version: 66.13
glider: 401
mission: 22
dive: 638
start: 8 7 117 10 7 3
data:
$ID,401
$MISSION,22
$DIVE,638
$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,25
$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
$GPS1,070817,093812,6027.2490,-17333.2266,9,0.8,15,7.1,0.2,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.8
$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,-0.107020,0.367524
$KALMAN_X,64348.261719,-1606.454468,-125.901154,-240358.062500,98.948204
$KALMAN_Y,44900.160156,3033.357178,886.160400,84408.406250,-203.124695
$MHEAD_RNG_PITCHd_Wd,336.7,32063,-7.8,-8.333,-12.28,10227
$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,-578.9,2387,1942,2377,4092,0.0,0.0,0,20,5.70,0.00,-3.85,0.000,20482,0.026,0.000,1834,1942,2800,2800,4094,0,0,0,0,0,0,26.01,28.83,26.04,10.36,50.63
$GC,23,-1.58,-578.9,1833,1941,2799,4094,0.0,0.0,1,33,0.00,1.10,-3.22,0.000,16900,0.000,1.271,1834,1519,3161,3161,4095,0,0,0,0,0,0,26.20,24.79,26.20,10.44,50.82
$GC,108,-1.58,-578.9,1833,1518,3163,4095,9.3,-13.1,13,117,0.00,0.98,0.00,0.000,1030,0.000,0.026,1833,1934,3163,3163,4094,0,0,0,0,0,0,26.01,25.98,26.02,10.53,50.94
$GC,153,-1.58,-578.9,1833,1934,3164,4094,15.0,-12.6,19,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1934,3165,3165,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.53,50.03
$GC,198,-1.58,-578.9,1832,1934,3165,4095,20.4,-11.8,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,1934,3165,3165,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.51,49.72
$GC,244,-1.58,-578.9,1833,1935,3166,4095,25.4,-10.6,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1936,3166,3166,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.48,49.25
$GC,288,-1.58,-578.9,1833,1936,3167,4094,29.9,-9.9,37,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1936,3167,3167,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.46,48.97
$GC,333,-1.58,-578.9,1832,1936,3168,4094,34.0,-9.1,43,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1936,3168,3168,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.44,47.63
$GC,378,-1.58,-578.9,1833,1936,3168,4094,38.1,-9.1,49,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1936,3168,3168,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.43,47.20
$GC,423,-1.58,-578.9,1833,1936,3169,4095,42.2,-9.3,55,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1937,3169,3169,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.43,46.88
$GC,468,-1.58,-578.9,1832,1936,3171,4095,46.4,-9.0,61,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1937,3170,3170,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.42,46.92
$GC,512,-1.58,-578.9,1833,1936,3171,4094,50.5,-9.3,67,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1937,3171,3171,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.41,46.14
$GC,557,-1.58,-578.9,1833,1936,3171,4094,54.5,-9.1,73,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,1937,3171,3171,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.40,46.37
$GC,602,-1.58,-578.9,1833,1936,3172,4095,58.5,-9.1,79,612,0.00,1.15,0.00,0.000,260,0.000,0.044,1833,2373,3172,3172,4095,0,0,0,0,0,0,26.53,26.25,26.55,10.40,46.41
$STATE,619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,619,begin apogee
$GC,627,-0.45,0.0,1833,1945,3173,4095,60.2,-8.9,81,670,3.78,0.00,32.97,1.287,10244,0.053,0.000,2187,1944,2483,2483,4095,0,0,0,0,0,0,26.26,25.02,24.32,10.40,46.53
$STATE,671,end apogee,CONTROL_FINISHED_OK
$STATE,671,begin climb
$GC,673,1.58,578.9,2186,1944,2484,4095,62.6,0.0,86,718,6.90,0.00,32.92,1.266,11270,0.034,0.000,2831,1944,1809,1809,4094,0,0,0,0,0,0,25.53,25.68,23.87,10.26,45.27
$GC,756,1.58,578.9,2831,1943,1806,4094,57.7,9.2,96,765,0.00,1.17,0.00,0.000,260,0.000,0.039,2832,2369,1808,1808,4094,0,0,0,0,0,0,25.53,25.27,25.54,10.11,44.88
$GC,847,1.58,578.9,2831,2369,1806,4094,49.4,8.6,109,857,0.00,1.00,0.00,0.000,1030,0.000,0.030,2832,1979,1806,1806,4094,0,0,0,0,0,0,25.64,25.62,25.68,10.10,45.31
$GC,894,1.58,578.9,2831,1978,1805,4094,45.6,8.6,115,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1979,1805,1805,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.10,46.10
$GC,941,1.58,578.9,2831,1978,1805,4094,41.6,8.5,121,950,0.00,1.05,0.00,0.000,260,0.000,0.038,2832,2370,1804,1804,4094,0,0,0,0,0,0,26.05,25.78,26.06,10.09,45.78
$GC,1205,1.58,578.9,2831,2370,1799,4094,17.8,9.1,160,1214,0.00,0.88,0.00,0.000,1030,0.000,0.031,2832,2021,1799,1799,4094,0,0,0,0,0,0,26.14,26.08,26.14,10.13,48.89
$GC,1252,1.59,584.1,2832,2020,1798,4094,13.9,8.3,166,1262,0.00,0.95,0.00,0.000,260,0.000,0.043,2832,2373,1797,1797,4094,0,0,0,0,0,0,26.36,26.08,26.38,10.15,49.84
$GC,1292,1.59,584.1,2831,2373,1797,4094,10.4,8.5,171,1301,0.00,0.88,0.00,0.000,1030,0.000,0.030,2832,2021,1797,1797,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.16,50.00
$GC,1339,1.60,595.4,2832,2021,1796,4094,6.6,8.2,177,1349,0.00,1.27,1.55,0.004,8708,0.000,0.054,2832,1527,1796,1796,4094,0,0,0,0,0,0,26.42,26.11,26.41,10.18,50.51
$STATE,1396,end climb,FINISH_DEPTH_REACHED
$STATE,1396,begin subsurface finish
$FINISH1,1.5,1.024226,96
$GC,1404,0.14,95.7,2832,1973,1794,4094,1.5,8.4,185,1423,4.78,0.00,-5.10,0.000,20486,0.055,0.000,2389,1980,2375,2375,4094,0,0,0,0,0,0,26.20,25.68,26.26,10.19,51.65
$FINISH2,0.2
$STATE,1424,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1424,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,080434
$TT8_MAMPS,0.025466,0.235935
$HUMID,51.57
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.87,17.129
$10V_AH,10.18,20.911
$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,21.150,13.625,67.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,503.035,0.000,139.263,779.607,60.022,33.424,422.308,0.000,450.303,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1270.665,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,127.635,507.885,402.190,596.067,777.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,17873,187
$CAP_FILE_SIZE,32265,0
$CFSIZE,1024409600,988135424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,093812,6027.249,-17333.227,9,0.8,15,7.1,0.2,0.0,9,5.0