version: 66.13
glider: 401
mission: 22
dive: 628
start: 8 7 117 5 21 4
data:
$ID,401
$MISSION,22
$DIVE,628
$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,58
$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
$GPS1,070817,051204,6026.0435,-17333.9473,6,1.0,28,7.1,0.0,41.5,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-48.9
$GPS2,070817,051955,6026.0747,-17333.9414,6,0.8,16,7.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.172982,0.277431
$KALMAN_X,62747.898438,-2227.172607,-709.291504,-238233.234375,198.673340
$KALMAN_Y,46437.863281,3313.566162,1530.030518,79749.960938,-34.294189
$MHEAD_RNG_PITCHd_Wd,321.0,34121,-10.3,-8.333,-14.30,6942
$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,-1.52,-388.1,230,1951,2061,4092,0.0,0.0,0,20,10.25,0.00,0.00,0.000,2049,0.108,0.000,1078,1951,2063,2063,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.35,49.60
$GC,23,-1.52,-388.1,1077,1951,2062,4094,1.0,0.0,1,51,8.35,1.08,-7.85,0.000,18692,0.052,1.266,1847,2349,2941,2941,4095,0,0,0,0,0,0,26.01,24.82,26.06,10.34,48.85
$GC,126,-1.52,-388.1,1847,2348,2942,4095,7.0,-12.6,15,136,0.00,1.02,0.00,0.000,1030,0.000,0.028,1848,1938,2942,2942,4094,0,0,0,0,0,0,25.95,25.91,25.96,10.54,48.77
$GC,172,-1.52,-388.1,1847,1937,2943,4094,12.9,-12.6,21,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1938,2943,2943,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.54,48.58
$GC,217,-1.52,-388.1,1847,1938,2944,4095,17.9,-10.4,27,227,0.00,1.10,0.00,0.000,260,0.000,0.039,1847,2351,2944,2944,4095,0,0,0,0,0,0,26.27,25.99,26.28,10.52,47.36
$GC,342,-1.52,-388.1,1847,2352,2946,4095,30.7,-10.8,45,351,0.00,0.98,0.00,0.000,1030,0.000,0.028,1847,1958,2947,2947,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.46,46.53
$GC,387,-1.52,-388.1,1846,1957,2947,4095,35.5,-10.8,51,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1958,2948,2948,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.45,45.74
$GC,432,-1.52,-388.1,1847,1957,2949,4094,40.4,-10.9,57,441,0.00,1.10,0.00,0.000,516,0.000,0.053,1848,1525,2949,2949,4095,0,0,0,0,0,0,26.44,26.14,26.45,10.43,45.31
$GC,504,-1.52,-388.1,1847,1524,2950,4095,48.4,-11.0,67,513,0.00,0.95,0.00,0.000,1030,0.000,0.024,1848,1943,2950,2950,4094,0,0,0,0,0,0,26.30,26.27,26.33,10.41,44.25
$GC,551,-1.52,-388.1,1847,1943,2952,4094,53.7,-11.3,73,560,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1944,2951,2951,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.40,44.05
$GC,598,-1.52,-388.1,1847,1943,2952,4094,58.6,-10.6,79,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1943,2952,2952,4094,0,0,0,0,0,0,26.52,26.54,26.54,10.40,43.93
$STATE,614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,614,begin apogee
$GC,619,-0.45,0.0,1847,1944,2952,4095,60.9,-11.1,81,655,3.65,0.00,22.88,1.254,10244,0.059,0.000,2183,1943,2483,2483,4094,0,0,0,0,0,0,26.23,25.25,24.53,10.40,44.56
$STATE,656,end apogee,CONTROL_FINISHED_OK
$STATE,656,begin climb
$GC,658,1.52,388.1,2183,1943,2483,4094,63.2,0.0,85,694,6.68,0.00,22.48,1.234,11270,0.036,0.000,2809,1947,2031,2031,4094,0,0,0,0,0,0,25.75,25.93,24.14,10.30,44.01
$GC,732,1.52,388.1,2808,1947,2030,4094,58.6,9.6,94,742,0.00,1.10,0.00,0.000,260,0.000,0.037,2808,2358,2030,2030,4094,0,0,0,0,0,0,25.72,25.46,25.73,10.19,42.95
$GC,798,1.52,388.1,2808,2358,2029,4094,51.6,10.6,103,806,0.00,1.08,0.00,0.000,1030,0.000,0.031,2808,1944,2029,2029,4094,0,0,0,0,0,0,25.70,25.68,25.74,10.19,43.42
$GC,842,1.52,388.1,2808,1943,2028,4094,47.1,10.1,109,852,0.00,1.10,0.00,0.000,516,0.000,0.055,2808,1521,2028,2028,4094,0,0,0,0,0,0,26.02,25.72,26.03,10.18,43.69
$GC,927,1.52,388.1,2808,1521,2026,4094,38.5,10.5,121,936,0.00,0.95,0.00,0.000,1030,0.000,0.025,2809,1943,2026,2026,4094,0,0,0,0,0,0,25.96,25.96,25.98,10.17,44.44
$GC,974,1.52,388.1,2808,1943,2025,4094,33.7,10.2,127,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1944,2025,2025,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.18,44.76
$GC,1021,1.52,388.1,2808,1942,2024,4094,28.9,10.3,133,1030,0.00,1.08,0.00,0.000,260,0.000,0.040,2809,2355,2024,2024,4094,0,0,0,0,0,0,26.26,26.01,26.27,10.17,45.43
$GC,1079,1.52,388.1,2808,2355,2023,4094,23.0,9.8,141,1089,0.00,1.12,0.00,0.000,1030,0.000,0.032,2809,1916,2022,2022,4094,0,0,0,0,0,0,26.10,26.05,26.11,10.17,46.10
$GC,1127,1.52,388.1,2808,1915,2022,4094,19.0,8.6,147,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1916,2022,2022,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.19,46.22
$GC,1173,1.56,412.8,2808,1915,2021,4094,15.2,8.0,153,1183,0.00,0.00,2.70,0.241,8198,0.000,0.000,2809,1916,2002,2002,4094,0,0,0,0,0,0,26.39,25.77,25.29,10.21,47.20
$GC,1220,1.56,412.8,2808,1915,2001,4094,11.0,8.8,159,1230,0.00,1.15,0.00,0.000,260,0.000,0.037,2809,2351,2001,2001,4094,0,0,0,0,0,0,26.40,26.13,26.41,10.24,49.05
$GC,1305,1.56,412.8,2809,2351,1999,4094,3.4,8.7,171,1315,0.00,0.98,0.00,0.000,1030,0.000,0.031,2809,1965,1999,1999,4094,0,0,0,0,0,0,26.23,26.20,26.26,10.25,49.25
$STATE,1323,end climb,FINISH_DEPTH_REACHED
$STATE,1323,begin subsurface finish
$FINISH1,1.9,1.024135,102
$GC,1329,0.15,102.1,2809,1964,1999,4094,1.9,8.1,173,1347,4.53,0.00,-2.95,0.000,20486,0.064,0.000,2398,1964,2370,2370,4094,0,0,0,0,0,0,26.17,25.24,26.25,10.26,50.35
$FINISH2,0.3
$STATE,1348,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1348,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,035751
$TT8_MAMPS,0.025466,0.256158
$HUMID,50.23
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,24.14,16.809
$10V_AH,10.18,20.546
$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,33.450,14.775,48.050,0.000,0.000,23.829,21.255,280.993,0.000,0.000,17.290,487.073,0.000,136.867,1067.816,148.566,33.451,421.573,0.000,425.194,0.000,0.543,0.000
$DEVICE_MAMPS,107.865,1266.075,1253.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.167,475.339,376.303,558.093,730.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,17814,175
$CAP_FILE_SIZE,37292,0
$CFSIZE,1024409600,988610560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070817,051955,6026.075,-17333.941,6,0.8,16,7.1,0.0,0.0,11,5.0