version: 66.13
glider: 401
mission: 22
dive: 636
start: 8 7 117 9 5 53
data:
$ID,401
$MISSION,22
$DIVE,636
$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,48
$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,0.14
$_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,-0.129047,0.333572
$KALMAN_X,64069.492188,-1725.457153,-206.536591,-239985.390625,147.725098
$KALMAN_Y,45383.234375,3173.319824,1074.703369,83388.210938,-248.934814
$MHEAD_RNG_PITCHd_Wd,331.8,32254,-8.9,-8.333,-13.12,8646
$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,-1.53,-486.5,2392,1958,2374,4092,0.0,0.0,0,21,5.60,0.00,-4.47,0.000,20482,0.026,0.000,1851,1958,2872,2872,4095,0,0,0,0,0,0,26.15,28.83,26.17,10.34,51.73
$GC,24,-1.53,-486.5,1850,1958,2872,4095,0.1,0.0,1,34,0.00,1.10,-1.60,0.000,16644,0.000,1.271,1850,2356,3053,3053,4095,0,0,0,0,0,0,26.34,24.92,26.32,10.45,51.85
$GC,174,-1.53,-486.5,1850,2357,3057,4095,16.9,-12.5,23,183,0.00,1.02,0.00,0.000,1030,0.000,0.029,1850,1947,3057,3057,4094,0,0,0,0,0,0,26.13,26.13,26.15,10.49,50.70
$GC,220,-1.53,-486.5,1850,1946,3058,4094,22.2,-11.4,29,229,0.00,1.08,0.00,0.000,516,0.000,0.051,1850,1524,3058,3058,4094,0,0,0,0,0,0,26.38,26.08,26.39,10.45,50.51
$GC,272,-1.53,-486.5,1849,1524,3059,4094,28.0,-11.1,36,282,0.00,0.93,0.00,0.000,1030,0.000,0.024,1851,1931,3060,3060,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.42,49.72
$GC,319,-1.53,-486.5,1850,1931,3060,4095,32.9,-10.7,42,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1931,3060,3060,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.41,48.46
$GC,366,-1.53,-486.5,1850,1930,3061,4095,37.8,-10.5,48,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1931,3061,3061,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.40,48.62
$GC,410,-1.53,-486.5,1850,1931,3062,4094,42.7,-10.8,54,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1931,3062,3062,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.39,48.07
$GC,454,-1.53,-486.5,1850,1931,3062,4094,47.5,-10.6,60,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1931,3063,3063,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.38,47.24
$GC,499,-1.53,-486.5,1850,1932,3064,4094,52.2,-10.5,66,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1932,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.38,46.53
$GC,544,-1.53,-486.5,1850,1933,3064,4095,57.1,-10.7,72,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1933,3064,3064,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.38,46.61
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,579,-0.45,0.0,1850,1932,3065,4094,60.5,-11.0,76,615,3.55,0.00,28.00,1.281,10244,0.053,0.000,2179,1934,2484,2484,4094,0,0,0,0,0,0,26.28,25.42,24.44,10.38,46.49
$STATE,616,end apogee,CONTROL_FINISHED_OK
$STATE,616,begin climb
$GC,618,1.53,486.5,2179,1934,2485,4094,62.9,0.0,80,662,6.85,0.00,27.67,1.258,11270,0.035,0.000,2815,1935,1920,1920,4094,0,0,0,0,0,0,25.63,25.80,23.99,10.26,46.37
$GC,700,1.53,486.5,2814,1936,1919,4094,57.8,9.9,90,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1936,1919,1919,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.13,44.92
$GC,746,1.53,486.5,2814,1935,1919,4094,53.0,10.3,96,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1936,1918,1918,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.12,44.99
$GC,793,1.53,486.5,2814,1936,1918,4094,48.2,10.3,102,802,0.00,1.15,0.00,0.000,260,0.000,0.041,2815,2368,1917,1917,4094,0,0,0,0,0,0,25.92,25.65,25.94,10.12,45.55
$GC,851,1.53,486.5,2814,2367,1915,4094,41.9,10.4,110,861,0.00,1.08,0.00,0.000,1030,0.000,0.031,2815,1951,1916,1916,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.11,45.66
$GC,899,1.53,486.5,2814,1951,1915,4094,37.4,9.7,116,908,0.00,1.12,0.00,0.000,516,0.000,0.055,2815,1520,1915,1915,4095,0,0,0,0,0,0,26.10,25.80,26.12,10.11,45.78
$GC,951,1.53,486.5,2814,1520,1914,4095,32.2,9.7,123,960,0.00,0.98,0.00,0.000,1030,0.000,0.025,2815,1948,1914,1914,4094,0,0,0,0,0,0,25.99,25.97,26.00,10.10,46.10
$GC,996,1.53,486.5,2815,1948,1913,4094,27.7,10.0,129,1006,0.00,1.05,0.00,0.000,260,0.000,0.041,2815,2349,1912,1912,4094,0,0,0,0,0,0,26.22,25.95,26.23,10.10,46.22
$GC,1062,1.53,486.5,2814,2348,1911,4094,21.3,9.5,138,1071,0.00,1.05,0.00,0.000,1030,0.000,0.031,2815,1938,1912,1912,4094,0,0,0,0,0,0,26.07,26.03,26.08,10.11,47.04
$GC,1109,1.54,487.9,2814,1938,1911,4094,17.4,8.3,144,1119,0.00,1.08,0.00,0.000,516,0.000,0.057,2815,1523,1911,1911,4094,0,0,0,0,0,0,26.32,26.01,26.34,10.14,48.18
$GC,1168,1.54,487.9,2814,1523,1909,4094,12.4,8.3,152,1177,0.00,0.98,0.00,0.000,1030,0.000,0.025,2815,1957,1909,1909,4094,0,0,0,0,0,0,26.15,26.16,26.20,10.18,49.29
$GC,1215,1.54,487.9,2814,1957,1909,4094,8.6,8.6,158,1224,0.00,1.05,0.00,0.000,260,0.000,0.041,2815,2358,1908,1908,4094,0,0,0,0,0,0,26.39,26.10,26.40,10.19,50.11
$STATE,1292,end climb,SURFACE_DEPTH_REACHED
$STATE,1293,begin surface coast
$FINISH,1.0,1.024202
$STATE,1301,end surface coast,CONTROL_FINISHED_OK
$STATE,1301,begin surface
$SM_CCo,1399,0.00,0.000,0,0,1906,497.13
$SM_GC,0.96,26.85,1.08,0.00,0.023,0.028,0.000,237,1945,1906,-6.55,1.09,497.13,0,0,0,0,0,0,26.24,26.20,26.27
$IRIDIUM_FIX,6118.33,-17324.74,070817,064249
$TT8_MAMPS,0.025466,0.234437
$HUMID,51.14
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.99,17.054
$10V_AH,10.19,20.833
$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,42.850,15.725,55.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,475.286,60.483,153.482,711.254,60.572,33.415,418.257,0.000,411.608,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1271.430,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.972,461.787,365.599,542.018,708.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,17765,170
$CAP_FILE_SIZE,32677,0
$CFSIZE,1024409600,988233728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,093004,6027.297,-17333.264,5,0.8,16,7.1,0.0,0.0,10,4.8