version: 66.13
glider: 401
mission: 22
dive: 689
start: 8 8 117 9 35 29
data:
$ID,401
$MISSION,22
$DIVE,689
$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,57
$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
$GPS1,080817,091409,6036.1680,-17335.4805,7,0.7,24,7.1,0.0,43.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.7
$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,-0.170370,0.394112
$KALMAN_X,63815.394531,-701.450684,241.735413,-243232.671875,100.423798
$KALMAN_Y,-25048.482422,599.186646,441.405884,173755.671875,-32.795471
$MHEAD_RNG_PITCHd_Wd,329.5,15444,-11.1,-11.111,-14.51,7674
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.67,-438.8,2399,1951,2362,4092,0.0,0.0,0,17,6.05,0.00,-1.12,0.000,20482,0.023,0.000,1807,1945,2497,2497,4094,0,0,0,0,0,0,26.14,28.83,26.18,10.39,51.49
$GC,20,-1.67,-438.8,1807,1944,2498,4094,0.2,0.0,1,27,0.00,0.00,-3.85,0.000,16902,0.000,0.000,1807,1945,3002,3002,4095,0,0,0,0,0,0,26.33,25.15,26.34,10.43,51.10
$GC,59,-1.67,-438.8,1807,1947,3003,4095,4.7,-13.6,7,65,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1947,3003,3003,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.54,51.45
$GC,97,-1.67,-438.8,1807,1947,3004,4094,10.9,-15.8,13,103,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1947,3004,3004,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.55,50.90
$GC,134,-1.67,-438.8,1806,1947,3005,4094,16.3,-13.8,19,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1947,3005,3005,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.53,50.63
$GC,172,-1.67,-438.8,1807,1947,3005,4094,21.2,-13.4,25,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1947,3005,3005,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.52,50.47
$GC,210,-1.67,-438.8,1807,1948,3007,4095,26.0,-12.2,31,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1947,3007,3007,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.51,49.92
$GC,247,-1.67,-438.8,1807,1947,3007,4095,30.4,-12.0,37,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1948,3007,3007,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.48,49.64
$GC,285,-1.67,-438.8,1807,1947,3008,4094,34.9,-12.2,43,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1947,3008,3008,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.47,49.09
$GC,323,-1.67,-438.8,1807,1947,3009,4094,39.5,-12.2,49,329,0.00,1.10,0.00,0.000,516,0.000,0.049,1807,1515,3009,3009,4094,0,0,0,0,0,0,26.52,26.22,26.53,10.45,48.11
$GC,361,-1.67,-438.8,1808,1515,3010,4094,44.3,-12.7,55,368,0.00,0.95,0.00,0.000,1030,0.000,0.025,1807,1935,3010,3010,4094,0,0,0,0,0,0,26.34,26.32,26.36,10.43,48.11
$GC,400,-1.67,-438.8,1807,1937,3011,4094,49.1,-12.5,61,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1938,3011,3011,4095,0,0,0,0,0,0,26.55,26.56,26.57,10.42,47.20
$GC,438,-1.67,-438.8,1807,1938,3012,4095,53.8,-12.8,67,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1938,3012,3012,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,47.28
$GC,475,-1.67,-438.8,1807,1938,3013,4095,58.4,-12.4,73,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,1938,3013,3013,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.41,46.69
$STATE,486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,486,begin apogee
$GC,492,-0.45,0.0,1807,1938,3013,4095,60.2,-12.8,75,527,4.05,0.00,25.48,1.256,10244,0.056,0.000,2185,1938,2483,2483,4095,0,0,0,0,0,0,26.29,25.51,24.53,10.41,46.61
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.67,438.8,2184,1938,2483,4095,62.8,0.0,81,568,7.10,0.00,24.95,1.233,11270,0.034,0.000,2861,1940,1972,1972,4095,0,0,0,0,0,0,25.75,25.91,24.11,10.30,46.18
$GC,600,1.67,438.8,2860,1939,1971,4095,57.3,11.5,92,606,0.00,1.12,0.00,0.000,260,0.000,0.039,2861,2357,1971,1971,4094,0,0,0,0,0,0,25.67,25.41,25.68,10.18,45.74
$GC,686,1.67,438.8,2861,2356,1969,4094,46.6,12.7,106,693,0.00,1.05,0.00,0.000,1030,0.000,0.031,2861,1950,1968,1968,4094,0,0,0,0,0,0,25.76,25.72,25.77,10.17,45.70
$GC,725,1.67,438.8,2861,1950,1967,4094,41.7,12.1,112,731,0.00,1.12,0.00,0.000,516,0.000,0.054,2861,1520,1967,1967,4094,0,0,0,0,0,0,26.05,25.75,26.06,10.17,45.58
$GC,781,1.67,438.8,2861,1520,1966,4094,35.1,11.6,121,788,0.00,0.98,0.00,0.000,1030,0.000,0.024,2861,1953,1966,1966,4094,0,0,0,0,0,0,25.96,25.94,25.96,10.16,46.18
$GC,820,1.71,468.9,2861,1952,1965,4094,30.9,10.7,127,828,0.00,1.05,3.17,0.389,8452,0.000,0.039,2861,2354,1936,1936,4094,0,0,0,0,0,0,26.19,25.81,24.96,10.15,46.37
$GC,872,1.71,468.9,2861,2354,1935,4094,25.0,11.4,135,879,0.00,1.02,0.00,0.000,1030,0.000,0.031,2861,1952,1935,1935,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.17,47.40
$GC,911,1.76,502.4,2861,1951,1934,4094,20.8,10.7,141,919,0.17,1.12,3.50,0.402,10756,0.050,0.054,2888,1517,1897,1897,4095,0,0,0,0,0,0,26.07,25.89,25.12,10.19,48.03
$GC,946,1.77,505.5,2887,1517,1896,4095,16.9,11.1,146,952,0.00,1.00,0.00,0.000,1030,0.000,0.026,2888,1952,1895,1895,4094,0,0,0,0,0,0,26.08,26.06,26.09,10.20,49.13
$GC,984,1.77,505.5,2887,1952,1895,4094,12.6,11.4,152,991,0.00,1.05,0.00,0.000,260,0.000,0.040,2888,2359,1895,1895,4094,0,0,0,0,0,0,26.31,26.03,26.32,10.22,50.27
$GC,1029,2.04,688.1,2887,2359,1894,4094,8.7,8.7,159,1049,0.82,1.02,10.85,0.628,11270,0.028,0.031,2980,1954,1680,1680,4094,0,0,0,0,0,0,26.13,26.09,25.21,10.23,50.74
$GC,1081,2.29,853.0,2980,1953,1679,4094,3.9,8.9,167,1095,0.70,0.00,9.80,0.566,10246,0.035,0.000,3052,1954,1488,1488,4094,0,0,0,0,0,0,26.03,25.77,25.19,10.20,51.45
$STATE,1100,end climb,FINISH_DEPTH_REACHED
$STATE,1100,begin subsurface finish
$FINISH1,1.8,1.024036,109
$GC,1107,0.16,109.0,3052,1953,1487,4094,1.8,9.9,170,1126,7.10,0.00,-7.07,0.000,20486,0.054,0.000,2399,1954,2365,2365,4095,0,0,0,0,0,0,25.90,24.97,25.94,10.17,52.12
$FINISH2,0.2
$STATE,1127,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1127,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,075712
$TT8_MAMPS,0.025466,0.106358
$HUMID,52.55
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,24.11,18.678
$10V_AH,10.46,22.510
$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,26.000,13.650,77.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.108,250.606,172.999,253.222,57.537,33.430,371.393,0.000,259.828,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,54.315,1256.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330884
$DATA_FILE_SIZE,14300,173
$CAP_FILE_SIZE,34668,0
$CFSIZE,1024409600,985628672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,091409,6036.168,-17335.480,7,0.7,24,7.1,0.0,43.0,11,5.0