version: 66.13
glider: 401
mission: 22
dive: 646
start: 8 7 117 14 1 7
data:
$ID,401
$MISSION,22
$DIVE,646
$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,27
$R_STBD_OVSHOOT,45
$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
$GPS1,070817,135119,6027.7944,-17334.0938,2,0.9,34,7.1,0.0,229.0,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-44.6
$GPS2,070817,135959,6027.7656,-17334.1270,9,0.7,13,7.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.031478,0.308984
$KALMAN_X,64102.601562,-1439.955933,-142.380554,-241109.125000,2.016617
$KALMAN_Y,42626.707031,2604.713135,479.169006,88460.867188,-149.773987
$MHEAD_RNG_PITCHd_Wd,347.1,30996,-11.1,-8.333,-15.02,6132
$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,6,begin dive
$GC,8,-1.53,-341.8,229,1944,1881,4092,0.0,0.0,0,21,10.20,0.00,0.00,0.000,2049,0.098,0.000,1087,1943,1882,1882,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.29,48.70
$GC,23,-1.53,-341.8,1086,1943,1881,4094,0.9,0.0,1,50,8.10,1.17,-9.07,0.000,18692,0.045,1.266,1844,2364,2885,2885,4094,0,0,0,0,0,0,25.95,24.77,25.98,10.29,48.58
$GC,159,-1.53,-341.8,1843,2364,2888,4094,11.9,-12.5,20,168,0.00,1.05,0.00,0.000,1030,0.000,0.028,1844,1943,2888,2888,4094,0,0,0,0,0,0,26.00,25.96,26.01,10.52,48.26
$GC,204,-1.53,-341.8,1843,1944,2888,4094,17.5,-11.5,26,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1944,2889,2889,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.51,48.11
$GC,250,-1.53,-341.8,1843,1943,2890,4094,22.6,-11.6,32,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1944,2890,2890,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.51,47.95
$GC,297,-1.53,-341.8,1843,1943,2890,4095,27.7,-11.1,38,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1943,2891,2891,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.50,46.81
$GC,341,-1.53,-341.8,1843,1943,2891,4095,32.3,-10.1,44,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1943,2891,2891,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.47,46.53
$GC,386,-1.53,-341.8,1844,1943,2892,4094,36.9,-10.4,50,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1944,2892,2892,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.44,45.86
$GC,431,-1.53,-341.8,1844,1943,2893,4094,41.7,-10.8,56,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1943,2893,2893,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.42,45.31
$GC,475,-1.53,-341.8,1843,1943,2894,4094,46.6,-11.0,62,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1944,2894,2894,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.39,44.29
$GC,520,-1.53,-341.8,1843,1943,2895,4094,51.6,-11.2,68,530,0.00,1.10,0.00,0.000,260,0.000,0.041,1844,2358,2895,2895,4094,0,0,0,0,0,0,26.48,26.21,26.49,10.39,44.13
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,603,-0.45,0.0,1844,1948,2897,4095,60.0,-10.8,79,630,3.70,0.00,20.40,1.252,10244,0.057,0.000,2184,1948,2484,2484,4094,0,0,0,0,0,0,26.22,25.58,24.58,10.38,43.93
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,634,1.53,341.8,2184,1948,2484,4094,62.2,0.0,82,669,6.68,0.00,20.10,1.233,11270,0.036,0.000,2814,1948,2084,2084,4094,0,0,0,0,0,0,25.78,25.96,24.20,10.30,43.54
$GC,706,1.53,341.8,2813,1948,2084,4094,57.8,9.7,91,716,0.00,1.10,0.00,0.000,516,0.000,0.054,2813,1530,2083,2083,4094,0,0,0,0,0,0,25.77,25.48,25.78,10.21,42.71
$GC,754,1.53,341.8,2813,1529,2083,4094,52.8,10.7,97,763,0.00,1.00,0.00,0.000,1030,0.000,0.024,2813,1965,2082,2082,4094,0,0,0,0,0,0,25.71,25.71,25.75,10.20,43.69
$GC,801,1.53,341.8,2813,1965,2082,4094,47.9,10.4,103,811,0.00,1.05,0.00,0.000,260,0.000,0.040,2814,2363,2081,2081,4094,0,0,0,0,0,0,26.01,25.75,26.03,10.19,43.18
$GC,899,1.53,341.8,2813,2363,2080,4094,37.5,10.1,117,908,0.00,0.98,0.00,0.000,1030,0.000,0.030,2813,1979,2079,2079,4094,0,0,0,0,0,0,25.96,25.92,25.97,10.18,44.21
$GC,944,1.53,341.8,2813,1978,2078,4094,32.8,10.3,123,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1979,2078,2078,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.18,44.52
$GC,989,1.53,341.8,2813,1978,2077,4094,28.3,9.8,129,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1979,2077,2077,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.19,45.03
$GC,1034,1.53,341.8,2813,1978,2076,4094,24.0,9.4,135,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1978,2076,2076,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.21,45.58
$GC,1079,1.53,341.8,2813,1978,2075,4094,19.8,9.2,141,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1978,2075,2075,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.24,47.55
$GC,1124,1.53,341.8,2813,1978,2074,4095,15.4,9.6,147,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1978,2074,2074,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.26,48.46
$GC,1168,1.53,341.8,2813,1978,2073,4094,11.1,9.5,153,1178,0.00,1.17,0.00,0.000,516,0.000,0.056,2813,1524,2073,2073,4094,0,0,0,0,0,0,26.41,26.09,26.41,10.27,48.97
$GC,1261,1.53,341.8,2812,1524,2071,4094,3.1,8.4,166,1270,0.00,1.05,0.00,0.000,1030,0.000,0.024,2814,1985,2071,2071,4094,0,0,0,0,0,0,26.26,26.25,26.29,10.29,49.68
$STATE,1278,end climb,FINISH_DEPTH_REACHED
$STATE,1278,begin subsurface finish
$FINISH1,1.4,1.024243,95
$GC,1285,0.14,94.6,2813,1985,2070,4094,1.4,8.0,168,1296,4.62,1.02,-2.72,0.000,20740,0.064,1.285,2391,2363,2381,2381,4095,0,0,0,0,0,0,26.19,25.01,26.27,10.29,49.72
$FINISH2,0.3
$STATE,1297,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1297,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,122639
$TT8_MAMPS,0.025466,0.245672
$HUMID,49.56
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,24.20,17.365
$10V_AH,10.20,21.205
$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,33.300,11.750,40.500,0.000,0.000,22.146,25.395,333.622,0.000,0.000,15.134,470.688,0.000,129.992,1084.468,152.770,33.454,400.538,0.000,409.806,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1285.200,1251.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.952,459.120,363.351,538.769,702.333,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,14416,169
$CAP_FILE_SIZE,36134,0
$CFSIZE,1024409600,987742208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070817,135959,6027.766,-17334.127,9,0.7,13,7.1,0.0,0.0,11,5.0