version: 66.13
glider: 401
mission: 22
dive: 697
start: 8 8 117 12 59 53
data:
$ID,401
$MISSION,22
$DIVE,697
$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,24
$R_STBD_OVSHOOT,67
$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
$GPS1,080817,124742,6036.6353,-17335.3750,5,0.9,14,7.1,0.0,292.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-33.7
$GPS2,080817,125843,6036.6426,-17335.3984,6,0.9,19,7.1,0.0,0.0,11,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.084751,0.401230
$KALMAN_X,64780.402344,-561.518372,236.157181,-244254.109375,19.963638
$KALMAN_Y,-27230.476562,601.925964,383.549561,176867.515625,-123.900024
$MHEAD_RNG_PITCHd_Wd,341.0,14600,-11.9,-11.111,-15.16,6873
$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,-1.74,-438.8,238,1945,1589,4092,0.0,0.0,0,18,7.55,0.00,0.00,0.000,2049,0.080,0.000,896,1945,1589,1589,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.27,49.92
$GC,21,-1.74,-438.8,896,1945,1589,4094,0.6,0.0,1,51,9.35,1.08,-12.48,0.000,18692,0.043,1.262,1775,2342,3000,3000,4095,0,0,0,0,0,0,25.96,24.79,26.05,10.27,49.92
$GC,192,-1.74,-438.8,1774,2342,3002,4095,10.3,-9.6,29,198,0.00,1.00,0.00,0.000,1030,0.000,0.029,1775,1942,3002,3002,4094,0,0,0,0,0,0,26.10,26.07,26.11,10.57,49.56
$GC,231,-1.74,-438.8,1774,1941,3002,4094,14.0,-9.5,35,237,0.00,1.05,0.00,0.000,516,0.000,0.050,1775,1524,3002,3002,4095,0,0,0,0,0,0,26.34,26.04,26.35,10.57,49.48
$GC,359,-1.74,-438.8,1774,1524,3004,4095,25.6,-8.7,56,366,0.00,0.90,0.00,0.000,1030,0.000,0.024,1775,1945,3005,3005,4094,0,0,0,0,0,0,26.26,26.25,26.28,10.54,48.26
$GC,398,-1.74,-438.8,1774,1948,3005,4094,29.0,-8.8,62,405,0.00,1.00,0.00,0.000,260,0.000,0.037,1775,2337,3005,3005,4095,0,0,0,0,0,0,26.46,26.20,26.48,10.52,48.70
$GC,443,-1.74,-438.8,1774,2337,3006,4095,32.8,-8.4,69,450,0.00,0.90,0.00,0.000,1030,0.000,0.026,1775,1969,3006,3006,4094,0,0,0,0,0,0,26.29,26.27,26.31,10.51,47.51
$GC,482,-1.74,-438.8,1774,1969,3007,4094,36.1,-8.7,75,489,0.00,1.12,0.00,0.000,516,0.000,0.049,1775,1522,3007,3007,4094,0,0,0,0,0,0,26.51,26.21,26.52,10.49,47.83
$GC,533,-1.74,-438.8,1774,1523,3007,4094,40.7,-9.2,83,540,0.00,0.88,0.00,0.000,1030,0.000,0.024,1775,1942,3007,3007,4094,0,0,0,0,0,0,26.36,26.35,26.38,10.47,46.61
$GC,572,-1.74,-438.8,1775,1943,3008,4094,44.4,-9.3,89,579,0.00,1.00,0.00,0.000,260,0.000,0.038,1775,2332,3008,3008,4094,0,0,0,0,0,0,26.55,26.27,26.56,10.45,46.61
$GC,611,-1.74,-438.8,1775,2332,3008,4094,48.0,-9.0,95,618,0.00,0.95,0.00,0.000,1030,0.000,0.029,1775,1940,3008,3008,4094,0,0,0,0,0,0,26.34,26.31,26.36,10.45,46.14
$GC,650,-1.74,-438.8,1775,1941,3009,4094,51.4,-9.0,101,657,0.00,1.02,0.00,0.000,516,0.000,0.050,1775,1531,3009,3009,4094,0,0,0,0,0,0,26.58,26.27,26.59,10.43,46.25
$GC,677,-1.74,-438.8,1775,1531,3009,4094,53.9,-8.9,105,684,0.00,0.85,0.00,0.000,1030,0.000,0.024,1775,1929,3010,3010,4095,0,0,0,0,0,0,26.41,26.40,26.43,10.43,45.62
$GC,716,-1.74,-438.8,1774,1928,3010,4095,57.3,-9.1,111,722,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1929,3010,3010,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.42,45.35
$STATE,746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,746,begin apogee
$GC,751,-0.45,0.0,1775,1929,3011,4095,60.2,-8.8,116,787,4.38,0.00,25.33,1.247,10244,0.057,0.000,2185,1930,2484,2484,4094,0,0,0,0,0,0,26.32,25.55,24.56,10.42,45.07
$STATE,788,end apogee,CONTROL_FINISHED_OK
$STATE,788,begin climb
$GC,791,1.74,438.8,2185,1930,2484,4094,62.0,0.0,122,827,7.30,0.00,25.00,1.229,11270,0.033,0.000,2883,1933,1972,1972,4094,0,0,0,0,0,0,25.78,25.94,24.13,10.31,44.84
$GC,860,1.79,475.4,2882,1932,1971,4094,57.1,10.6,133,867,0.00,0.00,3.80,0.620,8198,0.000,0.000,2883,1933,1930,1930,4094,0,0,0,0,0,0,25.68,25.25,24.32,10.20,45.11
$GC,899,1.79,475.4,2883,1932,1929,4094,52.7,11.4,139,905,0.00,1.08,0.00,0.000,260,0.000,0.035,2883,2342,1929,1929,4094,0,0,0,0,0,0,25.80,25.55,25.81,10.19,44.25
$GC,949,1.79,475.4,2882,2342,1928,4094,47.0,11.4,147,956,0.00,0.93,0.00,0.000,1030,0.000,0.029,2883,1979,1928,1928,4094,0,0,0,0,0,0,25.74,25.71,25.77,10.18,45.03
$GC,988,1.79,475.4,2882,1979,1926,4094,42.0,12.7,153,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1979,1926,1926,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.17,45.90
$GC,1026,1.79,475.4,2882,1979,1926,4094,37.1,13.5,159,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1979,1925,1925,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.17,45.82
$GC,1064,1.79,475.4,2882,1978,1925,4095,32.2,13.2,165,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1979,1925,1925,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.18,46.22
$GC,1101,1.79,475.4,2882,1978,1923,4094,27.3,12.5,171,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1979,1923,1923,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.18,46.49
$GC,1139,1.79,475.4,2882,1978,1922,4095,22.8,11.5,177,1146,0.00,0.98,0.00,0.000,260,0.000,0.040,2883,2344,1922,1922,4094,0,0,0,0,0,0,26.25,25.97,26.26,10.21,48.22
$GC,1178,1.79,475.4,2883,2343,1921,4094,18.1,12.8,183,1184,0.00,0.90,0.00,0.000,1030,0.000,0.030,2883,1985,1921,1921,4094,0,0,0,0,0,0,26.07,26.04,26.10,10.22,48.34
$GC,1216,1.79,475.4,2883,1985,1920,4094,13.5,12.1,189,1223,0.00,1.20,0.00,0.000,516,0.000,0.054,2883,1524,1920,1920,4094,0,0,0,0,0,0,26.32,26.01,26.33,10.23,50.27
$GC,1279,1.95,581.8,2882,1524,1919,4094,6.9,9.5,199,1293,0.57,1.02,6.65,0.534,11270,0.037,0.025,2947,1972,1804,1804,4095,0,0,0,0,0,0,26.15,26.17,25.29,10.26,51.06
$STATE,1323,end climb,FINISH_DEPTH_REACHED
$STATE,1323,begin subsurface finish
$FINISH1,2.0,1.024146,101
$GC,1330,0.15,101.4,2947,1972,1803,4094,2.0,11.6,206,1349,6.05,1.02,-4.75,0.000,20740,0.060,1.270,2396,2358,2373,2373,4094,0,0,0,0,0,0,26.06,24.87,26.13,10.24,51.57
$FINISH2,0.1
$STATE,1350,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1351,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,124949
$TT8_MAMPS,0.025466,0.158788
$HUMID,52.08
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,24.13,18.894
$10V_AH,10.40,22.716
$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,35.200,18.875,60.775,0.000,0.000,48.578,36.189,371.705,0.000,0.000,21.083,547.998,373.191,180.007,773.318,158.538,33.452,407.781,0.000,312.212,0.000,0.543,0.000
$DEVICE_MAMPS,80.325,1269.900,1246.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,139.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329264
$DATA_FILE_SIZE,14368,209
$CAP_FILE_SIZE,44758,0
$CFSIZE,1024409600,985235456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,125843,6036.643,-17335.398,6,0.9,19,7.1,0.0,0.0,11,4.9