version: 66.13
glider: 401
mission: 22
dive: 640
start: 8 7 117 11 6 53
data:
$ID,401
$MISSION,22
$DIVE,640
$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,16
$R_STBD_OVSHOOT,67
$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
$GPS1,070817,105756,6027.2222,-17333.4629,12,0.9,36,7.1,0.0,188.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-41.0
$GPS2,070817,110545,6027.1758,-17333.4512,9,0.9,17,7.1,0.0,133.9,9,4.2
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.076487,0.416645
$KALMAN_X,64381.570312,-1560.658691,-112.629936,-240660.046875,71.916710
$KALMAN_Y,43970.437500,2954.063721,788.426086,85379.500000,-363.706482
$MHEAD_RNG_PITCHd_Wd,342.5,32166,-6.3,-8.333,-11.13,13180
$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,-1.45,-585.0,237,1943,1786,4092,0.0,0.0,0,21,10.27,0.00,0.00,0.000,2049,0.098,0.000,1101,1944,1786,1786,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,49.60
$GC,23,-1.45,-585.0,1101,1943,1786,4094,0.8,0.0,1,51,8.18,1.08,-12.55,0.000,18692,0.042,1.268,1867,2344,3168,3168,4094,0,0,0,0,0,0,25.95,24.79,26.02,10.27,49.60
$GC,154,-1.45,-585.0,1866,2343,3170,4094,9.9,-10.5,19,164,0.00,1.02,0.00,0.000,1030,0.000,0.028,1867,1932,3170,3170,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.58,48.93
$GC,201,-1.45,-585.0,1866,1932,3171,4095,15.2,-11.2,25,211,0.00,1.02,0.00,0.000,516,0.000,0.049,1867,1526,3169,3169,4094,0,0,0,0,0,0,26.30,26.01,26.32,10.57,48.50
$GC,248,-1.45,-585.0,1866,1526,3172,4094,20.2,-10.1,31,258,0.00,0.88,0.00,0.000,1030,0.000,0.024,1867,1920,3172,3172,4095,0,0,0,0,0,0,26.15,26.13,26.13,10.56,47.87
$GC,296,-1.45,-585.0,1866,1920,3173,4095,24.7,-9.4,37,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1920,3173,3173,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.53,47.36
$GC,340,-1.45,-585.0,1866,1921,3173,4094,28.9,-9.0,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1921,3173,3173,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.50,47.55
$GC,384,-1.45,-585.0,1866,1922,3174,4094,32.8,-9.1,49,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1922,3174,3174,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.48,46.06
$GC,428,-1.45,-585.0,1866,1922,3175,4095,37.0,-9.3,55,437,0.00,1.12,0.00,0.000,260,0.000,0.041,1867,2355,3175,3175,4094,0,0,0,0,0,0,26.46,26.18,26.47,10.47,45.55
$GC,466,-1.45,-585.0,1866,2355,3175,4094,40.6,-9.4,60,476,0.00,1.05,0.00,0.000,1030,0.000,0.028,1866,1931,3175,3175,4094,0,0,0,0,0,0,26.27,26.22,26.27,10.46,45.55
$GC,514,-1.45,-585.0,1866,1931,3176,4094,44.8,-8.8,66,523,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1931,3176,3176,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.45,45.23
$GC,560,-1.45,-585.0,1866,1931,3177,4095,48.9,-9.1,72,570,0.00,1.12,0.00,0.000,260,0.000,0.041,1867,2357,3177,3177,4095,0,0,0,0,0,0,26.52,26.23,26.53,10.44,44.25
$GC,612,-1.45,-585.0,1866,2356,3177,4095,53.9,-9.2,79,621,0.00,1.00,0.00,0.000,1030,0.000,0.028,1867,1949,3178,3178,4095,0,0,0,0,0,0,26.32,26.28,26.34,10.44,44.84
$GC,658,-1.45,-585.0,1866,1949,3178,4095,58.1,-9.0,85,667,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1949,3178,3178,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.43,44.25
$STATE,681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,681,begin apogee
$GC,687,-0.45,0.0,1866,1949,3179,4094,60.5,-9.4,88,731,3.40,0.00,33.00,1.298,10244,0.049,0.000,2185,1949,2488,2488,4095,0,0,0,0,0,0,26.29,25.03,24.32,10.42,44.48
$STATE,732,end apogee,CONTROL_FINISHED_OK
$STATE,732,begin climb
$GC,734,1.45,585.0,2185,1949,2488,4095,62.6,0.0,93,779,6.47,0.00,33.50,1.274,11270,0.037,0.000,2788,1949,1802,1802,4094,0,0,0,0,0,0,25.56,25.70,23.87,10.28,44.13
$GC,817,1.45,585.0,2787,1949,1801,4094,57.8,8.5,103,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1949,1801,1801,4094,0,0,0,0,0,0,25.53,25.55,25.54,10.13,43.38
$GC,864,1.45,585.0,2787,1949,1801,4094,53.7,8.6,109,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1949,1800,1800,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.12,43.66
$GC,910,1.45,585.0,2787,1949,1800,4094,49.8,8.4,115,918,0.00,1.08,0.00,0.000,260,0.000,0.038,2788,2351,1800,1800,4094,0,0,0,0,0,0,25.87,25.61,25.88,10.12,44.25
$GC,1000,1.45,585.0,2788,2351,1798,4094,41.9,8.9,128,1010,0.00,0.98,0.00,0.000,1030,0.000,0.029,2788,1968,1798,1798,4094,0,0,0,0,0,0,25.84,25.81,25.85,10.10,44.84
$GC,1047,1.45,585.0,2788,1967,1797,4094,37.9,8.6,134,1056,0.00,1.17,0.00,0.000,516,0.000,0.055,2788,1520,1796,1796,4095,0,0,0,0,0,0,26.11,25.82,26.13,10.10,44.80
$GC,1099,1.45,585.0,2788,1520,1796,4095,33.5,8.5,141,1107,0.00,1.00,0.00,0.000,1030,0.000,0.026,2789,1962,1795,1795,4094,0,0,0,0,0,0,26.00,25.98,26.01,10.10,45.23
$GC,1144,1.45,585.0,2788,1961,1795,4094,29.8,8.4,147,1153,0.00,1.02,0.00,0.000,260,0.000,0.041,2788,2353,1795,1795,4095,0,0,0,0,0,0,26.22,25.98,26.24,10.09,46.02
$GC,1202,1.45,585.0,2787,2352,1794,4095,24.7,8.7,155,1212,0.00,1.00,0.00,0.000,1030,0.000,0.031,2788,1959,1794,1794,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.10,45.58
$GC,1250,1.54,643.8,2788,1958,1792,4094,21.0,7.9,161,1261,0.17,1.15,4.40,0.517,10756,0.056,0.054,2812,1515,1733,1733,4094,0,0,0,0,0,0,26.10,25.92,25.14,10.12,47.24
$GC,1332,1.78,805.0,2812,1515,1731,4094,15.0,7.1,172,1351,0.73,0.98,9.90,0.682,11270,0.026,0.025,2891,1953,1544,1544,4094,0,0,0,0,0,0,26.13,26.17,25.14,10.14,48.42
$GC,1389,1.88,873.5,2890,1953,1543,4094,10.4,7.8,179,1400,0.28,1.05,5.18,0.500,10500,0.044,0.039,2925,2354,1464,1464,4094,0,0,0,0,0,0,26.02,25.85,25.17,10.13,50.07
$GC,1430,1.88,873.5,2925,2354,1464,4094,6.8,8.8,184,1439,0.00,1.05,0.00,0.000,1030,0.000,0.031,2925,1944,1463,1463,4094,0,0,0,0,0,0,26.01,26.01,26.03,10.12,50.43
$GC,1477,1.88,873.5,2925,1943,1463,4094,2.8,8.6,190,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1944,1463,1463,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.13,50.51
$STATE,1492,end climb,FINISH_DEPTH_REACHED
$STATE,1493,begin subsurface finish
$FINISH1,1.1,1.024252,94
$GC,1499,0.14,93.9,2925,1943,1462,4094,1.1,8.7,192,1518,5.53,0.00,-7.85,0.000,20486,0.024,0.000,2386,1943,2381,2381,4094,0,0,0,0,0,0,26.08,25.08,26.13,10.14,50.00
$FINISH2,0.2
$STATE,1519,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1519,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,093209
$TT8_MAMPS,0.025466,0.248668
$HUMID,50.94
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.87,17.202
$10V_AH,10.18,20.988
$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,35.025,18.775,85.975,0.000,0.000,22.454,18.620,285.860,0.000,0.000,19.173,540.268,0.000,169.068,1138.845,160.492,33.449,496.679,0.000,468.766,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1267.605,1298.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,131.553,526.996,417.234,618.061,805.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,17823,194
$CAP_FILE_SIZE,44267,0
$CFSIZE,1024409600,988020736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070817,110545,6027.176,-17333.451,9,0.9,17,7.1,0.0,133.9,9,4.2