version: 66.13
glider: 401
mission: 22
dive: 634
start: 8 7 117 8 11 17
data:
$ID,401
$MISSION,22
$DIVE,634
$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,50
$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
$GPS1,070817,080233,6027.1675,-17333.3945,5,0.8,39,7.1,0.0,212.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-43.7
$GPS2,070817,081009,6027.1362,-17333.3379,8,0.9,18,7.1,0.0,255.6,9,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.195790,0.433030
$KALMAN_X,63854.882812,-1866.891602,-321.677002,-239518.062500,222.308380
$KALMAN_Y,45977.023438,3350.908203,1329.653687,82354.796875,-261.204712
$MHEAD_RNG_PITCHd_Wd,328.6,32254,-4.7,-8.333,-9.95,17641
$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,-1.30,-585.0,237,1973,1860,4092,0.0,0.0,0,21,10.38,0.00,0.00,0.000,2049,0.099,0.000,1108,1973,1860,1860,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.27,49.80
$GC,23,-1.30,-585.0,1108,1973,1860,4094,0.9,0.0,1,51,8.65,1.05,-11.88,0.000,18692,0.045,1.268,1914,2363,3171,3171,4094,0,0,0,0,0,0,25.98,24.79,26.01,10.27,50.03
$GC,100,-1.30,-585.0,1914,2362,3172,4094,4.9,-10.2,11,110,0.00,1.05,0.00,0.000,1030,0.000,0.028,1914,1943,3172,3172,4095,0,0,0,0,0,0,25.96,25.95,26.01,10.57,49.13
$GC,147,-1.30,-585.0,1914,1943,3173,4095,9.2,-9.6,17,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1943,3173,3173,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.57,49.13
$GC,194,-1.30,-585.0,1914,1942,3173,4095,13.6,-9.5,23,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1943,3174,3174,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.56,48.50
$GC,240,-1.30,-585.0,1914,1943,3175,4094,17.8,-9.0,29,249,0.00,1.10,0.00,0.000,260,0.000,0.040,1914,2357,3175,3175,4094,0,0,0,0,0,0,26.34,26.06,26.35,10.53,47.79
$GC,292,-1.30,-585.0,1914,2357,3175,4094,22.0,-7.7,36,302,0.00,0.98,0.00,0.000,1030,0.000,0.028,1914,1966,3176,3176,4094,0,0,0,0,0,0,26.17,26.13,26.19,10.51,46.81
$GC,339,-1.30,-585.0,1914,1966,3176,4094,25.7,-8.1,42,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1966,3176,3176,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.49,46.92
$GC,384,-1.30,-585.0,1914,1966,3176,4095,29.3,-7.9,48,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1966,3176,3176,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.48,45.98
$GC,430,-1.30,-585.0,1914,1966,3177,4095,33.0,-8.1,54,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1966,3177,3177,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.46,45.55
$GC,474,-1.30,-585.0,1914,1966,3178,4095,36.5,-7.9,60,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1966,3178,3178,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.45,45.15
$GC,520,-1.30,-585.0,1914,1966,3179,4094,40.0,-7.9,66,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1966,3178,3178,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.44,44.84
$GC,564,-1.30,-585.0,1914,1966,3179,4094,43.7,-7.7,72,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1966,3179,3179,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.43,44.52
$GC,608,-1.30,-585.0,1914,1966,3179,4095,47.1,-8.0,78,617,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1966,3179,3179,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.43,45.23
$GC,654,-1.30,-585.0,1914,1966,3180,4094,50.9,-8.0,84,662,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1966,3180,3180,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.42,44.68
$GC,701,-1.30,-585.0,1914,1966,3181,4094,54.8,-8.4,90,709,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1966,3181,3181,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.42,44.68
$GC,746,-1.30,-585.0,1914,1966,3181,4095,58.3,-8.2,96,755,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1966,3181,3181,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.41,44.40
$STATE,770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,770,begin apogee
$GC,776,-0.45,0.0,1914,1966,3182,4095,60.4,-8.1,99,820,2.85,0.00,32.97,1.297,10244,0.047,0.000,2185,1966,2485,2485,4095,0,0,0,0,0,0,26.34,25.07,24.36,10.41,44.56
$STATE,821,end apogee,CONTROL_FINISHED_OK
$STATE,821,begin climb
$GC,824,1.30,585.0,2184,1965,2486,4095,62.5,0.0,104,868,5.95,0.00,33.30,1.272,11270,0.035,0.000,2740,1966,1802,1802,4094,0,0,0,0,0,0,25.57,25.74,23.88,10.27,44.64
$GC,906,1.71,859.7,2739,1966,1802,4094,58.3,6.7,114,933,1.33,1.08,16.52,1.146,10500,0.024,0.037,2878,2355,1482,1482,4095,0,0,0,0,0,0,25.38,24.68,24.02,10.11,44.01
$GC,976,1.71,859.7,2877,2355,1481,4095,52.4,8.4,123,985,0.00,1.05,0.00,0.000,1030,0.000,0.031,2877,1953,1481,1481,4094,0,0,0,0,0,0,25.41,25.37,25.44,10.05,44.60
$GC,1022,1.71,859.7,2877,1953,1480,4094,48.6,8.6,129,1031,0.00,1.15,0.00,0.000,516,0.000,0.056,2877,1520,1480,1480,4094,0,0,0,0,0,0,25.78,25.48,25.79,10.04,44.21
$GC,1063,1.78,901.9,2877,1520,1479,4094,45.3,8.1,134,1073,0.00,1.00,4.03,0.610,9222,0.000,0.024,2877,1957,1432,1432,4094,0,0,0,0,0,0,25.71,25.69,24.56,10.03,44.32
$GC,1111,2.05,1081.7,2877,1956,1431,4094,41.8,7.3,140,1130,1.00,1.02,11.15,0.942,10500,0.026,0.039,2983,2360,1224,1224,4094,0,0,0,0,0,0,25.75,25.14,24.52,10.02,45.43
$GC,1186,2.05,1081.7,2982,2360,1223,4094,35.1,8.9,150,1196,0.00,1.02,0.00,0.000,1030,0.000,0.028,2983,1961,1223,1223,4094,0,0,0,0,0,0,25.70,25.67,25.71,9.97,45.86
$GC,1232,2.05,1081.7,2983,1961,1222,4094,31.2,8.4,156,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1961,1221,1221,4094,0,0,0,0,0,0,26.00,26.01,26.01,9.96,45.58
$GC,1277,2.12,1127.8,2983,1961,1221,4094,27.6,8.1,162,1287,0.10,0.00,4.18,0.535,10246,0.074,0.000,3000,1961,1169,1169,4094,0,0,0,0,0,0,25.87,25.63,24.87,9.96,45.51
$GC,1325,2.32,1263.3,3000,1960,1168,4094,24.0,7.5,168,1344,0.60,0.00,8.70,0.732,10246,0.033,0.000,3072,1961,1012,1012,4094,0,0,0,0,0,0,25.89,25.37,24.84,9.96,45.94
$GC,1382,2.32,1263.3,3071,1960,1011,4094,19.3,8.4,175,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1961,1011,1011,4094,0,0,0,0,0,0,26.05,26.06,26.06,9.96,46.41
$GC,1428,2.38,1305.9,3071,1960,1010,4094,15.4,8.1,181,1438,0.00,0.00,4.05,0.449,8198,0.000,0.000,3072,1961,960,960,4094,0,0,0,0,0,0,26.12,25.51,25.03,9.97,47.28
$GC,1476,2.76,1559.1,3071,1960,960,4094,12.0,6.9,187,1502,1.35,1.05,14.38,0.698,10500,0.028,0.039,3205,2357,667,667,4094,0,0,0,0,0,0,25.93,25.61,24.94,9.99,49.52
$GC,1540,2.85,1615.0,3204,2356,665,4094,6.7,8.0,195,1551,0.22,0.95,4.60,0.434,11270,0.037,0.028,3231,1976,601,601,4094,0,0,0,0,0,0,25.81,25.80,25.03,9.96,49.84
$GC,1589,3.16,1820.9,3230,1976,600,4094,3.0,7.1,201,1609,0.93,1.20,11.90,0.585,10756,0.029,0.059,3326,1525,361,361,4094,0,0,0,0,0,0,25.86,25.62,25.02,9.95,50.59
$STATE,1617,end climb,FINISH_DEPTH_REACHED
$STATE,1617,begin subsurface finish
$FINISH1,0.2,1.024201,97
$GC,1626,0.15,97.5,3325,1965,361,4094,0.2,8.7,204,1662,9.80,1.20,-16.83,0.000,20996,0.022,1.278,2390,1530,2370,2370,4094,0,0,0,0,0,0,25.79,24.63,25.79,9.91,50.66
$FINISH2,0.1
$STATE,1663,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1663,begin surface
$IRIDIUM_FIX,6118.33,-17324.74,070817,064249
$TT8_MAMPS,0.025466,0.256158
$HUMID,51.10
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.88,17.008
$10V_AH,10.18,20.768
$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,43.150,15.900,145.775,0.000,0.000,25.777,17.838,267.560,0.000,0.000,19.888,566.358,0.000,218.374,1190.209,164.682,33.481,604.694,0.000,502.145,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1277.550,1296.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,140.217,564.999,447.297,662.218,863.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,21296,208
$CAP_FILE_SIZE,49930,0
$CFSIZE,1024409600,988299264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,661.54,0x2138e4,0,24
$GPS,070817,081009,6027.136,-17333.338,8,0.9,18,7.1,0.0,255.6,9,4.9