version: 66.13
glider: 401
mission: 22
dive: 688
start: 8 8 117 9 15 19
data:
$ID,401
$MISSION,22
$DIVE,688
$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,36
$R_STBD_OVSHOOT,60
$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
$GPS1,080817,090710,6036.1826,-17335.4746,4,0.9,21,7.1,0.3,108.2,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-38.6
$GPS2,080817,091409,6036.1680,-17335.4805,7,0.7,24,7.1,0.0,43.0,11,5.0
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.189077,0.336053
$KALMAN_X,63710.968750,-760.271912,212.372192,-243044.109375,128.878357
$KALMAN_Y,-24866.330078,645.365662,495.829498,173460.109375,-8.170166
$MHEAD_RNG_PITCHd_Wd,323.5,15444,-12.9,-11.111,-16.07,5937
$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,-1.83,-437.8,230,1933,1762,4092,0.0,0.0,0,21,10.32,0.00,0.00,0.000,2049,0.083,0.000,1129,1932,1762,1762,4095,0,0,0,0,0,0,26.29,28.83,28.83,10.31,51.41
$GC,24,-1.83,-437.8,1128,1932,1762,4095,0.7,0.0,1,51,6.55,1.12,-10.98,0.000,18692,0.043,1.259,1747,2346,2997,2997,4094,0,0,0,0,0,0,26.02,24.84,26.09,10.32,51.61
$GC,304,-1.83,-437.8,1746,2347,3003,4094,32.0,-12.8,42,314,0.00,0.98,0.00,0.000,1030,0.000,0.028,1747,1953,3004,3004,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.51,48.70
$GC,350,-1.83,-437.8,1746,1953,3004,4095,38.2,-13.5,48,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,1953,3004,3004,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.48,47.95
$GC,395,-1.83,-437.8,1746,1953,3006,4095,44.7,-14.5,54,404,0.00,1.08,0.00,0.000,516,0.000,0.048,1747,1524,3006,3006,4094,0,0,0,0,0,0,26.46,26.17,26.48,10.47,46.81
$GC,434,-1.83,-437.8,1746,1524,3007,4094,49.9,-13.4,59,444,0.00,0.88,0.00,0.000,1030,0.000,0.024,1747,1915,3007,3007,4094,0,0,0,0,0,0,26.33,26.27,26.31,10.46,46.69
$GC,482,-1.83,-437.8,1746,1915,3008,4094,56.0,-13.3,65,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,1915,3008,3008,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.44,45.31
$STATE,511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,517,-0.45,0.0,1747,1915,3009,4094,60.6,-13.9,69,553,4.72,0.00,25.40,1.255,10244,0.060,0.000,2185,1918,2484,2484,4094,0,0,0,0,0,0,26.23,25.47,24.49,10.43,45.15
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,556,1.83,437.8,2185,1918,2484,4094,63.5,0.0,73,593,7.65,0.00,25.10,1.232,11270,0.032,0.000,2909,1920,1973,1973,4094,0,0,0,0,0,0,25.70,25.86,24.08,10.32,45.39
$GC,631,1.83,437.8,2908,1919,1972,4094,57.1,13.0,82,640,0.00,1.17,0.00,0.000,260,0.000,0.038,2909,2357,1972,1972,4094,0,0,0,0,0,0,25.67,25.41,25.69,10.21,43.54
$GC,690,1.83,437.8,2908,2356,1970,4094,48.4,14.8,90,699,0.00,1.02,0.00,0.000,1030,0.000,0.030,2909,1958,1970,1970,4094,0,0,0,0,0,0,25.67,25.65,25.70,10.19,44.52
$GC,737,1.83,437.8,2908,1958,1969,4094,41.5,15.2,96,746,0.00,1.15,0.00,0.000,516,0.000,0.054,2909,1519,1969,1969,4094,0,0,0,0,0,0,26.01,25.70,26.01,10.19,44.17
$GC,817,1.83,437.8,2908,1519,1966,4094,30.4,13.4,107,826,0.00,0.88,0.00,0.000,1030,0.000,0.025,2909,1917,1966,1966,4094,0,0,0,0,0,0,26.01,25.95,25.98,10.19,45.15
$GC,864,1.83,437.8,2908,1917,1965,4094,24.3,13.1,113,874,0.00,1.12,0.00,0.000,260,0.000,0.040,2909,2347,1964,1964,4094,0,0,0,0,0,0,26.20,25.92,26.21,10.21,45.62
$GC,962,1.83,437.8,2908,2347,1962,4094,12.1,12.2,127,971,0.00,1.10,0.00,0.000,1030,0.000,0.032,2909,1915,1962,1962,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.26,49.44
$GC,1008,1.83,437.8,2908,1916,1961,4094,6.9,11.5,133,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1916,1960,1960,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.27,50.47
$STATE,1051,end climb,FINISH_DEPTH_REACHED
$STATE,1051,begin subsurface finish
$FINISH1,2.0,1.024045,108
$GC,1058,0.16,108.4,2909,1916,1959,4094,2.0,10.7,139,1077,5.57,1.20,-3.30,0.000,20740,0.063,1.271,2399,2349,2363,2363,4094,0,0,0,0,0,0,26.10,24.91,26.17,10.29,50.11
$FINISH2,0.3
$STATE,1078,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,075712
$TT8_MAMPS,0.025466,0.23968
$HUMID,50.78
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,24.08,18.656
$10V_AH,10.22,22.499
$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,34.825,11.700,50.500,0.000,0.000,23.663,25.564,218.449,0.000,0.000,25.452,402.262,0.000,108.298,878.634,131.392,33.452,333.865,0.000,344.699,0.000,0.544,0.000
$DEVICE_MAMPS,83.385,1271.430,1255.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.999,383.040,303.222,449.766,590.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,14364,141
$CAP_FILE_SIZE,28131,0
$CFSIZE,1024409600,985694208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,091409,6036.168,-17335.480,7,0.7,24,7.1,0.0,43.0,11,5.0