,4094,36.8,9.9,116,925,0.00,1.02,0.00,0.000,260,0.000,0.044,2828,2357,1802,1802,4094,0,0,0,0,0,0,26.07,25.80,26.08,10.08,46.65
$GC,1020,1.58,580.0,2827,2356,1800,4094,26.7,9.4,131,1029,0.00,0.95,0.00,0.000,1030,0.000,0.030,2828,1981,1800,1800,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.08,46.65
$GC,1067,1.58,580.0,2827,1981,1799,4094,22.6,8.8,137,1076,0.00,1.20,0.00,0.000,516,0.000,0.054,2828,1521,1798,1798,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.08,46.81
$GC,1114,1.58,580.0,2828,1520,1798,4094,18.5,8.7,143,1123,0.00,1.10,0.00,0.000,1030,0.000,0.026,2828,1992,1797,1797,4094,0,0,0,0,0,0,26.09,26.07,26.11,10.09,47.40
$GC,1161,1.59,588.8,2828,1991,1796,4094,14.5,8.2,149,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1992,1796,1796,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.12,48.11
$GC,1205,1.70,662.8,2828,1991,1796,4094,10.9,7.6,155,1216,0.32,0.00,5.45,0.531,10246,0.042,0.000,2870,1992,1710,1710,4094,0,0,0,0,0,0,26.14,25.91,25.25,10.13,49.13
$GC,1254,1.78,714.2,2869,1991,1709,4094,7.3,7.8,161,1265,0.15,1.25,4.38,0.431,10756,0.060,0.054,2891,1523,1650,1650,4094,0,0,0,0,0,0,26.11,25.95,25.29,10.14,50.03
$GC,1295,1.78,714.2,2890,1522,1649,4094,3.7,8.6,166,1304,0.00,1.10,0.00,0.000,1030,0.000,0.028,2891,1994,1649,1649,4095,0,0,0,0,0,0,26.11,26.10,26.14,10.14,50.51
$STATE,1318,end climb,SURFACE_DEPTH_REACHED
$STATE,1318,begin surface coast
$FINISH,0.2,1.024131
$STATE,1341,end surface coast,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$SM_CCo,1439,0.00,0.000,0,0,1648,718.65
$SM_GC,1.02,27.88,0.10,0.00,0.023,0.087,0.000,231,1938,1648,-6.59,1.50,718.65,0,0,0,0,0,0,26.06,26.13,26.13
$IRIDIUM_FIX,5952.82,-17420.78,060817,192923
$TT8_MAMPS,0.025466,0.238182
$HUMID,50.86
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.85,16.323
$10V_AH,10.19,19.980
$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,44.850,17.375,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,493.564,59.987,165.726,717.201,63.145,33.416,443.768,0.000,415.463,0.000,0.543,0.000
$DEVICE_MAMPS,59.670,87.210,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.158,467.235,369.945,547.878,714.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,17784,172
$CAP_FILE_SIZE,35939,0
$CFSIZE,1024409600,989396992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,221431,6020.211,-17329.232,35,0.8,41,7.2,0.3,17.1,11,4.2