version: 66.13
glider: 401
mission: 22
dive: 631
start: 8 7 117 6 50 12
data:
$ID,401
$MISSION,22
$DIVE,631
$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,22
$R_STBD_OVSHOOT,61
$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
$GPS1,070817,064040,6026.8853,-17333.6504,5,0.8,16,7.1,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-40.3
$GPS2,070817,064904,6026.8867,-17333.6113,5,0.9,18,7.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.193197,0.245378
$KALMAN_X,63321.097656,-2061.817383,-515.869934,-238855.078125,243.165710
$KALMAN_Y,46403.097656,3393.062500,1492.913696,81245.664062,-125.950806
$MHEAD_RNG_PITCHd_Wd,314.7,32673,-11.1,-8.333,-14.94,6214
$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,-1.52,-346.5,237,1945,1724,4092,0.0,0.0,0,21,10.43,0.00,0.00,0.000,2049,0.090,0.000,1127,1945,1725,1725,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,49.56
$GC,23,-1.52,-346.5,1127,1945,1725,4094,0.8,0.0,1,51,7.70,1.10,-10.38,0.000,18692,0.044,1.265,1846,2345,2890,2890,4095,0,0,0,0,0,0,25.96,24.79,26.03,10.27,49.52
$GC,199,-1.52,-346.5,1846,2345,2892,4095,15.9,-12.3,26,209,0.00,1.00,0.00,0.000,1030,0.000,0.028,1846,1941,2893,2893,4094,0,0,0,0,0,0,26.05,26.01,26.07,10.52,48.30
$GC,245,-1.52,-346.5,1845,1941,2893,4094,21.5,-12.2,32,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,2894,2894,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.48,48.26
$GC,290,-1.52,-346.5,1845,1941,2894,4095,26.5,-10.8,38,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,2895,2895,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.45,47.63
$GC,336,-1.52,-346.5,1846,1941,2895,4094,31.4,-10.9,44,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1941,2895,2895,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.43,45.94
$GC,380,-1.52,-346.5,1846,1940,2897,4094,36.2,-10.7,50,389,0.00,1.05,0.00,0.000,516,0.000,0.049,1846,1523,2896,2896,4095,0,0,0,0,0,0,26.41,26.11,26.42,10.41,45.58
$GC,432,-1.52,-346.5,1846,1523,2897,4095,41.5,-9.7,57,441,0.00,0.88,0.00,0.000,1030,0.000,0.024,1846,1921,2897,2897,4095,0,0,0,0,0,0,26.26,26.25,26.27,10.40,44.72
$GC,478,-1.52,-346.5,1846,1921,2898,4095,46.0,-9.8,63,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1921,2898,2898,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.39,45.19
$GC,523,-1.52,-346.5,1846,1921,2898,4094,50.8,-10.5,69,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1921,2899,2899,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.38,44.40
$GC,569,-1.52,-346.5,1846,1921,2900,4094,55.5,-11.0,75,579,0.00,1.12,0.00,0.000,260,0.000,0.042,1846,2358,2900,2900,4095,0,0,0,0,0,0,26.51,26.23,26.53,10.38,44.25
$STATE,606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,606,begin apogee
$GC,613,-0.45,0.0,1846,1946,2901,4095,60.1,-11.2,80,640,3.67,0.00,20.55,1.239,10244,0.059,0.000,2184,1946,2484,2484,4095,0,0,0,0,0,0,26.24,25.59,24.60,10.38,45.15
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,644,1.52,346.5,2184,1946,2484,4095,62.6,0.0,83,680,6.68,0.00,20.25,1.222,11270,0.037,0.000,2810,1946,2079,2079,4094,0,0,0,0,0,0,25.79,25.97,24.22,10.29,43.97
$GC,717,1.52,346.5,2810,1946,2079,4094,58.0,9.3,92,727,0.00,1.10,0.00,0.000,260,0.000,0.036,2810,2359,2079,2079,4094,0,0,0,0,0,0,25.77,25.56,25.79,10.20,43.81
$GC,784,1.52,346.5,2809,2358,2077,4094,51.1,10.4,101,793,0.00,1.05,0.00,0.000,1030,0.000,0.029,2810,1951,2077,2077,4094,0,0,0,0,0,0,25.76,25.72,25.80,10.19,43.85
$GC,830,1.52,346.5,2809,1951,2076,4094,46.2,10.3,107,839,0.00,1.12,0.00,0.000,516,0.000,0.055,2810,1521,2076,2076,4095,0,0,0,0,0,0,26.06,25.75,26.07,10.18,44.36
$GC,934,1.52,346.5,2809,1521,2074,4095,35.1,10.4,122,943,0.00,0.98,0.00,0.000,1030,0.000,0.025,2810,1954,2074,2074,4094,0,0,0,0,0,0,26.03,26.00,26.03,10.17,45.66
$GC,981,1.52,346.5,2809,1954,2073,4094,30.5,10.2,128,990,0.00,1.05,0.00,0.000,260,0.000,0.039,2810,2357,2073,2073,4094,0,0,0,0,0,0,26.25,25.99,26.27,10.17,45.19
$GC,1039,1.52,346.5,2809,2357,2071,4094,24.3,10.3,136,1049,0.00,1.02,0.00,0.000,1030,0.000,0.030,2810,1953,2071,2071,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.17,46.06
$GC,1085,1.52,346.5,2809,1953,2070,4094,19.7,9.7,142,1095,0.00,1.10,0.00,0.000,516,0.000,0.056,2810,1526,2070,2070,4094,0,0,0,0,0,0,26.34,26.04,26.35,10.18,45.86
$GC,1124,1.52,346.5,2809,1525,2070,4094,16.1,9.1,147,1134,0.00,0.95,0.00,0.000,1030,0.000,0.025,2810,1957,2069,2069,4094,0,0,0,0,0,0,26.20,26.18,26.26,10.20,46.73
$GC,1170,1.54,357.9,2809,1957,2069,4094,12.4,8.1,153,1180,0.00,1.00,0.00,0.000,260,0.000,0.039,2810,2349,2068,2068,4094,0,0,0,0,0,0,26.40,26.13,26.41,10.23,48.22
$GC,1282,1.54,357.9,2809,2349,2066,4094,3.0,8.5,169,1292,0.00,1.02,0.00,0.000,1030,0.000,0.033,2810,1944,2066,2066,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.26,49.88
$STATE,1300,end climb,FINISH_DEPTH_REACHED
$STATE,1300,begin subsurface finish
$FINISH1,1.3,1.024146,101
$GC,1306,0.15,101.4,2811,1944,2065,4095,1.3,8.2,171,1318,4.47,1.15,-2.58,0.000,20996,0.052,1.297,2391,1518,2369,2369,4094,0,0,0,0,0,0,26.25,25.01,26.29,10.27,50.11
$FINISH2,0.3
$STATE,1319,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1319,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,051409
$TT8_MAMPS,0.025466,0.20223
$HUMID,50.55
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,24.22,16.911
$10V_AH,10.26,20.650
$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,32.950,17.750,40.800,0.000,0.000,22.586,25.845,306.712,0.000,0.000,19.914,481.076,0.000,126.254,1086.635,149.389,33.452,397.810,0.000,260.307,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,1297.440,1238.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.330,467.346,0.000,548.365,718.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,17746,172
$CAP_FILE_SIZE,36943,0
$CFSIZE,1024409600,988463104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070817,064904,6026.887,-17333.611,5,0.9,18,7.1,0.0,0.0,10,4.9