version: 66.13
glider: 401
mission: 22
dive: 614
start: 8 6 117 22 48 59
data:
$ID,401
$MISSION,22
$DIVE,614
$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,56
$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
$GPS1,060817,222225,6020.2295,-17329.2871,5,0.9,17,7.2,0.0,0.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-3.6
$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,-0.164963,0.348524
$KALMAN_X,63455.710938,-2013.462891,-599.943787,-234859.781250,-73.931702
$KALMAN_Y,43365.304688,2374.166992,866.726135,73626.031250,13.348206
$MHEAD_RNG_PITCHd_Wd,327.5,11302,-7.7,-8.333,-12.20,10414
$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,7,-1.58,-585.0,2391,1951,2368,4092,0.0,0.0,0,20,5.72,0.00,-4.15,0.000,20482,0.027,0.000,1839,1952,2838,2838,4094,0,0,0,0,0,0,26.14,28.83,26.16,10.34,50.59
$GC,23,-1.58,-585.0,1839,1952,2837,4094,0.1,0.0,1,32,0.00,0.00,-3.05,0.000,16390,0.000,0.000,1839,1952,3169,3169,4094,0,0,0,0,0,0,26.34,25.63,26.35,10.44,50.94
$GC,68,-1.58,-585.0,1839,1952,3169,4094,2.9,-10.4,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3169,3169,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.52,50.63
$GC,113,-1.58,-585.0,1838,1951,3170,4094,8.8,-13.8,13,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3171,3171,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.52,50.63
$GC,158,-1.58,-585.0,1839,1952,3171,4094,15.0,-13.4,19,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1952,3172,3172,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.51,50.66
$GC,202,-1.58,-585.0,1838,1952,3173,4095,20.4,-11.9,25,212,0.00,1.12,0.00,0.000,516,0.000,0.050,1839,1514,3173,3173,4095,0,0,0,0,0,0,26.38,26.09,26.39,10.49,49.92
$GC,254,-1.58,-585.0,1839,1513,3173,4095,26.4,-11.3,32,264,0.00,0.95,0.00,0.000,1030,0.000,0.026,1839,1929,3174,3174,4095,0,0,0,0,0,0,26.20,26.20,26.24,10.46,48.93
$GC,302,-1.58,-585.0,1838,1929,3175,4095,31.3,-10.8,38,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1929,3174,3174,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.44,48.30
$GC,345,-1.58,-585.0,1838,1929,3175,4095,36.3,-10.9,44,355,0.00,1.15,0.00,0.000,260,0.000,0.044,1839,2368,3175,3175,4095,0,0,0,0,0,0,26.47,26.18,26.48,10.43,48.46
$GC,406,-1.58,-585.0,1838,2368,3177,4095,42.2,-9.9,52,415,0.00,1.05,0.00,0.000,1030,0.000,0.029,1839,1944,3176,3176,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.42,47.63
$GC,453,-1.58,-585.0,1838,1944,3177,4094,47.1,-10.5,58,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1943,3178,3178,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.41,47.28
$GC,499,-1.58,-585.0,1839,1944,3178,4094,52.0,-10.8,64,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1944,3178,3178,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.40,46.29
$GC,546,-1.58,-585.0,1838,1944,3180,4094,57.1,-10.5,70,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,1944,3180,3180,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.40,46.73
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,574,-0.45,0.0,1839,1944,3180,4095,60.0,-11.0,73,618,3.75,0.00,33.15,1.287,10244,0.054,0.000,2186,1944,2485,2485,4094,0,0,0,0,0,0,26.28,25.04,24.34,10.40,46.33
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,621,1.58,585.0,2186,1944,2485,4094,62.6,0.0,78,667,6.93,1.08,32.95,1.270,10756,0.037,0.053,2831,1530,1802,1802,4094,0,0,0,0,0,0,25.49,25.46,23.86,10.25,45.58
$GC,683,1.58,585.0,2830,1530,1802,4094,59.4,8.4,85,693,0.00,1.00,0.00,0.000,1030,0.000,0.024,2831,1952,1802,1802,4095,0,0,0,0,0,0,25.21,25.20,25.22,10.10,44.76
$GC,731,1.58,585.0,2830,1955,1801,4095,55.3,9.4,91,740,0.00,1.10,0.00,0.000,260,0.000,0.041,2830,2361,1801,1801,4094,0,0,0,0,0,0,25.65,25.38,25.65,10.10,44.68
$GC,810,1.58,585.0,2830,2361,1799,4094,47.9,9.4,102,820,0.00,1.02,0.00,0.000,1030,0.000,0.030,2831,1963,1799,1799,4094,0,0,0,0,0,0,25.68,25.65,25.71,10.09,45.27
$GC,858,1.58,585.0,2830,1963,1798,4094,43.4,9.3,108,866,0.00,1.15,0.00,0.000,516,0.000,0.054,2831,1525,1798,1798,4094,0,0,0,0,0,0,25.98,25.68,25.99,10.09,45.82
$GC,904,1.58,585.0,2830,1525,1797,4094,38.9,9.8,114,913,0.00,1.02,0.00,0.000,1030,0.000,0.024,2831,1966,1797,1797,4094,0,0,0,0,0,0,25.89,25.85,25.88,10.08,45.47
$GC,951,1.58,585.0,2830,1966,1796,4094,34.4,9.4,120,960,0.00,1.05,0.00,0.000,260,0.000,0.042,2831,2363,1796,1796,4094,0,0,0,0,0,0,26.12,25.84,26.13,10.08,45.82
$GC,1042,1.58,585.0,2830,2363,1794,4094,26.1,9.0,133,1052,0.00,0.95,0.00,0.000,1030,0.000,0.031,2831,1987,1794,1794,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.08,46.61
$GC,1089,1.58,585.0,2830,1986,1793,4094,22.2,8.5,139,1099,0.00,1.20,0.00,0.000,516,0.000,0.054,2831,1527,1793,1793,4094,0,0,0,0,0,0,26.27,25.96,26.27,10.08,47.24
$GC,1148,1.63,619.9,2830,1526,1792,4094,17.2,8.0,147,1158,0.00,1.02,3.15,0.340,9222,0.000,0.025,2831,1972,1762,1762,4094,0,0,0,0,0,0,26.13,26.10,25.22,10.10,47.79
$GC,1197,1.68,656.3,2830,1972,1761,4094,13.5,8.0,153,1207,0.22,0.00,3.78,0.409,10246,0.046,0.000,2863,1972,1717,1717,4094,0,0,0,0,0,0,26.11,25.72,25.25,10.12,48.54
$GC,1244,1.68,656.3,2863,1972,1716,4094,9.4,8.8,159,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1972,1715,1715,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.14,49.84
$GC,1291,1.75,701.3,2863,1972,1714,4094,5.5,7.9,165,1301,0.10,0.00,4.00,0.389,10246,0.072,0.000,2881,1974,1665,1665,4094,0,0,0,0,0,0,26.17,25.77,25.34,10.15,49.96
$STATE,1337,end climb,FINISH_DEPTH_REACHED
$STATE,1337,begin subsurface finish
$FINISH1,1.5,1.024103,104
$GC,1344,0.16,104.3,2882,1976,1664,4094,1.5,8.4,171,1362,5.10,0.00,-6.05,0.000,20486,0.034,0.000,2392,1978,2367,2367,4094,0,0,0,0,0,0,26.13,25.64,26.17,10.15,50.51
$FINISH2,0.2
$STATE,1363,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1363,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,205340
$TT8_MAMPS,0.025466,0.247919
$HUMID,50.82
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.86,16.394
$10V_AH,10.17,20.054
$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,21.825,15.925,77.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,486.962,0.000,148.405,724.532,61.876,33.427,441.170,0.000,417.283,0.000,0.543,0.000
$DEVICE_MAMPS,71.910,54.315,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.480,469.903,372.074,550.967,721.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17752,173
$CAP_FILE_SIZE,35008,0
$CFSIZE,1024409600,989298688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,222225,6020.229,-17329.287,5,0.9,17,7.2,0.0,0.0,9,4.5