version: 66.13
glider: 401
mission: 22
dive: 692
start: 8 8 117 10 47 29
data:
$ID,401
$MISSION,22
$DIVE,692
$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,55
$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
$GPS1,080817,102505,6036.3999,-17335.3945,6,0.8,16,7.1,0.0,218.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-2.3
$GPS2,080817,102505,6036.3999,-17335.3945,6,0.8,16,7.1,0.0,218.4,9,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.118027,0.370906
$KALMAN_X,64259.039062,-618.672302,265.916351,-243701.906250,53.038712
$KALMAN_Y,-25745.433594,598.534119,416.962036,174907.984375,-68.935364
$MHEAD_RNG_PITCHd_Wd,335.2,15040,-12.7,-11.111,-15.93,6070
$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,-1.82,-438.8,2388,1946,2374,4092,0.0,0.0,0,20,6.40,0.00,-3.42,0.000,20482,0.026,0.000,1762,1947,2755,2755,4094,0,0,0,0,0,0,26.19,28.83,26.25,10.38,52.00
$GC,23,-1.82,-438.8,1761,1946,2755,4094,0.0,0.0,1,33,0.00,1.15,-2.20,0.000,16900,0.000,1.287,1762,1520,2997,2997,4094,0,0,0,0,0,0,26.41,24.95,26.41,10.46,52.08
$GC,43,-1.82,-438.8,1761,1520,2996,4094,0.1,-0.4,3,52,0.00,0.95,0.00,0.000,1030,0.000,0.024,1761,1953,2997,2997,4095,0,0,0,0,0,0,26.13,26.11,26.13,10.52,52.12
$GC,89,-1.82,-438.8,1761,1953,2997,4095,5.0,-14.1,9,98,0.00,1.02,0.00,0.000,260,0.000,0.044,1761,2346,2998,2998,4095,0,0,0,0,0,0,26.34,26.06,26.35,10.53,52.36
$GC,174,-1.82,-438.8,1761,2345,3000,4095,18.6,-14.5,21,183,0.00,0.98,0.00,0.000,1030,0.000,0.029,1762,1951,3001,3001,4095,0,0,0,0,0,0,26.19,26.14,26.21,10.52,51.06
$GC,221,-1.82,-438.8,1761,1950,3002,4095,25.3,-13.9,27,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3002,3002,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.51,51.49
$GC,268,-1.82,-438.8,1761,1950,3003,4094,31.8,-14.3,33,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1950,3003,3003,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.48,50.27
$GC,314,-1.82,-438.8,1761,1950,3004,4095,38.3,-13.8,39,323,0.00,1.08,0.00,0.000,516,0.000,0.049,1762,1520,3004,3004,4095,0,0,0,0,0,0,26.49,26.20,26.51,10.45,49.09
$GC,353,-1.82,-438.8,1761,1519,3005,4095,43.8,-13.7,44,363,0.00,1.02,0.00,0.000,1030,0.000,0.024,1762,1961,3005,3005,4095,0,0,0,0,0,0,26.32,26.29,26.32,10.43,48.97
$GC,401,-1.82,-438.8,1761,1961,3007,4095,49.8,-12.9,50,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3007,3007,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.42,47.63
$GC,447,-1.82,-438.8,1761,1962,3007,4095,55.8,-13.1,56,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1962,3008,3008,4094,0,0,0,0,0,0,26.55,26.58,26.57,10.40,47.08
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,482,-0.45,0.0,1761,1962,3008,4095,60.1,-13.4,60,517,4.57,0.00,25.38,1.253,10244,0.060,0.000,2186,1962,2483,2483,4094,0,0,0,0,0,0,26.27,25.51,24.53,10.40,46.65
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,521,1.82,438.8,2185,1962,2484,4094,62.9,0.0,64,557,7.62,0.00,25.10,1.230,11270,0.034,0.000,2905,1962,1972,1972,4094,0,0,0,0,0,0,25.73,25.90,24.11,10.30,46.06
$GC,595,1.82,438.8,2904,1961,1971,4094,56.6,13.2,73,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1962,1970,1970,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.18,44.80
$GC,641,1.82,438.8,2904,1962,1969,4094,50.1,14.0,79,651,0.00,1.08,0.00,0.000,260,0.000,0.041,2905,2368,1969,1969,4094,0,0,0,0,0,0,25.86,25.59,25.88,10.17,44.88
$GC,726,1.82,438.8,2904,2367,1966,4094,37.4,15.0,91,736,0.00,1.05,0.00,0.000,1030,0.000,0.031,2905,1958,1966,1966,4094,0,0,0,0,0,0,25.83,25.80,25.84,10.17,46.25
$GC,772,1.82,438.8,2904,1958,1965,4094,30.8,14.3,97,782,0.00,1.15,0.00,0.000,516,0.000,0.055,2905,1517,1965,1965,4094,0,0,0,0,0,0,26.13,25.83,26.15,10.17,45.94
$GC,818,1.82,438.8,2905,1517,1964,4094,24.4,13.9,103,828,0.00,1.05,0.00,0.000,1030,0.000,0.025,2905,1967,1963,1963,4094,0,0,0,0,0,0,26.01,25.98,26.01,10.18,46.49
$GC,864,1.82,438.8,2904,1967,1962,4094,18.2,13.2,109,874,0.00,1.05,0.00,0.000,260,0.000,0.041,2905,2368,1962,1962,4094,0,0,0,0,0,0,26.25,25.97,26.26,10.21,47.99
$GC,916,1.82,438.8,2904,2368,1960,4094,11.5,12.8,116,926,0.00,1.08,0.00,0.000,1030,0.000,0.032,2905,1947,1960,1960,4094,0,0,0,0,0,0,26.07,26.04,26.14,10.24,49.40
$GC,964,1.82,438.8,2905,1946,1959,4094,6.0,11.6,122,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1947,1958,1958,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.25,50.35
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,1000,begin subsurface finish
$FINISH1,1.7,1.024168,100
$GC,1006,0.15,99.8,2905,1946,1958,4094,1.7,11.1,127,1025,5.50,0.00,-3.58,0.000,20486,0.054,0.000,2388,1943,2371,2371,4095,0,0,0,0,0,0,26.16,25.60,26.20,10.26,50.70
$FINISH2,0.1
$STATE,1026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,090913
$TT8_MAMPS,0.025466,0.249417
$HUMID,51.53
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.11,18.752
$10V_AH,10.22,22.590
$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,24.100,12.650,50.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.987,0.000,117.660,541.010,53.003,33.429,346.383,0.000,316.954,0.000,0.543,0.000
$DEVICE_MAMPS,59.670,1286.730,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.313,350.419,277.415,411.020,537.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,10848,129
$CAP_FILE_SIZE,26656,0
$CFSIZE,1024409600,985497600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,102505,6036.400,-17335.395,6,0.8,16,7.1,0.0,218.4,9,4.9