version: 66.13
glider: 401
mission: 22
dive: 613
start: 8 6 117 22 23 33
data:
$ID,401
$MISSION,22
$DIVE,613
$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,40
$R_STBD_OVSHOOT,39
$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
$GPS1,060817,221431,6020.2114,-17329.2324,35,0.8,41,7.2,0.3,17.1,11,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-38.9
$GPS2,060817,222225,6020.2295,-17329.2871,5,0.9,17,7.2,0.0,0.0,9,4.5
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.161165,0.347765
$KALMAN_X,63389.835938,-2060.904541,-647.579224,-234676.984375,-55.745667
$KALMAN_Y,43557.234375,2458.939697,980.671753,73208.359375,-25.160889
$MHEAD_RNG_PITCHd_Wd,327.9,11302,-7.8,-8.333,-12.27,10261
$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,-580.9,230,1937,1647,4092,0.0,0.0,0,21,10.45,0.00,0.00,0.000,2049,0.090,0.000,1124,1937,1648,1648,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.23,49.68
$GC,23,-1.58,-580.9,1124,1937,1647,4094,0.7,0.0,1,50,7.55,0.00,-13.57,0.000,18694,0.046,0.000,1827,1936,3165,3165,4095,0,0,0,0,0,0,25.93,25.01,26.01,10.24,49.56
$GC,87,-1.59,-585.0,1826,1937,3166,4095,1.9,-7.3,9,95,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1937,3166,3166,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.57,49.80
$GC,130,-1.59,-585.0,1826,1937,3166,4094,7.6,-13.8,15,140,0.00,1.12,0.00,0.000,260,0.000,0.043,1827,2360,3167,3167,4095,0,0,0,0,0,0,26.22,25.97,26.23,10.57,49.33
$GC,163,-1.59,-585.0,1827,2360,3168,4095,12.4,-14.7,19,171,0.00,0.98,0.00,0.000,1030,0.000,0.027,1827,1971,3168,3168,4094,0,0,0,0,0,0,26.06,26.05,26.08,10.56,49.01
$GC,209,-1.59,-585.0,1826,1971,3168,4094,18.1,-12.2,25,218,0.00,1.12,0.00,0.000,516,0.000,0.047,1827,1523,3168,3168,4095,0,0,0,0,0,0,26.30,26.01,26.31,10.54,48.34
$GC,276,-1.59,-585.0,1826,1523,3170,4095,25.9,-11.6,34,285,0.00,0.95,0.00,0.000,1030,0.000,0.025,1827,1936,3170,3170,4095,0,0,0,0,0,0,26.14,26.13,26.17,10.49,47.51
$GC,322,-1.59,-585.0,1826,1937,3171,4095,31.4,-11.8,40,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1936,3171,3171,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.47,46.61
$GC,366,-1.59,-585.0,1826,1936,3171,4095,36.5,-11.3,46,376,0.00,1.12,0.00,0.000,260,0.000,0.044,1827,2367,3172,3172,4095,0,0,0,0,0,0,26.41,26.13,26.42,10.45,45.82
$GC,418,-1.59,-585.0,1827,2367,3173,4095,42.1,-10.8,53,428,0.00,1.08,0.00,0.000,1030,0.000,0.028,1827,1933,3173,3173,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.44,45.55
$GC,464,-1.59,-585.0,1827,1932,3174,4095,47.2,-10.9,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1932,3174,3174,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.44,44.76
$GC,509,-1.59,-585.0,1827,1932,3175,4094,52.4,-11.5,65,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1933,3175,3175,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.43,45.27
$GC,555,-1.59,-585.0,1827,1932,3175,4094,57.5,-11.1,71,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,1933,3175,3175,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.42,44.52
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,584,-0.45,0.0,1827,1932,3176,4095,60.7,-11.7,74,629,3.85,0.00,33.05,1.295,10244,0.053,0.000,2185,1933,2483,2483,4094,0,0,0,0,0,0,26.27,25.00,24.30,10.42,44.92
$STATE,630,end apogee,CONTROL_FINISHED_OK
$STATE,630,begin climb
$GC,632,1.59,585.0,2184,1932,2484,4094,63.5,0.0,79,677,6.93,1.05,33.28,1.274,10756,0.034,0.051,2830,1524,1802,1802,4094,0,0,0,0,0,0,25.46,25.41,23.82,10.28,44.13
$GC,884,1.59,585.0,2830,1524,1798,4094,42.9,9.5,115,894,0.00,1.00,0.00,0.000,1030,0.000,0.024,2830,1961,1797,1797,4095,0,0,0,0,0,0,25.83,25.81,25.84,10.10,45.39
$GC,930,1.59,585.0,2830,1960,1796,4095,38.7,9.2,121,940,0.00,1.15,0.00,0.000,516,0.000,0.053,2831,1530,1796,1796,4094,0,0,0,0,0,0,26.07,25.77,26.09,10.10,44.95
$GC,1147,1.59,585.0,2830,1529,1792,4094,19.4,8.6,153,1156,0.00,0.95,0.00,0.000,1030,0.000,0.025,2830,1955,1792,1792,4095,0,0,0,0,0,0,26.10,26.10,26.17,10.11,46.65
$GC,1194,1.63,612.9,2830,1955,1791,4095,15.7,8.1,159,1204,0.00,1.02,2.85,0.278,8452,0.000,0.037,2830,2351,1768,1768,4094,0,0,0,0,0,0,26.34,25.75,25.24,10.13,47.36
$GC,1242,1.72,671.9,2829,2351,1768,4094,11.9,7.7,165,1253,0.35,1.02,4.70,0.485,11270,0.030,0.031,2876,1945,1700,1700,4094,0,0,0,0,0,0,26.13,26.10,25.27,10.14,48.30
$GC,1291,1.80,726.2,2875,1945,1699,4094,8.1,7.8,171,1302,0.15,1.10,4.53,0.445,10756,0.056,0.055,2898,1521,1636,1636,4094,0,0,0,0,0,0,26.14,25.96,25.29,10.15,49.40
$GC,1351,1.80,726.2,2898,1520,1635,4094,2.8,8.6,179,1361,0.00,0.95,0.00,0.000,1030,0.000,0.026,2898,1950,1635,1635,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.15,50.59
$STATE,1370,end climb,FINISH_DEPTH_REACHED
$STATE,1370,begin subsurface finish
$FINISH1,1.2,1.024120,103
$GC,1377,0.15,103.1,2898,1954,1634,4094,1.2,8.5,181,1396,5.18,1.10,-6.30,0.000,20740,0.025,1.283,2391,2351,2368,2368,4094,0,0,0,0,0,0,26.14,24.91,26.18,10.16,50.23
$FINISH2,0.2
$STATE,1397,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1397,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,205340
$TT8_MAMPS,0.026964,0.208971
$HUMID,50.66
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.82,16.369
$10V_AH,10.24,20.015
$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,34.450,15.725,78.400,0.000,0.000,23.510,19.532,286.912,0.000,0.000,19.064,502.006,0.000,138.866,1107.717,142.876,33.479,425.240,0.000,275.915,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,1282.905,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.789,497.236,0.000,583.137,762.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,17835,183
$CAP_FILE_SIZE,37467,0
$CFSIZE,1024409600,989347840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,222225,6020.229,-17329.287,5,0.9,17,7.2,0.0,0.0,9,4.5