version: 66.13
glider: 401
mission: 22
dive: 635
start: 8 7 117 8 41 11
data:
$ID,401
$MISSION,22
$DIVE,635
$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,32
$R_STBD_OVSHOOT,66
$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
$GPS1,070817,081009,6027.1362,-17333.3379,8,0.9,18,7.1,0.0,255.6,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.3
$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,-0.142231,0.362684
$KALMAN_X,63950.980469,-1770.636719,-240.196030,-239788.453125,147.284988
$KALMAN_Y,45752.300781,3215.305908,1140.032593,82913.632812,-173.034790
$MHEAD_RNG_PITCHd_Wd,331.5,32254,-7.5,-8.333,-12.07,10684
$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,-585.0,2390,1958,2369,4092,0.0,0.0,0,21,5.72,0.00,-4.60,0.000,20482,0.025,0.000,1841,1958,2880,2880,4094,0,0,0,0,0,0,25.93,28.83,25.95,10.35,51.77
$GC,24,-1.56,-585.0,1840,1958,2880,4094,0.1,0.0,1,34,0.00,1.05,-2.55,0.000,16644,0.000,1.258,1840,2338,3171,3171,4094,0,0,0,0,0,0,26.13,24.73,26.13,10.46,51.18
$GC,136,-1.56,-585.0,1840,2339,3174,4094,12.6,-12.9,17,146,0.00,0.98,0.00,0.000,1030,0.000,0.029,1840,1952,3175,3175,4094,0,0,0,0,0,0,25.96,25.92,25.99,10.53,50.51
$GC,182,-1.56,-585.0,1840,1952,3175,4094,18.8,-13.1,23,192,0.00,1.10,0.00,0.000,516,0.000,0.050,1840,1521,3175,3175,4094,0,0,0,0,0,0,26.22,25.93,26.24,10.50,50.98
$GC,227,-1.56,-585.0,1840,1521,3176,4094,23.9,-11.3,29,236,0.00,0.85,0.00,0.000,1030,0.000,0.025,1840,1901,3176,3176,4095,0,0,0,0,0,0,26.08,26.06,26.09,10.47,49.21
$GC,273,-1.56,-585.0,1840,1901,3177,4095,28.8,-10.6,35,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1901,3177,3177,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.46,48.58
$GC,319,-1.56,-585.0,1840,1901,3178,4095,33.6,-10.8,41,329,0.00,1.20,0.00,0.000,260,0.000,0.041,1840,2362,3178,3178,4095,0,0,0,0,0,0,26.35,26.06,26.36,10.44,47.83
$GC,358,-1.56,-585.0,1840,2362,3179,4095,37.9,-10.5,46,368,0.00,1.05,0.00,0.000,1030,0.000,0.029,1840,1941,3179,3179,4094,0,0,0,0,0,0,26.15,26.13,26.20,10.43,47.55
$GC,405,-1.56,-585.0,1840,1941,3180,4094,42.8,-10.7,52,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1941,3179,3179,4095,0,0,0,0,0,0,26.41,26.41,26.42,10.42,46.88
$GC,450,-1.56,-585.0,1840,1941,3180,4095,47.8,-10.5,58,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1941,3181,3181,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.42,46.73
$GC,495,-1.56,-585.0,1840,1941,3181,4095,52.4,-10.5,64,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1941,3181,3181,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.41,46.45
$GC,540,-1.56,-585.0,1840,1941,3182,4095,57.2,-10.7,70,549,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,1941,3182,3182,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.41,46.61
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,575,-0.45,0.0,1840,1941,3183,4094,60.7,-11.0,74,618,3.70,0.00,33.42,1.290,10244,0.051,0.000,2186,1941,2485,2485,4094,0,0,0,0,0,0,26.22,25.23,24.27,10.40,46.18
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,622,1.56,585.0,2186,1941,2484,4094,63.1,0.0,79,667,6.88,0.00,33.25,1.270,11270,0.034,0.000,2826,1941,1803,1803,4094,0,0,0,0,0,0,25.48,25.63,23.83,10.26,45.43
$GC,704,1.56,585.0,2825,1941,1801,4094,58.0,8.8,89,714,0.00,1.15,0.00,0.000,260,0.000,0.040,2826,2360,1802,1802,4095,0,0,0,0,0,0,25.51,25.25,25.51,10.11,44.60
$GC,763,1.56,585.0,2825,2359,1800,4095,52.0,10.0,97,772,0.00,1.02,0.00,0.000,1030,0.000,0.029,2826,1965,1800,1800,4094,0,0,0,0,0,0,25.56,25.51,25.58,10.10,45.39
$GC,809,1.56,585.0,2825,1964,1799,4094,47.5,10.0,103,818,0.00,1.17,0.00,0.000,516,0.000,0.054,2826,1519,1799,1799,4094,0,0,0,0,0,0,25.88,25.59,25.89,10.10,45.86
$GC,880,1.56,585.0,2825,1518,1797,4094,40.7,9.1,113,890,0.00,1.00,0.00,0.000,1030,0.000,0.025,2826,1957,1797,1797,4094,0,0,0,0,0,0,25.84,25.81,25.84,10.09,45.55
$GC,926,1.56,585.0,2825,1956,1796,4094,36.8,9.0,119,935,0.00,1.05,0.00,0.000,260,0.000,0.043,2826,2354,1796,1796,4095,0,0,0,0,0,0,26.09,25.81,26.10,10.09,45.66
$GC,1017,1.56,585.0,2825,2354,1795,4095,28.3,9.1,132,1026,0.00,1.00,0.00,0.000,1030,0.000,0.030,2826,1961,1794,1794,4094,0,0,0,0,0,0,25.96,25.96,26.01,10.08,46.57
$GC,1062,1.56,585.0,2825,1960,1794,4094,24.2,9.0,138,1072,0.00,1.15,0.00,0.000,516,0.000,0.056,2826,1520,1794,1794,4094,0,0,0,0,0,0,26.25,25.94,26.25,10.09,46.57
$GC,1108,1.56,585.0,2825,1519,1793,4094,20.3,8.4,144,1117,0.00,1.05,0.00,0.000,1030,0.000,0.026,2826,1975,1793,1793,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.09,47.00
$GC,1156,1.63,627.0,2825,1974,1792,4094,16.6,7.9,150,1166,0.10,0.00,3.53,0.391,10246,0.076,0.000,2841,1975,1752,1752,4094,0,0,0,0,0,0,26.12,25.70,25.20,10.11,47.55
$GC,1203,1.70,679.0,2841,1975,1752,4094,12.8,7.8,156,1214,0.17,0.00,4.45,0.467,10246,0.054,0.000,2870,1975,1692,1692,4095,0,0,0,0,0,0,26.13,25.90,25.25,10.14,48.93
$GC,1251,1.70,679.0,2869,1976,1691,4095,8.6,9.0,162,1261,0.00,1.00,0.00,0.000,260,0.000,0.041,2869,2358,1690,1690,4094,0,0,0,0,0,0,26.32,26.05,26.33,10.15,50.11
$GC,1303,1.70,679.0,2869,2358,1690,4094,3.8,8.9,169,1313,0.00,1.02,0.00,0.000,1030,0.000,0.030,2870,1953,1689,1689,4095,0,0,0,0,0,0,26.13,26.11,26.16,10.16,51.18
$STATE,1327,end climb,FINISH_DEPTH_REACHED
$STATE,1327,begin subsurface finish
$FINISH1,1.6,1.024194,98
$GC,1334,0.15,98.0,2869,1953,1689,4094,1.6,8.8,172,1353,5.18,1.15,-5.93,0.000,20996,0.054,1.292,2392,1525,2374,2374,4094,0,0,0,0,0,0,26.12,24.92,26.18,10.17,50.90
$FINISH2,0.3
$STATE,1354,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1354,begin surface
$IRIDIUM_FIX,6118.33,-17324.74,070817,064249
$TT8_MAMPS,0.025466,0.207473
$HUMID,51.49
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.83,17.034
$10V_AH,10.25,20.795
$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,21.750,18.950,74.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,477.454,0.366,144.781,731.859,57.982,33.426,434.426,0.000,261.601,0.000,0.542,0.000
$DEVICE_MAMPS,76.500,1292.085,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.166,472.764,0.000,554.371,725.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,17808,174
$CAP_FILE_SIZE,34452,0
$CFSIZE,1024409600,988266496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,081009,6027.136,-17333.338,8,0.9,18,7.1,0.0,255.6,9,4.9