version: 66.13
glider: 401
mission: 22
dive: 616
start: 8 6 117 23 47 44
data:
$ID,401
$MISSION,22
$DIVE,616
$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,28
$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
$GPS1,060817,233902,6021.1416,-17330.6562,6,0.8,19,7.1,0.3,269.4,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-39.8
$GPS2,060817,234637,6021.1606,-17330.7402,5,0.9,22,7.1,0.0,319.2,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W7N
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.152550,0.346658
$KALMAN_X,62875.027344,-2143.897949,-734.206909,-235367.390625,-68.557922
$KALMAN_Y,43731.832031,2534.116699,1009.434082,74650.578125,12.105713
$MHEAD_RNG_PITCHd_Wd,329.1,9147,-8.0,-8.333,-12.41,9960
$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,-563.2,229,1941,1782,4092,0.0,0.0,0,21,10.80,0.00,0.00,0.000,2049,0.096,0.000,1141,1941,1782,1782,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.26,49.92
$GC,23,-1.57,-563.2,1141,1941,1782,4094,0.9,0.0,1,51,7.32,1.12,-12.23,0.000,18692,0.041,1.270,1829,2347,3143,3143,4095,0,0,0,0,0,0,25.98,24.80,26.03,10.26,49.48
$GC,89,-1.57,-563.2,1829,2347,3143,4095,3.5,-11.2,9,98,0.00,1.00,0.00,0.000,1030,0.000,0.028,1830,1947,3144,3144,4094,0,0,0,0,0,0,25.94,25.90,25.94,10.55,49.37
$GC,136,-1.57,-563.2,1830,1947,3145,4094,9.7,-13.3,15,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1947,3145,3145,4094,0,0,0,0,0,0,26.22,26.22,26.22,10.55,49.05
$GC,182,-1.57,-563.2,1830,1947,3146,4094,15.6,-12.8,21,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1947,3146,3146,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.53,48.50
$GC,226,-1.57,-563.2,1830,1947,3147,4094,20.9,-11.5,27,235,0.00,1.08,0.00,0.000,516,0.000,0.050,1830,1523,3147,3147,4094,0,0,0,0,0,0,26.30,26.01,26.32,10.51,48.22
$GC,265,-1.57,-563.2,1830,1523,3148,4094,25.3,-11.2,32,275,0.00,0.93,0.00,0.000,1030,0.000,0.024,1830,1928,3148,3148,4095,0,0,0,0,0,0,26.14,26.12,26.16,10.49,47.55
$GC,312,-1.57,-563.2,1829,1928,3149,4095,30.1,-10.6,38,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1929,3149,3149,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.47,46.77
$GC,359,-1.57,-563.2,1830,1928,3149,4095,35.3,-11.3,44,368,0.00,1.12,0.00,0.000,260,0.000,0.041,1830,2360,3149,3149,4095,0,0,0,0,0,0,26.40,26.11,26.41,10.46,46.10
$GC,406,-1.57,-563.2,1830,2360,3150,4095,40.5,-10.6,50,415,0.00,1.02,0.00,0.000,1030,0.000,0.028,1830,1946,3150,3150,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.45,45.66
$GC,453,-1.57,-563.2,1830,1946,3151,4095,45.5,-10.7,56,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1946,3152,3152,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.43,45.23
$GC,497,-1.57,-563.2,1830,1946,3152,4094,50.5,-11.3,62,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1946,3151,3151,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.43,44.84
$GC,542,-1.57,-563.2,1830,1946,3153,4095,55.9,-12.8,68,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1946,3153,3153,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.42,44.84
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,583,-0.45,0.0,1830,1946,3154,4095,60.4,-11.8,73,626,3.80,0.00,32.10,1.294,10244,0.053,0.000,2186,1946,2484,2484,4094,0,0,0,0,0,0,26.23,25.01,24.30,10.42,45.03
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,630,1.57,563.2,2185,1946,2484,4094,63.1,0.0,78,675,6.88,1.08,32.12,1.273,10756,0.037,0.050,2826,1530,1827,1827,4094,0,0,0,0,0,0,25.46,25.42,23.85,10.28,44.48
$GC,705,1.57,563.2,2826,1529,1827,4094,58.4,9.9,87,714,0.00,1.00,0.00,0.000,1030,0.000,0.024,2826,1952,1827,1827,4094,0,0,0,0,0,0,25.30,25.31,25.32,10.13,43.58
$GC,752,1.57,563.2,2826,1956,1826,4094,53.9,9.5,93,761,0.00,1.10,0.00,0.000,260,0.000,0.044,2826,2359,1826,1826,4094,0,0,0,0,0,0,25.70,25.43,25.71,10.13,43.85
$GC,810,1.57,563.2,2825,2359,1824,4094,48.1,9.6,101,820,0.00,1.02,0.00,0.000,1030,0.000,0.028,2826,1957,1824,1824,4094,0,0,0,0,0,0,25.67,25.63,25.69,10.12,43.97
$GC,858,1.57,563.2,2826,1957,1823,4094,43.8,9.4,107,867,0.00,1.12,0.00,0.000,516,0.000,0.054,2826,1526,1823,1823,4094,0,0,0,0,0,0,25.96,25.70,25.97,10.11,44.80
$GC,890,1.57,563.2,2825,1525,1823,4094,40.4,10.0,111,899,0.00,1.00,0.00,0.000,1030,0.000,0.024,2826,1962,1822,1822,4094,0,0,0,0,0,0,25.84,25.82,25.88,10.11,44.60
$GC,935,1.57,563.2,2826,1962,1821,4094,35.9,9.4,117,945,0.00,1.05,0.00,0.000,260,0.000,0.041,2826,2361,1821,1821,4094,0,0,0,0,0,0,26.09,25.82,26.10,10.11,44.92
$GC,1028,1.57,563.2,2826,2360,1819,4094,27.2,9.3,130,1038,0.00,0.98,0.00,0.000,1030,0.000,0.030,2826,1975,1819,1819,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.11,45.58
$GC,1075,1.57,563.2,2826,1974,1818,4094,23.1,8.9,136,1084,0.00,1.17,0.00,0.000,516,0.000,0.055,2826,1523,1818,1818,4094,0,0,0,0,0,0,26.25,25.93,26.26,10.11,46.29
$GC,1126,1.57,563.2,2826,1523,1817,4094,18.4,8.7,143,1136,0.00,1.05,0.00,0.000,1030,0.000,0.024,2826,1980,1817,1817,4095,0,0,0,0,0,0,26.10,26.08,26.12,10.12,46.61
$GC,1173,1.59,578.5,2826,1980,1816,4095,14.6,8.2,149,1183,0.00,1.02,0.15,0.002,8452,0.000,0.039,2826,2377,1816,1816,4094,0,0,0,0,0,0,26.32,26.06,26.33,10.14,46.73
$GC,1225,1.59,578.5,2825,2376,1815,4094,10.2,8.5,156,1235,0.00,1.00,2.25,0.112,9222,0.000,0.029,2826,1978,1807,1807,4094,0,0,0,0,0,0,26.16,26.10,25.32,10.16,48.42
$GC,1274,1.60,586.2,2826,1977,1805,4094,6.4,8.3,162,1284,0.00,1.17,2.10,0.060,8708,0.000,0.052,2826,1520,1801,1801,4094,0,0,0,0,0,0,26.38,25.80,25.28,10.17,48.85
$STATE,1324,end climb,FINISH_DEPTH_REACHED
$STATE,1324,begin subsurface finish
$FINISH1,2.0,1.024182,99
$GC,1332,0.15,98.8,2826,1972,1800,4094,2.0,8.1,169,1351,4.70,1.00,-4.65,0.000,20740,0.057,1.284,2394,2344,2378,2378,4094,0,0,0,0,0,0,26.13,24.98,26.21,10.19,49.84
$FINISH2,0.4
$STATE,1352,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1352,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,221633
$TT8_MAMPS,0.025466,0.246421
$HUMID,50.39
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.85,16.460
$10V_AH,10.19,20.126
$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,33.500,22.100,68.725,0.000,0.000,23.858,31.711,252.541,0.000,0.000,23.785,486.017,0.000,157.529,1036.765,145.943,33.457,459.259,0.000,415.264,0.000,0.544,0.000
$DEVICE_MAMPS,95.625,1283.670,1294.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.859,464.432,367.800,544.505,710.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,17735,171
$CAP_FILE_SIZE,40819,0
$CFSIZE,1024409600,989200384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060817,234637,6021.161,-17330.740,5,0.9,22,7.1,0.0,319.2,10,4.8