version: 66.13
glider: 401
mission: 22
dive: 637
start: 8 7 117 9 39 20
data:
$ID,401
$MISSION,22
$DIVE,637
$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,26
$R_STBD_OVSHOOT,49
$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
$GPS1,070817,093004,6027.2974,-17333.2637,5,0.8,16,7.1,0.0,0.0,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-44.3
$GPS2,070817,093812,6027.2490,-17333.2266,9,0.8,15,7.1,0.2,0.0,9,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.142990,0.410514
$KALMAN_X,64281.519531,-1687.394287,-176.527679,-240160.875000,161.010788
$KALMAN_Y,45112.476562,3178.554932,1064.916016,83866.492188,-325.644958
$MHEAD_RNG_PITCHd_Wd,333.7,32063,-5.9,-8.333,-10.85,14068
$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,-1.42,-585.0,236,1945,1906,4092,0.0,0.0,0,21,10.25,0.00,0.00,0.000,2049,0.101,0.000,1096,1946,1906,1906,4095,0,0,0,0,0,0,26.22,28.83,28.83,10.28,49.72
$GC,23,-1.42,-585.0,1095,1945,1906,4095,0.9,0.0,1,51,8.40,1.15,-11.55,0.000,18692,0.044,1.270,1878,2357,3168,3168,4095,0,0,0,0,0,0,25.94,24.77,26.01,10.28,49.48
$GC,121,-1.42,-585.0,1877,2356,3169,4095,6.8,-10.3,14,130,0.00,1.02,0.00,0.000,1030,0.000,0.028,1877,1944,3169,3169,4095,0,0,0,0,0,0,26.02,25.96,25.99,10.56,48.81
$GC,166,-1.42,-585.0,1877,1944,3170,4095,12.1,-11.2,20,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3170,3170,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.56,48.38
$GC,211,-1.42,-585.0,1877,1945,3171,4095,17.1,-11.1,26,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1945,3171,3171,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.56,48.70
$GC,256,-1.42,-585.0,1877,1945,3172,4095,21.8,-10.5,32,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3172,3172,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.54,48.30
$GC,302,-1.42,-585.0,1877,1945,3172,4095,26.0,-9.5,38,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3173,3173,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.50,47.59
$GC,347,-1.42,-585.0,1877,1945,3173,4095,30.4,-9.2,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3173,3173,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.48,46.29
$GC,392,-1.42,-585.0,1877,1945,3174,4095,34.5,-9.2,50,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1944,3174,3174,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.47,45.55
$GC,437,-1.42,-585.0,1877,1945,3175,4095,38.7,-9.4,56,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3175,3175,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.46,45.74
$GC,483,-1.42,-585.0,1877,1945,3176,4095,42.9,-9.5,62,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3176,3176,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.44,44.92
$GC,528,-1.42,-585.0,1877,1945,3176,4094,47.2,-9.1,68,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1945,3176,3176,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,44.80
$GC,573,-1.42,-585.0,1877,1944,3177,4095,51.1,-8.4,74,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3177,3177,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,44.80
$GC,618,-1.42,-585.0,1877,1945,3178,4095,55.1,-8.6,80,627,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,1945,3178,3178,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.43,44.40
$GC,664,-1.42,-585.0,1877,1944,3179,4094,59.2,-9.4,86,674,0.00,1.10,0.00,0.000,260,0.000,0.041,1877,2359,3178,3178,4095,0,0,0,0,0,0,26.56,26.27,26.57,10.42,44.40
$STATE,681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,682,begin apogee
$GC,688,-0.45,0.0,1877,1946,3179,4094,61.0,-8.6,88,732,3.28,0.00,33.28,1.303,10244,0.050,0.000,2185,1946,2484,2484,4094,0,0,0,0,0,0,26.29,25.03,24.32,10.41,44.21
$STATE,733,end apogee,CONTROL_FINISHED_OK
$STATE,733,begin climb
$GC,736,1.42,585.0,2184,1946,2484,4094,63.1,0.0,93,780,6.35,0.00,33.33,1.271,11270,0.036,0.000,2778,1946,1803,1803,4094,0,0,0,0,0,0,25.54,25.70,23.86,10.27,44.56
$GC,818,1.42,587.6,2778,1946,1802,4094,57.8,8.3,103,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1946,1802,1802,4094,0,0,0,0,0,0,25.53,25.55,25.53,10.12,43.46
$GC,863,1.42,587.6,2778,1945,1801,4094,53.7,8.6,109,873,0.00,1.10,0.00,0.000,260,0.000,0.040,2778,2354,1801,1801,4094,0,0,0,0,0,0,25.73,25.47,25.75,10.12,43.69
$GC,922,1.42,587.6,2778,2354,1800,4094,48.5,9.1,117,931,0.00,0.98,0.00,0.000,1030,0.000,0.029,2778,1973,1801,1801,4094,0,0,0,0,0,0,25.69,25.65,25.70,10.11,43.89
$GC,969,1.42,587.6,2778,1972,1799,4094,44.5,8.6,123,978,0.00,1.15,0.00,0.000,516,0.000,0.054,2778,1528,1799,1799,4094,0,0,0,0,0,0,25.99,25.70,26.00,10.10,44.52
$GC,1008,1.42,587.6,2778,1528,1798,4094,41.1,8.5,128,1017,0.00,1.02,0.00,0.000,1030,0.000,0.024,2778,1974,1798,1798,4095,0,0,0,0,0,0,25.87,25.86,25.89,10.10,44.52
$GC,1055,1.46,616.5,2778,1974,1797,4095,37.4,8.1,134,1065,0.00,0.98,3.33,0.456,8452,0.000,0.037,2779,2363,1765,1765,4094,0,0,0,0,0,0,26.12,25.47,24.84,10.10,44.68
$GC,1109,1.51,648.0,2778,2363,1764,4094,33.0,8.1,141,1120,0.20,1.00,3.42,0.450,11270,0.039,0.030,2804,1967,1728,1728,4094,0,0,0,0,0,0,25.94,25.91,24.91,10.09,45.07
$GC,1158,1.54,668.8,2804,1967,1728,4094,29.2,8.2,147,1167,0.00,1.10,2.72,0.289,8708,0.000,0.052,2805,1525,1709,1709,4094,0,0,0,0,0,0,26.17,25.55,24.96,10.08,45.58
$GC,1205,1.60,706.9,2804,1525,1709,4094,25.3,8.1,153,1215,0.22,1.02,4.07,0.504,11270,0.036,0.026,2835,1974,1659,1659,4094,0,0,0,0,0,0,26.00,26.01,25.01,10.07,46.10
$GC,1253,1.60,706.9,2835,1974,1658,4094,21.3,8.7,159,1262,0.00,1.00,0.00,0.000,260,0.000,0.043,2836,2356,1658,1658,4094,0,0,0,0,0,0,26.22,25.94,26.22,10.08,46.61
$GC,1305,1.64,734.1,2835,2356,1657,4094,16.7,8.1,166,1315,0.00,1.00,3.17,0.343,9222,0.000,0.032,2835,1963,1626,1626,4094,0,0,0,0,0,0,26.06,26.02,25.13,10.11,47.59
$GC,1353,1.91,912.6,2835,1963,1626,4094,13.3,7.0,172,1372,0.95,1.10,10.68,0.679,10756,0.028,0.054,2936,1521,1419,1419,4094,0,0,0,0,0,0,26.06,25.58,25.12,10.13,48.77
$GC,1415,1.97,953.2,2936,1521,1418,4094,8.4,8.0,180,1425,0.00,1.00,3.80,0.386,9222,0.000,0.026,2936,1966,1372,1372,4094,0,0,0,0,0,0,26.02,26.00,25.16,10.10,49.60
$GC,1463,2.11,1047.5,2936,1965,1370,4094,4.8,7.6,186,1482,0.57,1.00,6.47,0.513,10500,0.029,0.040,2999,2357,1261,1261,4094,0,0,0,0,0,0,26.01,25.82,25.19,10.11,49.92
$STATE,1496,end climb,FINISH_DEPTH_REACHED
$STATE,1496,begin subsurface finish
$FINISH1,1.8,1.024216,96
$GC,1504,0.14,96.4,2998,1951,1260,4094,1.8,8.3,190,1532,6.43,1.12,-9.60,0.000,20740,0.034,1.278,2387,2349,2377,2377,4094,0,0,0,0,0,0,25.97,24.77,26.02,10.09,50.43
$FINISH2,0.1
$STATE,1533,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1533,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,080434
$TT8_MAMPS,0.025466,0.215712
$HUMID,50.51
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.86,17.105
$10V_AH,10.23,20.870
$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,36.650,19.975,104.275,0.000,0.000,25.198,17.761,301.057,0.000,0.000,17.229,537.101,0.000,185.543,1156.323,163.163,33.451,532.025,0.000,290.288,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1277.550,1302.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.247,524.417,0.000,614.500,802.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,17934,193
$CAP_FILE_SIZE,47524,0
$CFSIZE,1024409600,988168192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070817,093812,6027.249,-17333.227,9,0.8,15,7.1,0.2,0.0,9,5.0