version: 66.13
glider: 401
mission: 22
dive: 648
start: 8 7 117 14 48 20
data:
$ID,401
$MISSION,22
$DIVE,648
$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,44
$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,0.10
$_SM_ANGLEo,-1.8
$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,-0.035200,0.425282
$KALMAN_X,64114.554688,-1387.064087,-142.502808,-241180.062500,-16.339127
$KALMAN_Y,42059.527344,2458.426025,381.459442,89286.695312,-155.267792
$MHEAD_RNG_PITCHd_Wd,348.2,30996,-6.2,-8.333,-11.05,13426
$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,-1.44,-585.0,2394,1950,2377,4092,0.0,0.0,0,21,5.28,0.00,-5.25,0.000,20482,0.026,0.000,1882,1950,2963,2963,4095,0,0,0,0,0,0,26.28,28.83,26.31,10.36,50.70
$GC,24,-1.44,-585.0,1881,1950,2963,4095,0.0,0.0,1,33,0.00,1.12,-1.67,0.000,16644,0.000,1.281,1882,2357,3169,3169,4095,0,0,0,0,0,0,26.48,25.05,26.47,10.48,51.22
$GC,108,-1.44,-585.0,1881,2356,3171,4095,8.7,-11.1,13,117,0.00,1.02,0.00,0.000,1030,0.000,0.029,1882,1944,3171,3171,4095,0,0,0,0,0,0,26.21,26.17,26.23,10.54,50.35
$GC,154,-1.44,-585.0,1881,1943,3172,4095,14.1,-11.5,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1944,3172,3172,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.54,50.78
$GC,199,-1.44,-585.0,1881,1943,3172,4094,18.6,-9.9,25,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,1943,3173,3173,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.54,50.43
$GC,244,-1.44,-585.0,1881,1943,3173,4095,23.2,-10.3,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1943,3173,3173,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.54,50.03
$GC,289,-1.44,-585.0,1881,1943,3174,4095,27.3,-8.8,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1943,3175,3175,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.52,48.89
$GC,334,-1.44,-585.0,1881,1943,3175,4095,31.4,-9.1,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1944,3175,3175,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.49,48.11
$GC,379,-1.44,-585.0,1881,1943,3175,4095,35.4,-9.1,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1944,3175,3175,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.46,48.03
$GC,424,-1.44,-585.0,1881,1943,3176,4095,39.5,-9.1,55,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1943,3176,3176,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.45,47.04
$GC,469,-1.44,-585.0,1881,1943,3177,4095,43.6,-9.3,61,479,0.00,1.10,0.00,0.000,260,0.000,0.041,1882,2359,3177,3177,4094,0,0,0,0,0,0,26.60,26.32,26.61,10.44,47.00
$GC,515,-1.44,-585.0,1881,2359,3178,4094,47.8,-9.3,67,524,0.00,1.00,0.00,0.000,1030,0.000,0.028,1882,1953,3178,3178,4094,0,0,0,0,0,0,26.39,26.36,26.42,10.43,46.22
$GC,561,-1.44,-585.0,1881,1953,3178,4094,52.0,-9.1,73,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1953,3179,3179,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.42,46.06
$GC,605,-1.44,-585.0,1881,1953,3179,4094,56.1,-9.2,79,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1953,3179,3179,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.42,45.70
$STATE,648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,648,begin apogee
$GC,654,-0.45,0.0,1881,1953,3180,4095,60.2,-9.2,85,698,3.25,0.00,33.17,1.308,10244,0.050,0.000,2186,1953,2484,2484,4094,0,0,0,0,0,0,26.38,25.09,24.39,10.41,45.58
$STATE,699,end apogee,CONTROL_FINISHED_OK
$STATE,699,begin climb
$GC,701,1.44,585.0,2186,1953,2484,4094,62.2,0.0,90,747,6.43,1.10,33.22,1.272,10756,0.037,0.050,2786,1526,1802,1802,4094,0,0,0,0,0,0,25.56,25.51,23.90,10.26,45.19
$GC,777,1.49,616.1,2785,1526,1802,4094,58.2,8.1,99,786,0.00,1.00,3.53,0.581,9222,0.000,0.024,2786,1957,1765,1765,4094,0,0,0,0,0,0,25.36,25.33,24.19,10.11,43.89
$GC,824,1.53,647.0,2785,1956,1764,4094,54.5,8.1,105,835,0.17,1.05,3.47,0.558,10500,0.055,0.036,2810,2363,1730,1730,4094,0,0,0,0,0,0,25.50,25.05,24.37,10.10,44.01
$GC,898,1.55,655.0,2809,2362,1729,4094,48.2,8.3,115,908,0.00,1.02,2.33,0.193,9222,0.000,0.030,2810,1965,1721,1721,4094,0,0,0,0,0,0,25.68,25.65,24.57,10.09,45.35
$GC,946,1.59,686.1,2809,1964,1720,4094,44.4,8.1,121,955,0.15,0.00,3.58,0.528,10758,0.057,0.000,2834,1964,1683,1683,4094,0,0,0,0,0,0,25.76,25.55,24.66,10.08,44.80
$GC,993,1.59,686.1,2834,1963,1683,4094,40.4,8.5,127,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1964,1683,1683,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.07,45.03
$GC,1039,1.59,686.1,2834,1964,1682,4094,36.4,8.7,133,1049,0.00,1.08,0.00,0.000,260,0.000,0.042,2835,2360,1682,1682,4094,0,0,0,0,0,0,26.10,25.82,26.11,10.06,45.15
$GC,1091,1.59,686.1,2834,2360,1681,4094,31.7,8.5,140,1101,0.00,1.00,0.00,0.000,1030,0.000,0.029,2835,1967,1680,1680,4095,0,0,0,0,0,0,25.94,25.91,25.98,10.06,46.14
$GC,1137,1.59,686.1,2834,1967,1680,4095,27.8,8.5,146,1147,0.00,1.15,0.00,0.000,516,0.000,0.056,2834,1526,1680,1680,4095,0,0,0,0,0,0,26.22,25.91,26.23,10.07,46.45
$GC,1183,1.59,686.1,2834,1526,1678,4095,23.8,8.7,152,1192,0.00,1.02,0.00,0.000,1030,0.000,0.025,2834,1974,1678,1678,4094,0,0,0,0,0,0,26.09,26.06,26.08,10.08,46.45
$GC,1229,1.59,686.1,2834,1973,1678,4094,19.8,8.7,158,1238,0.00,1.00,0.00,0.000,260,0.000,0.041,2834,2357,1678,1678,4094,0,0,0,0,0,0,26.30,26.02,26.32,10.12,47.32
$GC,1281,1.61,698.3,2834,2356,1677,4094,15.4,8.2,165,1292,0.00,0.98,1.17,0.004,9222,0.000,0.030,2835,1970,1677,1677,4094,0,0,0,0,0,0,26.16,26.09,26.15,10.14,48.66
$GC,1330,1.65,726.8,2834,1969,1676,4094,11.6,8.1,171,1340,0.10,1.17,3.60,0.376,10756,0.076,0.054,2856,1517,1635,1635,4094,0,0,0,0,0,0,26.18,26.01,25.29,10.15,49.88
$GC,1396,1.84,850.4,2856,1517,1634,4094,6.4,7.4,180,1414,0.50,1.00,7.80,0.569,11270,0.029,0.026,2912,1965,1491,1491,4094,0,0,0,0,0,0,26.16,26.19,25.32,10.16,50.51
$GC,1453,1.95,922.6,2911,1964,1490,4094,2.1,7.8,187,1464,0.28,1.02,5.32,0.449,10500,0.042,0.041,2949,2357,1407,1407,4094,0,0,0,0,0,0,26.15,25.96,25.34,10.14,50.47
$STATE,1472,end climb,SURFACE_DEPTH_REACHED
$STATE,1472,begin surface coast
$FINISH,0.1,0.999806
$STATE,1501,end surface coast,CONTROL_FINISHED_OK
$STATE,1501,begin surface
$SM_CCo,1601,0.00,0.000,0,0,1406,926.43
$SM_GC,0.65,28.45,1.08,0.00,0.021,0.031,0.000,229,1949,1406,-6.59,1.18,926.43,0,0,0,0,0,0,26.01,26.07,26.10
$IRIDIUM_FIX,5952.82,-17420.78,070817,122639
$TT8_MAMPS,0.026215,0.248668
$HUMID,50.51
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.90,17.412
$10V_AH,10.18,21.275
$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,44.600,18.925,97.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,535.407,60.539,186.807,806.479,72.730,33.416,500.331,0.000,468.390,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1281.375,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,131.174,524.272,414.985,614.759,801.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,17850,193
$CAP_FILE_SIZE,41868,0
$CFSIZE,1024409600,987627520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,151550,6028.494,-17334.447,2,0.7,13,7.1,0.0,0.0,11,4.8