version: 66.13
glider: 401
mission: 22
dive: 649
start: 8 7 117 15 25 9
data:
$ID,401
$MISSION,22
$DIVE,649
$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,23
$R_STBD_OVSHOOT,53
$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
$GPS1,070817,151550,6028.4941,-17334.4473,2,0.7,13,7.1,0.0,0.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-34.0
$GPS2,070817,152401,6028.4966,-17334.4844,10,0.8,17,7.1,0.0,7.6,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.055859,0.401313
$KALMAN_X,63905.550781,-1407.054688,-175.915787,-241250.562500,2.804413
$KALMAN_Y,42505.636719,2554.127197,494.629700,89964.335938,-30.746887
$MHEAD_RNG_PITCHd_Wd,345.0,29611,-7.0,-8.333,-11.62,11786
$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,-1.51,-585.0,229,1948,1406,4092,0.0,0.0,0,21,10.23,0.00,0.00,0.000,2049,0.081,0.000,1118,1948,1406,1406,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.20,49.56
$GC,23,-1.51,-585.0,1117,1948,1406,4094,0.6,0.0,1,52,7.95,1.12,-15.80,0.000,18692,0.053,1.269,1849,2353,3171,3171,4095,0,0,0,0,0,0,25.94,24.77,26.01,10.21,49.33
$GC,140,-1.51,-585.0,1849,2353,3173,4095,10.5,-13.7,17,149,0.00,1.02,0.00,0.000,1030,0.000,0.028,1849,1941,3173,3173,4095,0,0,0,0,0,0,26.07,26.04,26.10,10.59,48.70
$GC,187,-1.51,-585.0,1849,1941,3174,4095,16.2,-12.4,23,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,1941,3174,3174,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.59,48.50
$GC,232,-1.51,-585.0,1849,1941,3175,4094,21.7,-11.7,29,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1941,3175,3175,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.57,48.77
$GC,277,-1.51,-585.0,1849,1941,3175,4095,25.9,-8.7,35,286,0.00,1.05,0.00,0.000,516,0.000,0.051,1849,1527,3175,3175,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.53,47.75
$GC,309,-1.51,-585.0,1849,1526,3176,4095,29.3,-10.3,39,319,0.00,0.95,0.00,0.000,1030,0.000,0.024,1849,1953,3176,3176,4095,0,0,0,0,0,0,26.23,26.22,26.23,10.52,47.40
$GC,355,-1.51,-585.0,1849,1953,3177,4095,34.0,-10.1,45,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1953,3177,3177,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.50,46.18
$GC,401,-1.51,-585.0,1849,1953,3177,4094,38.5,-10.0,51,411,0.00,1.02,0.00,0.000,260,0.000,0.041,1849,2350,3178,3178,4094,0,0,0,0,0,0,26.47,26.21,26.48,10.48,45.31
$GC,460,-1.51,-585.0,1849,2350,3178,4094,44.4,-9.9,59,469,0.00,0.95,0.00,0.000,1030,0.000,0.028,1849,1963,3179,3179,4095,0,0,0,0,0,0,26.27,26.25,26.31,10.46,45.07
$GC,506,-1.51,-585.0,1849,1963,3180,4095,49.0,-9.9,65,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3179,3179,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.45,44.95
$GC,552,-1.51,-585.0,1848,1963,3180,4094,53.6,-10.0,71,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3180,3180,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.45,44.88
$GC,597,-1.51,-585.0,1849,1963,3181,4095,58.3,-10.1,77,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3181,3181,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.44,44.29
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,620,-0.45,0.0,1849,1964,3181,4094,60.3,-10.7,79,664,3.58,0.00,33.33,1.294,10244,0.048,0.000,2185,1964,2484,2484,4095,0,0,0,0,0,0,26.29,25.03,24.32,10.44,45.19
$STATE,665,end apogee,CONTROL_FINISHED_OK
$STATE,665,begin climb
$GC,668,1.51,585.0,2185,1963,2485,4095,64.3,0.0,84,713,6.62,1.12,33.35,1.279,10756,0.031,0.051,2808,1530,1802,1802,4094,0,0,0,0,0,0,25.48,25.44,23.87,10.30,44.09
$GC,796,1.51,585.0,2807,1529,1800,4094,54.2,10.5,101,806,0.00,0.95,0.00,0.000,1030,0.000,0.024,2808,1957,1800,1800,4095,0,0,0,0,0,0,25.58,25.56,25.60,10.14,43.69
$GC,842,1.51,585.0,2808,1958,1799,4095,49.4,10.3,107,852,0.00,1.02,0.00,0.000,260,0.000,0.037,2808,2345,1799,1799,4094,0,0,0,0,0,0,25.87,25.61,25.88,10.13,44.44
$GC,908,1.51,585.0,2807,2345,1797,4094,43.0,9.7,116,917,0.00,0.93,0.00,0.000,1030,0.000,0.028,2808,1979,1797,1797,4094,0,0,0,0,0,0,25.81,25.78,25.83,10.13,44.84
$GC,954,1.51,585.0,2808,1978,1796,4094,38.6,9.6,122,963,0.00,1.17,0.00,0.000,516,0.000,0.053,2808,1528,1796,1796,4094,0,0,0,0,0,0,26.08,25.82,26.10,10.13,44.76
$GC,1077,1.51,585.0,2807,1528,1794,4094,27.5,8.5,140,1087,0.00,0.90,0.00,0.000,1030,0.000,0.026,2808,1941,1794,1794,4094,0,0,0,0,0,0,26.06,26.05,26.10,10.12,45.86
$GC,1123,1.52,589.6,2807,1942,1793,4094,23.8,8.3,146,1133,0.00,1.05,0.00,0.000,260,0.000,0.039,2808,2343,1793,1793,4094,0,0,0,0,0,0,26.28,26.01,26.29,10.13,46.18
$GC,1176,1.52,589.6,2807,2342,1791,4094,19.1,9.2,153,1185,0.00,1.00,0.00,0.000,1030,0.000,0.031,2808,1948,1791,1791,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.15,47.51
$GC,1221,1.58,631.2,2807,1948,1790,4094,15.4,8.0,159,1232,0.12,1.08,3.72,0.412,10756,0.065,0.053,2829,1520,1746,1746,4094,0,0,0,0,0,0,26.15,25.75,25.24,10.18,48.97
$GC,1270,1.63,667.0,2829,1520,1746,4094,11.6,8.0,165,1280,0.10,0.95,3.58,0.372,11270,0.047,0.027,2849,1948,1706,1706,4094,0,0,0,0,0,0,26.12,26.16,25.28,10.19,50.43
$GC,1318,1.67,688.7,2849,1947,1704,4094,7.7,8.1,171,1329,0.00,1.02,3.05,0.282,8452,0.000,0.037,2849,2345,1678,1678,4094,0,0,0,0,0,0,26.36,25.79,25.34,10.19,50.82
$STATE,1389,end climb,FINISH_DEPTH_REACHED
$STATE,1389,begin subsurface finish
$FINISH1,1.8,1.024186,99
$GC,1397,0.15,98.5,2849,1943,1676,4094,1.8,7.8,181,1416,4.90,1.12,-5.62,0.000,20996,0.049,1.293,2392,1524,2370,2370,4094,0,0,0,0,0,0,26.14,24.94,26.20,10.20,50.86
$FINISH2,0.4
$STATE,1417,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1417,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,135320
$TT8_MAMPS,0.025466,0.206724
$HUMID,51.41
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.87,17.459
$10V_AH,10.26,21.309
$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,33.500,19.500,77.025,0.000,0.000,24.669,21.864,297.153,0.000,0.000,18.979,503.721,0.000,150.374,1118.862,152.931,33.451,453.422,0.000,275.940,0.000,0.544,0.000
$DEVICE_MAMPS,81.090,1292.850,1294.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.396,497.220,0.000,582.943,764.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,17880,183
$CAP_FILE_SIZE,40330,0
$CFSIZE,1024409600,987578368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070817,152401,6028.497,-17334.484,10,0.8,17,7.1,0.0,7.6,10,4.8