version: 66.13
glider: 401
mission: 22
dive: 647
start: 8 7 117 14 24 53
data:
$ID,401
$MISSION,22
$DIVE,647
$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,49
$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
$GPS1,070817,135959,6027.7656,-17334.1270,9,0.7,13,7.1,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.1
$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,-0.028461,0.340864
$KALMAN_X,64093.207031,-1401.466797,-139.217834,-241147.390625,-18.551910
$KALMAN_Y,42444.050781,2491.980713,396.695160,88852.570312,-84.892181
$MHEAD_RNG_PITCHd_Wd,348.1,30996,-9.6,-8.333,-13.69,7749
$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,-1.52,-434.5,2391,1949,2381,4092,0.0,0.0,0,21,5.50,0.00,-4.45,0.000,20482,0.024,0.000,1853,1949,2877,2877,4095,0,0,0,0,0,0,26.29,28.83,26.32,10.38,49.96
$GC,24,-1.52,-434.5,1852,1949,2877,4095,0.0,0.0,1,34,0.00,1.12,-1.00,0.000,16644,0.000,1.280,1852,2354,2996,2996,4095,0,0,0,0,0,0,26.49,25.05,26.44,10.48,49.96
$GC,128,-1.52,-434.5,1852,2354,2998,4095,11.7,-12.8,16,138,0.00,1.02,0.00,0.000,1030,0.000,0.028,1853,1941,2998,2998,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.51,49.68
$GC,174,-1.52,-434.5,1852,1941,3000,4094,17.4,-12.1,22,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,1942,3000,3000,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.51,49.44
$GC,220,-1.52,-434.5,1851,1941,3001,4095,22.5,-11.6,28,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1942,3001,3001,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.51,49.68
$GC,265,-1.52,-434.5,1852,1941,3002,4094,27.4,-10.4,34,274,0.00,1.05,0.00,0.000,516,0.000,0.050,1853,1524,3001,3001,4095,0,0,0,0,0,0,26.49,26.20,26.51,10.49,48.66
$GC,297,-1.52,-434.5,1852,1523,3001,4095,30.8,-10.8,38,306,0.00,0.98,0.00,0.000,1030,0.000,0.025,1852,1951,3002,3002,4094,0,0,0,0,0,0,26.30,26.29,26.32,10.47,48.22
$GC,343,-1.52,-434.5,1852,1951,3003,4094,35.4,-10.1,44,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1951,3003,3003,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.44,47.95
$GC,388,-1.52,-434.5,1852,1952,3003,4095,40.1,-10.5,50,397,0.00,1.08,0.00,0.000,260,0.000,0.043,1853,2364,3004,3004,4094,0,0,0,0,0,0,26.55,26.25,26.55,10.42,47.20
$GC,459,-1.52,-434.5,1852,2364,3005,4094,47.7,-10.7,60,468,0.00,0.98,0.00,0.000,1030,0.000,0.027,1852,1971,3005,3005,4094,0,0,0,0,0,0,26.36,26.33,26.38,10.40,45.94
$GC,505,-1.52,-434.5,1852,1971,3007,4094,52.7,-10.9,66,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,1971,3006,3006,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.40,45.31
$GC,551,-1.52,-434.5,1852,1971,3007,4094,57.5,-10.8,72,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,1971,3007,3007,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.39,45.23
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,580,-0.45,0.0,1852,1971,3007,4095,60.4,-10.7,75,615,3.60,0.00,25.35,1.285,10244,0.055,0.000,2186,1971,2484,2484,4094,0,0,0,0,0,0,26.33,25.53,24.53,10.39,44.92
$STATE,616,end apogee,CONTROL_FINISHED_OK
$STATE,616,begin climb
$GC,619,1.52,434.5,2185,1971,2484,4094,62.6,0.0,79,655,6.65,0.00,25.05,1.261,11270,0.035,0.000,2810,1971,1976,1976,4094,0,0,0,0,0,0,25.74,25.92,24.08,10.28,45.27
$GC,693,1.52,434.5,2808,1971,1976,4094,58.0,9.7,88,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1971,1976,1976,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.15,43.73
$GC,738,1.52,434.5,2809,1971,1974,4094,53.3,10.2,94,747,0.00,1.08,0.00,0.000,260,0.000,0.039,2810,2366,1976,1976,4094,0,0,0,0,0,0,25.84,25.59,25.85,10.16,44.17
$GC,809,1.52,434.5,2809,2365,1973,4094,45.8,10.3,104,819,0.00,1.08,0.00,0.000,1030,0.000,0.030,2810,1949,1973,1973,4095,0,0,0,0,0,0,25.82,25.76,25.82,10.15,44.44
$GC,856,1.52,434.5,2809,1949,1972,4095,41.3,10.0,110,866,0.00,1.12,0.00,0.000,516,0.000,0.055,2810,1519,1972,1972,4094,0,0,0,0,0,0,26.09,25.79,26.10,10.15,44.56
$GC,895,1.52,434.5,2809,1518,1971,4094,37.1,10.3,115,905,0.00,1.05,0.00,0.000,1030,0.000,0.025,2810,1971,1971,1971,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.14,44.76
$GC,943,1.52,434.5,2809,1971,1970,4094,32.4,10.4,121,952,0.00,1.02,0.00,0.000,260,0.000,0.040,2810,2362,1970,1970,4094,0,0,0,0,0,0,26.20,25.93,26.21,10.14,45.39
$GC,1047,1.52,434.5,2809,2361,1967,4094,21.9,10.0,136,1056,0.00,0.98,0.00,0.000,1030,0.000,0.030,2810,1976,1967,1967,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.19,47.08
$GC,1094,1.52,434.5,2809,1976,1967,4094,17.5,9.6,142,1103,0.00,1.17,0.00,0.000,516,0.000,0.055,2810,1523,1967,1967,4094,0,0,0,0,0,0,26.34,26.04,26.35,10.21,48.50
$GC,1172,1.52,434.5,2809,1523,1965,4094,10.0,9.1,153,1181,0.00,1.05,0.00,0.000,1030,0.000,0.024,2810,1980,1965,1965,4094,0,0,0,0,0,0,26.22,26.18,26.21,10.23,50.11
$GC,1217,1.52,434.5,2810,1980,1964,4094,6.0,9.0,159,1227,0.00,1.00,0.00,0.000,260,0.000,0.042,2810,2364,1964,1964,4094,0,0,0,0,0,0,26.42,26.15,26.44,10.25,50.23
$STATE,1261,end climb,FINISH_DEPTH_REACHED
$STATE,1261,begin subsurface finish
$FINISH1,1.9,1.024211,97
$GC,1269,0.15,96.8,2810,1950,1962,4094,1.9,8.7,165,1280,4.55,0.00,-3.38,0.000,20742,0.061,0.000,2394,1950,2377,2377,4094,0,0,0,0,0,0,26.17,25.22,26.25,10.25,49.84
$FINISH2,0.7
$STATE,1281,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1281,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,122639
$TT8_MAMPS,0.025466,0.203728
$HUMID,50.55
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.08,17.383
$10V_AH,10.26,21.231
$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,20.300,17.925,50.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,459.149,0.000,125.350,699.114,54.551,33.427,388.081,0.000,250.269,0.000,0.543,0.000
$DEVICE_MAMPS,61.200,1279.845,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.031,451.078,0.000,529.261,692.485,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,14324,166
$CAP_FILE_SIZE,31624,0
$CFSIZE,1024409600,987709440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,135959,6027.766,-17334.127,9,0.7,13,7.1,0.0,0.0,11,5.0