version: 66.13
glider: 401
mission: 22
dive: 615
start: 8 6 117 23 13 49
data:
$ID,401
$MISSION,22
$DIVE,615
$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,27
$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
$GPS1,060817,222225,6020.2295,-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,0.19
$_SM_ANGLEo,-2.6
$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,-0.160384,0.345714
$KALMAN_X,63664.707031,-2020.580078,-606.611511,-235054.484375,-3.273438
$KALMAN_Y,42939.054688,2378.053955,857.066223,74057.015625,-110.400574
$MHEAD_RNG_PITCHd_Wd,327.9,11302,-7.9,-8.333,-12.33,10116
$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,-1.57,-572.3,2392,1979,2367,4092,0.0,0.0,0,21,5.72,0.00,-4.60,0.000,20482,0.027,0.000,1839,1979,2883,2883,4095,0,0,0,0,0,0,26.14,28.83,26.16,10.34,51.77
$GC,24,-1.57,-572.3,1838,1979,2882,4095,0.1,0.0,1,34,0.00,1.05,-2.45,0.000,16644,0.000,1.269,1838,2365,3149,3149,4094,0,0,0,0,0,0,26.34,24.94,26.33,10.45,51.49
$GC,89,-1.57,-572.3,1837,2365,3151,4094,6.2,-12.6,10,99,0.00,1.08,0.00,0.000,1030,0.000,0.029,1838,1935,3151,3151,4095,0,0,0,0,0,0,26.06,26.01,26.08,10.51,51.26
$GC,136,-1.57,-572.3,1838,1935,3152,4095,12.5,-13.4,16,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1935,3152,3152,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.50,50.90
$GC,180,-1.57,-572.3,1838,1935,3153,4095,18.0,-12.1,22,189,0.00,1.02,0.00,0.000,516,0.000,0.050,1838,1527,3153,3153,4095,0,0,0,0,0,0,26.35,26.06,26.36,10.49,50.51
$GC,238,-1.57,-572.3,1837,1526,3154,4095,25.0,-11.8,30,248,0.00,0.95,0.00,0.000,1030,0.000,0.025,1838,1940,3154,3154,4095,0,0,0,0,0,0,26.20,26.21,26.22,10.46,49.88
$GC,286,-1.57,-572.3,1837,1939,3155,4095,30.2,-11.3,36,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1940,3155,3155,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.44,49.68
$GC,331,-1.57,-572.3,1837,1939,3156,4094,35.3,-10.9,42,340,0.00,1.12,0.00,0.000,260,0.000,0.044,1838,2368,3156,3156,4095,0,0,0,0,0,0,26.44,26.16,26.46,10.42,48.42
$GC,384,-1.57,-572.3,1838,2368,3158,4095,40.8,-10.1,49,393,0.00,1.05,0.00,0.000,1030,0.000,0.028,1838,1945,3157,3157,4095,0,0,0,0,0,0,26.25,26.23,26.27,10.41,48.18
$GC,430,-1.57,-572.3,1837,1945,3158,4095,45.7,-10.4,55,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1945,3158,3158,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.40,47.63
$GC,475,-1.57,-572.3,1838,1945,3158,4095,50.5,-10.7,61,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1945,3159,3159,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.40,47.48
$GC,520,-1.57,-572.3,1838,1945,3159,4095,55.5,-10.7,67,529,0.00,1.10,0.00,0.000,260,0.000,0.042,1838,2359,3160,3160,4095,0,0,0,0,0,0,26.53,26.25,26.55,10.40,46.85
$GC,558,-1.57,-572.3,1837,2359,3160,4095,59.6,-10.5,72,568,0.00,1.00,0.00,0.000,1030,0.000,0.028,1838,1959,3160,3160,4095,0,0,0,0,0,0,26.34,26.30,26.36,10.39,46.41
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,581,-0.45,0.0,1838,1959,3160,4094,61.7,-10.5,74,625,3.75,0.00,32.17,1.312,10244,0.053,0.000,2186,1957,2483,2483,4094,0,0,0,0,0,0,26.27,25.04,24.35,10.39,46.45
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,629,1.57,572.3,2186,1957,2483,4094,64.5,0.0,79,673,7.03,0.00,32.60,1.284,11270,0.034,0.000,2840,1957,1817,1817,4094,0,0,0,0,0,0,25.55,25.70,23.84,10.25,46.02
$GC,711,1.57,572.3,2840,1957,1815,4094,59.3,9.1,89,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1957,1816,1816,4094,0,0,0,0,0,0,25.52,25.53,25.53,10.11,44.95
$GC,756,1.57,572.3,2840,1956,1815,4094,54.9,9.2,95,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1957,1815,1815,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.10,44.76
$GC,800,1.57,572.3,2840,1957,1814,4094,50.6,9.9,101,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1958,1814,1814,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.09,45.23
$GC,845,1.57,572.3,2840,1957,1813,4094,46.1,10.0,107,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1957,1813,1813,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.09,46.18
$GC,892,1.57,572.3,2840,1957,1812,4094,41.7,10.0,113,901,0.00,1.10,0.00,0.000,260,0.000,0.042,2840,2363,1812,1812,4094,0,0,0,0,0,0,26.03,25.75,26.03,10.09,46.18
$GC,983,1.57,572.3,2840,2363,1810,4094,32.3,10.1,126,992,0.00,1.17,0.00,0.000,1030,0.000,0.032,2840,1909,1810,1810,4094,0,0,0,0,0,0,25.92,25.89,25.95,10.08,46.25
$GC,1028,1.57,572.3,2840,1908,1809,4094,27.8,9.8,132,1037,0.00,1.02,0.00,0.000,516,0.000,0.058,2841,1517,1809,1809,4095,0,0,0,0,0,0,26.20,25.89,26.21,10.08,46.29
$GC,1066,1.57,572.3,2840,1517,1808,4095,24.0,9.8,137,1076,0.00,0.90,0.00,0.000,1030,0.000,0.028,2840,1922,1808,1808,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.09,46.85
$GC,1112,1.57,572.3,2840,1923,1807,4094,20.0,9.0,143,1122,0.00,1.12,0.00,0.000,260,0.000,0.041,2841,2351,1807,1807,4094,0,0,0,0,0,0,26.27,26.00,26.29,10.10,46.92
$GC,1159,1.57,572.3,2840,2351,1806,4094,15.9,8.8,149,1169,0.00,1.12,0.00,0.000,1030,0.000,0.032,2840,1913,1806,1806,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.12,47.44
$GC,1205,1.57,572.3,2840,1913,1805,4094,11.9,8.4,155,1213,0.00,1.02,0.00,0.000,516,0.000,0.058,2841,1519,1805,1805,4094,0,0,0,0,0,0,26.34,26.01,26.36,10.13,48.74
$GC,1269,1.57,572.3,2840,1519,1803,4094,6.5,8.6,164,1278,0.00,0.88,0.00,0.000,1030,0.000,0.028,2839,1924,1803,1803,4094,0,0,0,0,0,0,26.20,26.20,26.22,10.15,49.80
$GC,1315,1.62,599.2,2840,1926,1803,4094,2.7,8.1,170,1325,0.00,1.08,2.67,0.205,8452,0.000,0.037,2840,2343,1783,1783,4094,0,0,0,0,0,0,26.41,25.87,25.43,10.17,50.00
$STATE,1333,end climb,SURFACE_DEPTH_REACHED
$STATE,1333,begin surface coast
$FINISH,0.2,1.014551
$STATE,1361,end surface coast,CONTROL_FINISHED_OK
$STATE,1361,begin surface
$SM_CCo,1459,0.00,0.000,0,0,1782,603.60
$SM_GC,1.09,27.33,1.05,0.00,0.022,0.034,0.000,230,1941,1782,-6.59,0.91,603.60,0,0,0,0,0,0,26.08,26.18,26.19
$IRIDIUM_FIX,5952.82,-17420.78,060817,205340
$TT8_MAMPS,0.025466,0.208971
$HUMID,51.69
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.84,16.418
$10V_AH,10.24,20.082
$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,43.825,18.850,67.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,485.443,60.055,171.843,739.324,62.953,33.414,463.590,0.000,264.364,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1269.135,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.406,478.188,0.000,560.590,733.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,17779,176
$CAP_FILE_SIZE,36652,0
$CFSIZE,1024409600,989249536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,233902,6021.142,-17330.656,6,0.8,19,7.1,0.3,269.4,11,4.9