version: 66.13
glider: 401
mission: 22
dive: 687
start: 8 8 117 8 44 6
data:
$ID,401
$MISSION,22
$DIVE,687
$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,18
$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,450
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,080817,080253,6035.8252,-17335.8320,6,0.7,14,7.1,0.3,304.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.6
$GPS2,080817,080253,6035.8252,-17335.8320,6,0.7,14,7.1,0.3,304.7,11,5.0
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.221470,0.373264
$KALMAN_X,63279.085938,-815.786560,163.839233,-242836.156250,181.249863
$KALMAN_Y,-24894.052734,559.020874,413.812988,173032.093750,-86.619446
$MHEAD_RNG_PITCHd_Wd,322.2,16009,-10.9,-11.111,-14.36,7877
$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,-1.65,-438.8,2394,1948,2359,4092,0.0,0.0,0,18,5.80,0.00,-1.95,0.000,20482,0.024,0.000,1822,1949,2577,2577,4094,0,0,0,0,0,0,26.12,28.83,26.16,10.38,51.41
$GC,21,-1.65,-438.8,1822,1944,2577,4094,0.2,0.0,1,29,0.00,1.17,-3.80,0.000,16644,0.000,1.255,1822,2377,3003,3003,4094,0,0,0,0,0,0,26.30,24.89,26.32,10.42,52.32
$GC,49,-1.65,-438.8,1821,2377,3002,4094,0.0,0.3,5,56,0.00,1.10,0.00,0.000,1030,0.000,0.035,1822,1956,3003,3003,4095,0,0,0,0,0,0,26.07,26.02,26.09,10.53,51.65
$GC,88,-1.65,-438.8,1821,1954,3003,4095,1.8,-7.5,11,95,0.00,1.10,0.00,0.000,260,0.000,0.036,1822,2373,3003,3003,4095,0,0,0,0,0,0,26.34,26.06,26.34,10.54,51.49
$GC,313,-1.65,-438.8,1821,2372,3007,4095,26.9,-9.9,48,320,0.00,1.08,0.00,0.000,1030,0.000,0.029,1822,1938,3007,3007,4094,0,0,0,0,0,0,26.28,26.24,26.29,10.49,50.94
$GC,352,-1.65,-438.8,1821,1937,3008,4094,31.1,-11.1,54,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1938,3008,3008,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.47,49.92
$GC,390,-1.65,-438.8,1822,1938,3009,4095,35.3,-10.8,60,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,1938,3009,3009,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.45,49.56
$GC,428,-1.65,-438.8,1821,1937,3010,4094,39.5,-11.0,66,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1938,3010,3010,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.44,48.38
$GC,466,-1.65,-438.8,1821,1938,3010,4095,43.6,-10.2,72,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1938,3011,3011,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.43,48.03
$GC,504,-1.65,-438.8,1821,1938,3012,4094,47.7,-10.6,78,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1938,3012,3012,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.42,47.99
$GC,542,-1.65,-438.8,1821,1938,3012,4095,51.7,-10.1,84,549,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1938,3013,3013,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.42,47.04
$GC,580,-1.65,-438.8,1821,1937,3012,4094,56.0,-11.6,90,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1938,3013,3013,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.41,46.81
$STATE,616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,616,begin apogee
$GC,622,-0.45,0.0,1821,1937,3014,4094,60.4,-11.6,96,658,3.90,0.00,25.23,1.260,10244,0.055,0.000,2186,1938,2489,2489,4094,0,0,0,0,0,0,26.34,25.29,24.57,10.40,46.81
$STATE,659,end apogee,CONTROL_FINISHED_OK
$STATE,659,begin climb
$GC,661,1.65,438.8,2186,1937,2489,4094,62.6,0.0,102,698,6.97,1.15,25.33,1.239,10500,0.032,0.041,2859,2370,1972,1972,4094,0,0,0,0,0,0,25.75,25.70,24.14,10.30,46.49
$GC,762,1.65,438.8,2859,2369,1970,4094,53.1,12.6,118,769,0.00,1.08,0.00,0.000,1030,0.000,0.031,2860,1956,1970,1970,4095,0,0,0,0,0,0,25.61,25.57,25.63,10.17,45.55
$GC,801,1.65,438.8,2859,1956,1969,4095,48.0,12.8,124,807,0.00,1.15,0.00,0.000,516,0.000,0.054,2860,1519,1969,1969,4094,0,0,0,0,0,0,25.94,25.64,25.94,10.16,45.94
$GC,899,1.65,438.8,2859,1518,1966,4094,36.1,11.4,140,906,0.00,0.93,0.00,0.000,1030,0.000,0.025,2860,1933,1966,1966,4094,0,0,0,0,0,0,25.95,25.92,25.96,10.16,46.49
$GC,938,1.65,438.8,2859,1934,1965,4094,31.7,11.8,146,944,0.00,1.08,0.00,0.000,260,0.000,0.040,2860,2345,1965,1965,4094,0,0,0,0,0,0,26.18,25.91,26.19,10.15,46.65
$GC,1006,1.65,438.8,2859,2345,1963,4094,23.7,11.9,157,1013,0.00,1.08,0.00,0.000,1030,0.000,0.031,2860,1924,1963,1963,4094,0,0,0,0,0,0,26.05,26.01,26.06,10.17,47.67
$GC,1045,1.65,438.8,2859,1923,1962,4094,19.3,11.6,163,1051,0.00,1.05,0.00,0.000,516,0.000,0.056,2860,1519,1961,1961,4094,0,0,0,0,0,0,26.30,26.00,26.31,10.20,49.01
$GC,1083,1.69,466.7,2859,1518,1961,4094,15.0,10.7,169,1091,0.00,0.88,2.85,0.266,9222,0.000,0.026,2860,1921,1939,1939,4095,0,0,0,0,0,0,26.15,26.14,25.23,10.21,49.48
$GC,1123,1.77,519.8,2859,1921,1938,4095,10.8,10.4,175,1131,0.22,0.00,4.50,0.451,10246,0.044,0.000,2890,1921,1876,1876,4094,0,0,0,0,0,0,26.15,25.93,25.28,10.22,51.02
$GC,1163,1.92,615.2,2889,1922,1876,4094,6.8,9.9,181,1177,0.40,1.08,6.53,0.524,10500,0.041,0.035,2935,2348,1765,1765,4094,0,0,0,0,0,0,26.12,25.73,25.29,10.23,51.53
$STATE,1207,end climb,SURFACE_DEPTH_REACHED
$STATE,1207,begin surface coast
$FINISH,0.0,1.001707
$STATE,1226,end surface coast,CONTROL_FINISHED_OK
$STATE,1228,begin surface
$SM_CCo,1327,0.00,0.000,0,0,1762,620.77
$SM_GC,0.89,28.20,1.05,0.00,0.022,0.026,0.000,231,1934,1762,-6.59,1.00,620.77,0,0,0,0,0,0,26.04,26.10,26.11
$IRIDIUM_FIX,5952.82,-17420.78,080817,063153
$TT8_MAMPS,0.024717,0.107856
$HUMID,52.59
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.14,18.621
$10V_AH,10.48,22.462
$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,45.500,14.950,64.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,510.382,377.198,167.182,277.763,59.025,33.418,362.536,0.000,285.220,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1254.600,1259.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,128.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14237,191
$CAP_FILE_SIZE,34761,0
$CFSIZE,1024409600,985726976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,090710,6036.183,-17335.475,4,0.9,21,7.1,0.3,108.2,9,4.9