version: 66.13
glider: 401
mission: 22
dive: 617
start: 8 7 117 0 12 25
data:
$ID,401
$MISSION,22
$DIVE,617
$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,54
$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
$GPS1,060817,234637,6021.1606,-17330.7402,5,0.9,22,7.1,0.0,319.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.8
$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,-0.149067,0.341124
$KALMAN_X,62926.523438,-2100.126709,-682.902649,-235537.421875,-88.329651
$KALMAN_Y,43543.003906,2453.385986,901.185425,75059.789062,46.900635
$MHEAD_RNG_PITCHd_Wd,329.3,9147,-8.2,-8.333,-12.62,9544
$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,-1.56,-538.8,2394,1948,2378,4092,0.0,0.0,0,21,5.72,0.00,-4.88,0.000,20482,0.026,0.000,1838,1949,2924,2924,4095,0,0,0,0,0,0,26.16,28.83,26.18,10.34,50.35
$GC,24,-1.56,-538.8,1838,1948,2924,4095,0.1,0.0,1,34,0.00,1.10,-1.75,0.000,16644,0.000,1.265,1838,2355,3116,3116,4095,0,0,0,0,0,0,26.36,24.96,26.34,10.45,50.74
$GC,83,-1.56,-538.8,1837,2355,3117,4095,5.0,-11.2,9,92,0.00,1.02,0.00,0.000,1030,0.000,0.031,1838,1944,3117,3117,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.50,50.23
$GC,128,-1.56,-538.8,1837,1943,3117,4094,10.6,-12.7,15,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1944,3119,3119,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.50,50.47
$GC,173,-1.56,-538.8,1837,1944,3119,4095,16.2,-12.6,21,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1944,3119,3119,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.48,50.11
$GC,219,-1.56,-538.8,1837,1944,3119,4094,21.6,-11.9,27,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1944,3120,3120,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,49.40
$GC,264,-1.56,-538.8,1837,1943,3121,4095,26.7,-10.8,33,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1944,3121,3121,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.44,48.70
$GC,308,-1.56,-538.8,1838,1944,3121,4094,31.4,-10.8,39,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1944,3122,3122,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.43,48.38
$GC,353,-1.56,-538.8,1837,1944,3122,4095,36.1,-10.4,45,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1944,3122,3122,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.42,47.59
$GC,398,-1.56,-538.8,1837,1944,3123,4095,40.6,-10.6,51,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1944,3123,3123,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.41,47.12
$GC,443,-1.56,-538.8,1837,1944,3124,4095,45.7,-10.8,57,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,1944,3124,3124,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.40,46.92
$GC,488,-1.56,-538.8,1837,1944,3125,4094,50.7,-11.5,63,497,0.00,1.08,0.00,0.000,260,0.000,0.038,1838,2353,3125,3125,4095,0,0,0,0,0,0,26.53,26.25,26.54,10.40,46.53
$GC,528,-1.56,-538.8,1837,2353,3126,4095,55.3,-11.5,68,538,0.00,1.00,0.00,0.000,1030,0.000,0.031,1838,1949,3126,3126,4094,0,0,0,0,0,0,26.32,26.28,26.34,10.39,46.37
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,578,-0.45,0.0,1838,1948,3126,4094,60.3,-10.2,74,621,3.75,0.00,30.80,1.288,10244,0.054,0.000,2184,1949,2484,2484,4094,0,0,0,0,0,0,26.27,25.06,24.38,10.39,46.25
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,625,1.56,538.8,2184,1949,2484,4094,62.7,0.0,79,669,6.85,0.00,30.58,1.265,11270,0.034,0.000,2822,1949,1860,1860,4094,0,0,0,0,0,0,25.58,25.75,23.91,10.26,45.47
$GC,707,1.58,555.9,2822,1948,1860,4094,57.7,8.2,89,716,0.00,0.00,3.05,0.467,8198,0.000,0.000,2822,1948,1836,1836,4094,0,0,0,0,0,0,25.56,24.90,24.23,10.12,44.72
$GC,754,1.58,555.9,2822,1948,1835,4094,53.4,9.7,95,763,0.00,1.10,0.00,0.000,260,0.000,0.039,2822,2351,1835,1835,4094,0,0,0,0,0,0,25.74,25.49,25.75,10.11,44.80
$GC,825,1.58,555.9,2822,2351,1833,4094,46.0,9.4,105,835,0.00,0.98,0.00,0.000,1030,0.000,0.028,2822,1969,1833,1833,4094,0,0,0,0,0,0,25.72,25.68,25.75,10.10,45.27
$GC,873,1.58,555.9,2822,1968,1832,4094,41.3,10.0,111,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1969,1832,1832,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.10,45.55
$GC,917,1.58,555.9,2822,1968,1831,4094,36.6,10.1,117,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1969,1831,1831,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,46.10
$GC,962,1.58,555.9,2822,1968,1830,4094,32.2,9.6,123,971,0.00,1.02,0.00,0.000,260,0.000,0.039,2822,2351,1830,1830,4094,0,0,0,0,0,0,26.14,25.86,26.15,10.10,46.18
$GC,1014,1.58,555.9,2822,2351,1829,4094,27.5,9.4,130,1023,0.00,0.88,0.00,0.000,1030,0.000,0.031,2822,2002,1829,1829,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.10,47.20
$GC,1060,1.58,555.9,2821,2001,1828,4094,23.6,8.7,136,1069,0.00,1.25,0.00,0.000,516,0.000,0.055,2822,1523,1828,1828,4094,0,0,0,0,0,0,26.24,25.93,26.25,10.10,46.65
$GC,1125,1.58,555.9,2822,1523,1827,4094,18.0,8.3,145,1134,0.00,1.08,0.00,0.000,1030,0.000,0.026,2822,1987,1826,1826,4094,0,0,0,0,0,0,26.11,26.09,26.12,10.12,47.48
$GC,1171,1.63,585.2,2822,1986,1826,4094,14.3,8.0,151,1182,0.12,0.98,2.97,0.297,10500,0.065,0.039,2841,2365,1801,1801,4094,0,0,0,0,0,0,26.13,25.74,25.25,10.13,48.03
$GC,1244,1.63,585.2,2840,2364,1799,4094,7.9,9.0,161,1253,0.00,0.93,0.00,0.000,1030,0.000,0.029,2841,1995,1799,1799,4094,0,0,0,0,0,0,26.15,26.12,26.19,10.15,49.40
$GC,1290,1.63,585.2,2840,1995,1798,4094,3.9,8.5,167,1299,0.00,1.23,0.00,0.000,516,0.000,0.056,2841,1524,1797,1797,4095,0,0,0,0,0,0,26.39,26.08,26.40,10.17,49.76
$STATE,1314,end climb,FINISH_DEPTH_REACHED
$STATE,1314,begin subsurface finish
$FINISH1,1.6,1.024118,103
$GC,1322,0.15,103.3,2841,1963,1797,4094,1.6,8.6,170,1340,4.80,0.00,-4.80,0.000,20998,0.050,0.000,2391,1968,2367,2367,4094,0,0,0,0,0,0,26.19,25.67,26.23,10.18,50.31
$FINISH2,0.4
$STATE,1341,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,060817,221633
$TT8_MAMPS,0.025466,0.21721
$HUMID,50.59
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.91,16.483
$10V_AH,10.22,20.153
$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,21.250,15.700,67.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,468.771,0.000,148.619,723.107,58.318,33.423,439.563,0.000,258.799,0.000,0.543,0.000
$DEVICE_MAMPS,65.025,1264.545,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.344,467.413,0.000,547.734,716.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,17726,172
$CAP_FILE_SIZE,34423,0
$CFSIZE,1024409600,989151232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060817,234637,6021.161,-17330.740,5,0.9,22,7.1,0.0,319.2,10,4.8