version: 66.13
glider: 401
mission: 22
dive: 639
start: 8 7 117 10 32 54
data:
$ID,401
$MISSION,22
$DIVE,639
$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,56
$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,0.13
$_SM_ANGLEo,-1.3
$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,-0.099479,0.359006
$KALMAN_X,64440.273438,-1569.947998,-107.981651,-240504.437500,99.430130
$KALMAN_Y,44534.886719,2979.441650,821.690247,84891.945312,-257.935852
$MHEAD_RNG_PITCHd_Wd,337.4,32063,-8.2,-8.333,-12.61,9561
$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,-539.8,2389,1979,2375,4092,0.0,0.0,0,21,5.53,0.00,-4.60,0.000,20482,0.026,0.000,1854,1979,2888,2888,4094,0,0,0,0,0,0,26.17,28.83,26.19,10.34,51.77
$GC,24,-1.56,-539.8,1853,1979,2888,4094,0.1,0.0,1,34,0.00,1.00,-1.90,0.000,16644,0.000,1.270,1853,2345,3110,3110,4095,0,0,0,0,0,0,26.38,24.95,26.36,10.46,51.92
$GC,154,-1.56,-539.8,1853,2345,3112,4095,13.8,-12.3,20,164,0.00,1.00,0.00,0.000,1030,0.000,0.028,1854,1947,3112,3112,4095,0,0,0,0,0,0,26.14,26.10,26.15,10.51,51.29
$GC,201,-1.56,-539.8,1853,1946,3113,4095,19.0,-11.5,26,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1947,3113,3113,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.49,50.98
$GC,247,-1.63,-585.0,1853,1946,3114,4094,23.3,-7.7,32,257,0.12,1.12,-0.15,0.000,20996,0.062,1.283,1831,1526,3183,3183,4094,0,0,0,0,0,0,26.24,24.96,26.15,10.48,50.74
$GC,281,-1.63,-585.0,1830,1526,3183,4094,26.3,-8.8,36,290,0.00,0.93,0.00,0.000,1030,0.000,0.027,1831,1954,3183,3183,4095,0,0,0,0,0,0,26.08,26.07,26.08,10.48,50.23
$GC,328,-1.63,-585.0,1830,1955,3183,4095,30.8,-9.8,42,337,0.00,1.00,0.00,0.000,260,0.000,0.038,1831,2339,3184,3184,4095,0,0,0,0,0,0,26.30,26.03,26.32,10.46,49.01
$GC,406,-1.63,-585.0,1830,2338,3186,4095,38.8,-9.9,53,415,0.00,0.88,0.00,0.000,1030,0.000,0.028,1831,1985,3186,3186,4094,0,0,0,0,0,0,26.18,26.15,26.19,10.43,47.67
$GC,451,-1.63,-585.0,1830,1985,3187,4094,43.2,-9.7,59,461,0.00,1.17,0.00,0.000,516,0.000,0.050,1831,1525,3186,3186,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.42,47.04
$GC,525,-1.63,-585.0,1830,1525,3187,4095,50.2,-9.8,69,533,0.00,0.95,0.00,0.000,1030,0.000,0.025,1831,1945,3188,3188,4095,0,0,0,0,0,0,26.25,26.25,26.27,10.41,46.41
$GC,570,-1.63,-585.0,1830,1945,3188,4095,54.7,-9.6,75,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1945,3188,3188,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.40,46.45
$GC,614,-1.63,-585.0,1830,1945,3189,4094,58.9,-9.3,81,624,0.00,1.08,0.00,0.000,260,0.000,0.044,1831,2355,3189,3189,4095,0,0,0,0,0,0,26.49,26.20,26.51,10.40,46.22
$STATE,632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,632,begin apogee
$GC,639,-0.45,0.0,1830,1943,3189,4094,60.9,-9.8,83,681,3.78,0.00,33.83,1.305,10244,0.051,0.000,2185,1944,2484,2484,4095,0,0,0,0,0,0,26.22,25.22,24.25,10.40,46.18
$STATE,682,end apogee,CONTROL_FINISHED_OK
$STATE,682,begin climb
$GC,685,1.63,585.0,2185,1943,2484,4095,63.1,0.0,88,729,7.10,0.00,33.38,1.275,11270,0.035,0.000,2849,1943,1801,1801,4094,0,0,0,0,0,0,25.48,25.62,23.82,10.25,45.62
$GC,766,1.63,585.0,2849,1943,1801,4094,57.3,10.7,98,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1944,1801,1801,4094,0,0,0,0,0,0,25.50,25.51,25.51,10.10,44.64
$GC,812,1.63,585.0,2849,1943,1800,4094,52.1,11.2,104,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1943,1800,1800,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.10,45.15
$GC,856,1.63,585.0,2849,1943,1799,4094,47.3,10.3,110,866,0.00,1.12,0.00,0.000,260,0.000,0.039,2849,2358,1798,1798,4094,0,0,0,0,0,0,25.84,25.57,25.85,10.10,45.03
$GC,967,1.63,585.0,2849,2357,1796,4094,34.8,11.3,126,976,0.00,1.00,0.00,0.000,1030,0.000,0.031,2849,1968,1796,1796,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.08,45.62
$GC,1014,1.63,585.0,2849,1968,1794,4094,29.8,11.0,132,1024,0.00,1.20,0.00,0.000,516,0.000,0.056,2849,1511,1794,1794,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.08,46.22
$GC,1066,1.63,585.0,2849,1511,1793,4094,24.0,10.5,139,1076,0.00,1.05,0.00,0.000,1030,0.000,0.025,2849,1970,1793,1793,4094,0,0,0,0,0,0,26.00,25.98,26.01,10.09,46.73
$GC,1114,1.63,585.0,2849,1970,1792,4094,20.0,8.5,145,1122,0.00,1.23,0.00,0.000,516,0.000,0.055,2849,1512,1792,1792,4094,0,0,0,0,0,0,26.23,25.92,26.24,10.11,47.04
$GC,1184,1.63,585.0,2849,1512,1790,4094,13.1,9.5,155,1194,0.00,0.93,0.00,0.000,1030,0.000,0.026,2849,1940,1790,1790,4094,0,0,0,0,0,0,26.12,26.10,26.15,10.15,48.93
$GC,1231,1.63,585.0,2849,1940,1789,4094,9.2,8.6,161,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1940,1789,1789,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.16,49.84
$GC,1276,1.63,585.0,2849,1941,1788,4095,5.1,8.9,167,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1942,1788,1788,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.18,50.15
$STATE,1311,end climb,SURFACE_DEPTH_REACHED
$STATE,1312,begin surface coast
$FINISH,0.1,1.004022
$STATE,1333,end surface coast,CONTROL_FINISHED_OK
$STATE,1333,begin surface
$SM_CCo,1430,0.00,0.000,0,0,1786,600.16
$SM_GC,0.99,27.23,0.00,0.00,0.022,0.000,0.000,237,1942,1786,-6.55,-0.36,600.16,0,0,0,0,0,0,26.19,26.41,26.22
$IRIDIUM_FIX,5952.82,-17420.78,070817,080434
$TT8_MAMPS,0.025466,0.208222
$HUMID,51.26
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.82,17.155
$10V_AH,10.24,20.939
$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,43.750,16.700,67.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,483.136,60.337,157.234,731.742,58.159,33.415,425.209,0.000,263.007,0.000,0.543,0.000
$DEVICE_MAMPS,61.965,1282.905,1305.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.334,475.508,0.000,557.300,726.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,17767,175
$CAP_FILE_SIZE,33963,0
$CFSIZE,1024409600,988069888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,105756,6027.222,-17333.463,12,0.9,36,7.1,0.0,188.6,10,4.7