version: 66.13
glider: 401
mission: 22
dive: 695
start: 8 8 117 12 1 5
data:
$ID,401
$MISSION,22
$DIVE,695
$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,26
$R_STBD_OVSHOOT,50
$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
$GPS1,080817,113638,6036.5942,-17335.3945,7,0.7,14,7.1,0.0,237.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.2
$GPS2,080817,113638,6036.5942,-17335.3945,7,0.7,14,7.1,0.0,237.4,10,5.0
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.084968,0.320920
$KALMAN_X,64573.308594,-572.439636,251.806152,-244047.921875,30.724289
$KALMAN_Y,-26513.224609,586.681030,381.435852,176081.406250,-81.383362
$MHEAD_RNG_PITCHd_Wd,338.1,14688,-15.6,-11.111,-18.51,4189
$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,-1.88,-307.4,2390,1937,2370,4092,0.0,0.0,0,18,6.62,0.00,-1.00,0.000,20482,0.020,0.000,1735,1937,2483,2483,4095,0,0,0,0,0,0,26.14,28.83,26.17,10.38,50.70
$GC,21,-1.88,-307.4,1734,1937,2483,4095,0.3,0.0,1,29,0.00,1.17,-3.22,0.000,16644,0.000,1.261,1734,2359,2846,2846,4094,0,0,0,0,0,0,26.32,24.89,26.33,10.41,51.33
$GC,259,-1.88,-307.4,1734,2359,2851,4094,25.4,-14.5,40,266,0.00,1.02,0.00,0.000,1030,0.000,0.029,1734,1942,2851,2851,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.48,51.02
$GC,298,-1.88,-307.4,1734,1941,2852,4095,30.4,-12.5,46,304,0.00,1.10,0.00,0.000,260,0.000,0.039,1735,2359,2852,2852,4095,0,0,0,0,0,0,26.49,26.22,26.51,10.46,49.68
$GC,378,-1.88,-307.4,1734,2358,2854,4095,40.7,-12.5,59,385,0.00,1.02,0.00,0.000,1030,0.000,0.029,1734,1942,2855,2855,4094,0,0,0,0,0,0,26.31,26.28,26.34,10.42,48.22
$GC,417,-1.88,-307.4,1734,1942,2855,4094,46.0,-13.9,65,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1942,2855,2855,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.40,48.18
$GC,454,-1.88,-307.4,1734,1942,2855,4095,51.1,-13.2,71,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1942,2856,2856,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.39,47.04
$GC,492,-1.88,-307.4,1734,1942,2857,4095,56.2,-13.0,77,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,1942,2857,2857,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.38,47.12
$STATE,521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,521,begin apogee
$GC,527,-0.45,0.0,1734,1942,2858,4095,60.5,-13.8,82,557,4.88,0.00,18.42,1.219,10244,0.063,0.000,2185,1942,2483,2483,4094,0,0,0,0,0,0,26.29,25.43,24.70,10.38,46.69
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,561,1.88,307.4,2184,1942,2484,4094,62.9,0.0,87,592,7.75,0.00,18.00,1.203,11270,0.034,0.000,2926,1942,2126,2126,4094,0,0,0,0,0,0,25.92,26.09,24.36,10.30,46.18
$GC,624,1.88,307.4,2925,1942,2125,4094,57.4,13.0,97,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1942,2125,2125,4094,0,0,0,0,0,0,25.86,25.86,25.86,10.22,45.74
$GC,662,1.88,307.4,2925,1942,2124,4094,51.8,14.6,103,668,0.00,1.10,0.00,0.000,260,0.000,0.037,2926,2351,2124,2124,4094,0,0,0,0,0,0,25.97,25.70,25.98,10.22,45.07
$GC,760,1.88,307.4,2925,2351,2121,4094,37.3,14.2,119,767,0.00,1.00,0.00,0.000,1030,0.000,0.031,2926,1960,2120,2120,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.20,46.45
$GC,799,1.88,307.4,2925,1959,2119,4094,32.0,13.9,125,805,0.00,1.15,0.00,0.000,516,0.000,0.056,2926,1519,2119,2119,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.20,46.22
$GC,843,1.88,307.4,2925,1518,2118,4094,25.9,13.7,132,850,0.00,0.90,0.00,0.000,1030,0.000,0.024,2926,1928,2118,2118,4094,0,0,0,0,0,0,26.08,26.06,26.11,10.22,46.65
$GC,882,2.08,437.3,2925,1931,2117,4094,22.7,7.9,138,896,0.55,1.10,8.07,0.705,10500,0.034,0.035,2985,2354,1973,1973,4094,0,0,0,0,0,0,26.08,25.83,25.05,10.23,48.07
$STATE,1106,end climb,FINISH_DEPTH_REACHED
$STATE,1106,begin subsurface finish
$FINISH1,1.7,1.024130,102
$GC,1114,0.15,102.4,2985,1951,1968,4094,1.7,8.4,175,1129,6.50,1.10,-3.20,0.000,20740,0.068,1.271,2398,2350,2371,2371,4095,0,0,0,0,0,0,26.13,24.93,26.16,10.27,52.00
$FINISH2,0.3
$STATE,1130,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,102002
$TT8_MAMPS,0.025466,0.106358
$HUMID,52.59
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,24.36,18.824
$10V_AH,10.47,22.654
$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,26.300,11.750,44.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,465.409,312.626,112.738,256.485,42.526,33.427,283.376,0.000,265.438,0.000,0.542,0.000
$DEVICE_MAMPS,68.085,1271.430,1219.410,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,14243,177
$CAP_FILE_SIZE,25528,0
$CFSIZE,1024409600,985350144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,113638,6036.594,-17335.395,7,0.7,14,7.1,0.0,237.4,10,5.0