version: 66.13
glider: 401
mission: 22
dive: 630
start: 8 7 117 6 15 59
data:
$ID,401
$MISSION,22
$DIVE,630
$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,30
$R_STBD_OVSHOOT,67
$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
$GPS1,070817,051955,6026.0747,-17333.9414,6,0.8,16,7.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.3
$GPS2,070817,051955,6026.0747,-17333.9414,6,0.8,16,7.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.135428,0.357509
$KALMAN_X,62938.687500,-2106.798096,-565.512695,-238686.093750,136.190796
$KALMAN_Y,45827.718750,3229.052246,1346.044067,80656.359375,-89.233276
$MHEAD_RNG_PITCHd_Wd,332.2,34121,-7.8,-8.333,-12.30,10194
$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,-577.0,2388,1967,2370,4092,0.0,0.0,0,21,5.75,0.00,-4.95,0.000,20482,0.028,0.000,1837,1967,2925,2925,4094,0,0,0,0,0,0,25.95,28.83,25.96,10.36,51.61
$GC,24,-1.58,-577.0,1836,1967,2924,4094,0.0,0.0,1,34,0.00,1.02,-2.10,0.000,16644,0.000,1.258,1836,2337,3160,3160,4094,0,0,0,0,0,0,26.15,24.76,26.14,10.48,51.22
$GC,63,-1.58,-577.0,1835,2337,3161,4094,3.5,-10.4,6,73,0.00,0.98,0.00,0.000,1030,0.000,0.029,1836,1953,3161,3161,4095,0,0,0,0,0,0,25.86,25.86,25.89,10.53,51.45
$GC,111,-1.58,-577.0,1836,1953,3163,4095,9.2,-12.9,12,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1954,3162,3162,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.53,50.66
$GC,157,-1.58,-577.0,1835,1953,3163,4095,15.4,-13.2,18,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1953,3163,3163,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.53,50.63
$GC,203,-1.58,-577.0,1836,1953,3164,4094,21.2,-12.6,24,212,0.00,1.02,0.00,0.000,260,0.000,0.043,1836,2335,3164,3164,4095,0,0,0,0,0,0,26.25,25.95,26.26,10.50,50.23
$GC,241,-1.58,-577.0,1836,2335,3165,4095,25.3,-9.9,29,251,0.00,0.95,0.00,0.000,1030,0.000,0.028,1836,1957,3165,3165,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.48,50.00
$GC,289,-1.58,-577.0,1836,1957,3165,4094,30.0,-10.5,35,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1957,3166,3166,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.46,48.34
$GC,335,-1.58,-577.0,1836,1957,3165,4094,34.8,-10.3,41,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1957,3166,3166,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.44,47.67
$GC,381,-1.58,-577.0,1836,1957,3167,4094,39.6,-10.5,47,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1957,3167,3167,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.43,47.55
$GC,428,-1.58,-577.0,1835,1957,3168,4094,44.4,-10.6,53,436,0.00,1.10,0.00,0.000,516,0.000,0.050,1836,1523,3168,3168,4095,0,0,0,0,0,0,26.42,26.13,26.44,10.42,46.53
$GC,466,-1.58,-577.0,1836,1522,3169,4095,48.7,-10.8,58,475,0.00,0.90,0.00,0.000,1030,0.000,0.024,1836,1928,3169,3169,4095,0,0,0,0,0,0,26.26,26.23,26.27,10.42,46.45
$GC,513,-1.58,-577.0,1835,1927,3170,4095,53.9,-11.3,64,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1927,3170,3170,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.41,46.45
$GC,560,-1.58,-577.0,1836,1927,3170,4095,58.8,-10.7,70,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,1927,3171,3171,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.40,46.25
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,582,-0.45,0.0,1836,1927,3171,4095,61.2,-11.4,72,625,3.78,0.00,32.80,1.287,10244,0.054,0.000,2185,1930,2485,2485,4095,0,0,0,0,0,0,26.22,25.00,24.29,10.41,45.98
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,626,begin climb
$GC,628,1.58,577.0,2185,1930,2485,4095,63.7,0.0,77,673,6.93,1.08,32.88,1.268,10756,0.037,0.051,2827,1523,1811,1811,4094,0,0,0,0,0,0,25.44,25.40,23.86,10.26,45.70
$GC,690,1.58,577.0,2826,1523,1810,4094,60.3,8.4,84,699,0.00,1.00,0.00,0.000,1030,0.000,0.024,2827,1947,1810,1810,4094,0,0,0,0,0,0,25.20,25.19,25.23,10.11,45.27
$GC,737,1.58,577.0,2826,1949,1810,4094,56.1,9.6,90,747,0.00,1.10,0.00,0.000,260,0.000,0.041,2827,2357,1809,1809,4094,0,0,0,0,0,0,25.65,25.39,25.66,10.11,44.80
$GC,796,1.58,577.0,2826,2356,1808,4094,50.2,10.2,98,805,0.00,1.05,0.00,0.000,1030,0.000,0.028,2827,1947,1808,1808,4094,0,0,0,0,0,0,25.64,25.61,25.65,10.11,45.31
$GC,843,1.58,577.0,2827,1946,1807,4094,45.3,10.3,104,852,0.00,1.10,0.00,0.000,516,0.000,0.054,2827,1526,1807,1807,4094,0,0,0,0,0,0,25.94,25.65,25.96,10.10,45.27
$GC,902,1.58,577.0,2826,1525,1806,4094,39.3,10.1,112,911,0.00,0.93,0.00,0.000,1030,0.000,0.024,2827,1934,1806,1806,4095,0,0,0,0,0,0,25.86,25.85,25.88,10.09,45.86
$GC,949,1.58,577.0,2827,1934,1805,4095,34.7,9.8,118,958,0.00,1.10,0.00,0.000,260,0.000,0.041,2827,2353,1804,1804,4095,0,0,0,0,0,0,26.12,25.88,26.13,10.09,45.74
$GC,1020,1.58,577.0,2827,2352,1803,4095,27.6,9.5,128,1030,0.00,1.02,0.00,0.000,1030,0.000,0.030,2827,1950,1803,1803,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.09,46.14
$GC,1068,1.58,577.0,2826,1949,1802,4094,23.4,9.2,134,1077,0.00,1.12,0.00,0.000,516,0.000,0.056,2827,1518,1802,1802,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.09,47.04
$GC,1133,1.68,645.8,2827,1517,1801,4094,17.9,7.6,143,1143,0.28,0.98,4.82,0.519,11270,0.031,0.028,2866,1976,1730,1730,4094,0,0,0,0,0,0,26.10,26.13,25.18,10.12,47.24
$GC,1181,1.68,645.8,2866,1976,1729,4094,13.7,9.5,149,1191,0.00,0.93,0.00,0.000,260,0.000,0.038,2866,2332,1728,1728,4094,0,0,0,0,0,0,26.29,26.02,26.30,10.14,48.74
$GC,1234,1.68,645.8,2866,2331,1728,4094,8.6,9.2,156,1242,0.00,0.90,0.00,0.000,1030,0.000,0.030,2866,1972,1728,1728,4093,0,0,0,0,0,0,26.13,26.09,26.14,10.16,49.40
$GC,1278,1.68,645.8,2865,1972,1727,4093,4.8,8.6,162,1288,0.00,1.17,0.00,0.000,516,0.000,0.056,2866,1520,1728,1728,4094,0,0,0,0,0,0,26.37,26.06,26.38,10.16,50.94
$STATE,1309,end climb,SURFACE_DEPTH_REACHED
$STATE,1309,begin surface coast
$FINISH,0.3,1.024154
$STATE,1330,end surface coast,CONTROL_FINISHED_OK
$STATE,1330,begin surface
$SM_CCo,1429,0.00,0.000,0,0,1725,652.54
$SM_GC,0.87,27.40,0.95,0.00,0.021,0.026,0.000,238,1939,1725,-6.55,-3.37,652.54,0,0,0,0,0,0,26.19,26.21,26.22
$IRIDIUM_FIX,5952.82,-17420.78,070817,035751
$TT8_MAMPS,0.025466,0.240429
$HUMID,50.90
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.86,16.875
$10V_AH,10.20,20.617
$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,44.125,21.375,70.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,484.958,61.504,174.017,704.291,66.767,33.417,459.649,0.000,408.215,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1258.425,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.729,459.032,363.420,538.404,701.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,17917,169
$CAP_FILE_SIZE,37395,0
$CFSIZE,1024409600,988512256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,064040,6026.885,-17333.650,5,0.8,16,7.1,0.0,0.0,11,4.7