version: 66.13
glider: 401
mission: 22
dive: 641
start: 8 7 117 11 34 21
data:
$ID,401
$MISSION,22
$DIVE,641
$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,19
$R_STBD_OVSHOOT,57
$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
$GPS1,070817,110545,6027.1758,-17333.4512,9,0.9,17,7.1,0.0,133.9,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.6
$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,-0.056293,0.392339
$KALMAN_X,64402.886719,-1501.950195,-92.486382,-240763.578125,29.621429
$KALMAN_Y,43731.082031,2800.043213,626.173706,85934.601562,-246.866699
$MHEAD_RNG_PITCHd_Wd,344.7,32166,-7.3,-8.333,-11.87,11154
$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,-1.54,-585.0,2386,1943,2380,4092,0.0,0.0,0,21,5.55,0.00,-4.97,0.000,20482,0.026,0.000,1846,1943,2929,2929,4095,0,0,0,0,0,0,26.15,28.83,26.17,10.36,50.86
$GC,24,-1.54,-585.0,1845,1943,2929,4095,0.1,0.0,1,34,0.00,1.12,-2.15,0.000,16644,0.000,1.271,1846,2348,3170,3170,4095,0,0,0,0,0,0,26.34,24.91,26.34,10.48,51.57
$GC,128,-1.54,-585.0,1845,2347,3172,4095,10.7,-11.7,16,138,0.00,1.02,0.00,0.000,1030,0.000,0.029,1846,1936,3172,3172,4094,0,0,0,0,0,0,26.08,26.05,26.11,10.53,51.10
$GC,174,-1.54,-585.0,1845,1936,3173,4094,16.0,-11.4,22,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1937,3173,3173,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.53,50.31
$GC,220,-1.54,-585.0,1845,1936,3174,4095,20.7,-10.4,28,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1937,3174,3174,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.52,50.39
$GC,265,-1.54,-585.0,1845,1936,3174,4095,25.2,-9.6,34,275,0.00,1.05,0.00,0.000,516,0.000,0.051,1846,1523,3174,3174,4095,0,0,0,0,0,0,26.41,26.12,26.43,10.49,49.44
$GC,298,-1.54,-585.0,1845,1523,3175,4095,28.3,-9.3,38,307,0.00,0.93,0.00,0.000,1030,0.000,0.024,1846,1931,3175,3175,4094,0,0,0,0,0,0,26.23,26.22,26.26,10.47,48.93
$GC,343,-1.54,-585.0,1845,1931,3175,4094,32.7,-9.9,44,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1931,3176,3176,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.45,48.58
$GC,388,-1.54,-585.0,1845,1931,3176,4095,37.3,-10.2,50,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1931,3177,3177,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.44,47.44
$GC,434,-1.54,-585.0,1845,1932,3177,4095,42.0,-10.4,56,443,0.00,1.10,0.00,0.000,260,0.000,0.041,1846,2357,3178,3178,4095,0,0,0,0,0,0,26.50,26.22,26.51,10.43,46.73
$GC,492,-1.54,-585.0,1845,2356,3178,4095,48.0,-10.3,64,502,0.00,1.00,0.00,0.000,1030,0.000,0.026,1845,1958,3178,3178,4095,0,0,0,0,0,0,26.29,26.29,26.34,10.42,46.49
$GC,538,-1.54,-585.0,1845,1958,3179,4095,52.8,-10.6,70,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1958,3179,3179,4094,0,0,0,0,0,0,26.54,26.56,26.56,10.42,45.98
$GC,585,-1.54,-585.0,1845,1958,3180,4094,57.4,-10.4,76,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,1958,3180,3180,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.40,45.66
$STATE,608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,608,begin apogee
$GC,613,-0.45,0.0,1845,1958,3180,4094,60.1,-10.3,79,658,3.65,0.00,33.25,1.284,10244,0.051,0.000,2185,1958,2483,2483,4094,0,0,0,0,0,0,26.29,25.05,24.35,10.41,46.53
$STATE,659,end apogee,CONTROL_FINISHED_OK
$STATE,659,begin climb
$GC,662,1.54,585.0,2184,1958,2484,4094,62.6,0.0,84,706,6.78,0.00,33.33,1.265,11270,0.035,0.000,2816,1958,1802,1802,4094,0,0,0,0,0,0,25.55,25.72,23.88,10.26,45.58
$GC,744,1.54,585.0,2815,1958,1801,4094,57.9,8.9,94,752,0.00,1.17,0.00,0.000,516,0.000,0.054,2815,1520,1801,1801,4094,0,0,0,0,0,0,25.53,25.29,25.54,10.11,44.40
$GC,782,1.54,585.0,2814,1520,1800,4094,54.1,9.8,99,792,0.00,1.02,0.00,0.000,1030,0.000,0.024,2816,1960,1799,1799,4094,0,0,0,0,0,0,25.54,25.50,25.58,10.10,44.92
$GC,829,1.54,585.0,2815,1960,1799,4094,49.9,9.1,105,838,0.00,1.05,0.00,0.000,260,0.000,0.040,2815,2355,1799,1799,4094,0,0,0,0,0,0,25.85,25.58,25.86,10.10,44.84
$GC,928,1.54,585.0,2815,2355,1797,4094,40.3,9.6,119,937,0.00,1.00,0.00,0.000,1030,0.000,0.029,2815,1965,1797,1797,4094,0,0,0,0,0,0,25.83,25.81,25.86,10.09,46.14
$GC,974,1.54,585.0,2815,1965,1796,4094,35.8,9.4,125,983,0.00,1.15,0.00,0.000,516,0.000,0.054,2816,1525,1797,1797,4094,0,0,0,0,0,0,26.11,25.83,26.13,10.09,45.39
$GC,1019,1.54,585.0,2815,1525,1795,4094,31.5,9.4,131,1029,0.00,1.02,0.03,0.004,9222,0.000,0.026,2815,1970,1795,1795,4095,0,0,0,0,0,0,25.98,25.95,25.99,10.09,46.22
$GC,1065,1.54,585.0,2815,1969,1794,4095,27.2,9.4,137,1074,0.00,1.02,0.00,0.000,260,0.000,0.041,2816,2360,1794,1794,4094,0,0,0,0,0,0,26.22,25.94,26.23,10.09,46.18
$GC,1123,1.54,585.0,2815,2359,1793,4094,22.0,8.7,145,1133,0.00,0.98,0.00,0.000,1030,0.000,0.030,2815,1974,1792,1792,4095,0,0,0,0,0,0,26.05,26.03,26.08,10.11,46.73
$GC,1169,1.56,596.3,2815,1973,1791,4095,18.3,8.2,151,1178,0.00,1.15,0.00,0.000,516,0.000,0.054,2815,1527,1791,1791,4094,0,0,0,0,0,0,26.31,26.01,26.32,10.13,48.18
$GC,1254,1.61,631.8,2815,1526,1790,4094,11.3,8.0,163,1264,0.15,0.98,3.65,0.386,11270,0.042,0.026,2838,1961,1747,1747,4095,0,0,0,0,0,0,26.15,26.17,25.29,10.17,50.00
$GC,1303,1.63,643.3,2838,1961,1746,4095,7.4,8.2,169,1312,0.00,0.00,2.25,0.110,8198,0.000,0.000,2838,1961,1737,1737,4094,0,0,0,0,0,0,26.37,25.80,25.35,10.17,50.66
$GC,1350,1.67,671.2,2837,1961,1736,4094,3.5,8.1,175,1361,0.10,0.98,3.45,0.317,10500,0.076,0.037,2860,2358,1699,1699,4094,0,0,0,0,0,0,26.20,25.84,25.40,10.17,50.47
$STATE,1369,end climb,FINISH_DEPTH_REACHED
$STATE,1369,begin subsurface finish
$FINISH1,1.5,1.024266,93
$GC,1377,0.14,93.0,2859,1948,1699,4094,1.5,8.4,177,1395,4.97,0.00,-5.82,0.000,20742,0.042,0.000,2385,1949,2378,2378,4094,0,0,0,0,0,0,26.17,25.62,26.21,10.18,51.02
$FINISH2,0.3
$STATE,1396,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1396,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,093209
$TT8_MAMPS,0.025466,0.211218
$HUMID,51.96
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.88,17.227
$10V_AH,10.23,21.016
$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,21.200,18.825,75.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,492.580,0.000,148.266,751.278,60.538,33.426,443.165,0.000,268.707,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1271.430,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.621,486.334,0.000,570.140,743.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330900
$DATA_FILE_SIZE,17736,179
$CAP_FILE_SIZE,36279,0
$CFSIZE,1024409600,987971584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,110545,6027.176,-17333.451,9,0.9,17,7.1,0.0,133.9,9,4.2