version: 66.13
glider: 401
mission: 22
dive: 703
start: 8 8 117 15 26 11
data:
$ID,401
$MISSION,22
$DIVE,703
$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,27
$R_STBD_OVSHOOT,54
$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
$GPS1,080817,151719,6037.6953,-17335.3008,5,0.8,20,7.1,0.4,304.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-44.5
$GPS2,080817,152501,6037.7432,-17335.2969,7,0.8,37,7.1,0.3,334.3,10,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.163122,0.364323
$KALMAN_X,65381.347656,-490.695801,193.769897,-244789.625000,49.775620
$KALMAN_Y,-27673.755859,679.669373,439.589142,179198.937500,62.659882
$MHEAD_RNG_PITCHd_Wd,328.8,12641,-12.3,-11.111,-15.55,6445
$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,-1.78,-438.8,236,1951,1989,4092,0.0,0.0,0,18,7.38,0.00,0.00,0.000,2049,0.103,0.000,856,1952,1989,1989,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.33,50.51
$GC,21,-1.78,-438.8,855,1952,1989,4094,0.8,0.0,1,46,9.80,1.10,-9.05,0.000,18692,0.052,1.268,1763,2355,3001,3001,4095,0,0,0,0,0,0,26.01,24.82,26.09,10.34,50.27
$GC,234,-1.78,-438.8,1763,2355,3006,4095,26.2,-13.5,36,240,0.00,1.00,0.00,0.000,1030,0.000,0.028,1763,1948,3006,3006,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.50,48.42
$GC,272,-1.78,-438.8,1761,1948,3006,4094,31.5,-13.8,42,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3007,3007,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.48,48.70
$GC,310,-1.78,-438.8,1763,1948,3008,4094,36.9,-14.1,48,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3008,3008,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.48,47.28
$GC,348,-1.78,-438.8,1763,1948,3009,4095,42.1,-13.8,54,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3009,3009,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.46,47.00
$GC,386,-1.78,-438.8,1763,1948,3010,4094,47.3,-14.4,60,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3010,3010,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.45,47.32
$GC,423,-1.78,-438.8,1763,1948,3010,4094,52.5,-13.5,66,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3011,3011,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,45.94
$GC,461,-1.78,-438.8,1763,1948,3012,4095,57.6,-13.4,72,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3012,3012,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.42,45.78
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,484,-0.45,0.0,1763,1948,3012,4094,60.2,-13.8,75,520,4.53,0.00,25.52,1.278,10244,0.057,0.000,2185,1948,2484,2484,4094,0,0,0,0,0,0,26.25,25.46,24.48,10.41,45.90
$STATE,521,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,524,1.78,438.8,2185,1947,2484,4094,62.8,0.0,81,560,7.47,0.00,25.08,1.246,11270,0.033,0.000,2893,1948,1972,1972,4095,0,0,0,0,0,0,25.71,25.85,24.06,10.30,44.88
$GC,592,1.78,438.8,2893,1947,1971,4095,56.9,12.4,92,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1948,1970,1970,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.20,44.64
$GC,630,1.78,438.8,2893,1948,1970,4094,51.7,13.6,98,637,0.00,1.10,0.00,0.000,260,0.000,0.037,2893,2352,1969,1969,4094,0,0,0,0,0,0,25.80,25.54,25.81,10.18,44.21
$GC,692,1.78,438.8,2893,2351,1968,4094,43.4,13.0,108,699,0.00,1.00,0.00,0.000,1030,0.000,0.030,2894,1962,1968,1968,4094,0,0,0,0,0,0,25.77,25.73,25.82,10.18,44.48
$GC,731,1.78,438.8,2893,1961,1967,4094,38.3,12.9,114,738,0.00,1.15,0.00,0.000,516,0.000,0.054,2894,1523,1967,1967,4095,0,0,0,0,0,0,26.05,25.75,26.06,10.18,44.72
$GC,758,1.78,438.8,2893,1522,1966,4095,34.9,12.8,118,764,0.00,1.00,0.00,0.000,1030,0.000,0.024,2893,1960,1966,1966,4094,0,0,0,0,0,0,25.91,25.89,25.92,10.19,45.27
$GC,796,1.78,438.8,2893,1959,1965,4094,30.1,12.3,124,803,0.00,1.05,0.00,0.000,260,0.000,0.041,2894,2359,1964,1964,4094,0,0,0,0,0,0,26.15,25.87,26.16,10.19,46.45
$GC,841,1.78,438.8,2893,2359,1963,4094,24.8,12.0,131,847,0.00,1.00,0.00,0.000,1030,0.000,0.031,2893,1966,1963,1963,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.19,47.20
$GC,879,1.78,438.8,2893,1965,1962,4094,20.0,12.1,137,886,0.00,1.15,0.00,0.000,516,0.000,0.054,2894,1522,1962,1962,4095,0,0,0,0,0,0,26.25,25.94,26.26,10.20,47.00
$GC,954,1.78,443.2,2893,1522,1960,4095,11.4,11.0,149,961,0.00,0.95,0.00,0.000,1030,0.000,0.024,2893,1948,1960,1960,4094,0,0,0,0,0,0,26.14,26.12,26.15,10.23,48.97
$GC,993,1.78,443.2,2893,1948,1959,4094,6.9,11.7,155,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1948,1959,1959,4095,0,0,0,0,0,0,26.35,26.37,26.36,10.24,49.44
$GC,1031,1.83,473.9,2893,1947,1957,4095,2.8,10.6,161,1038,0.10,0.00,3.05,0.261,10246,0.086,0.000,2908,1948,1930,1930,4094,0,0,0,0,0,0,26.15,25.98,25.38,10.26,50.39
$STATE,1043,end climb,FINISH_DEPTH_REACHED
$STATE,1043,begin subsurface finish
$FINISH1,1.2,1.024101,104
$GC,1050,0.16,104.5,2908,1952,1929,4094,1.2,11.0,163,1064,5.38,0.00,-3.78,0.000,20486,0.036,0.000,2391,1951,2368,2368,4094,0,0,0,0,0,0,26.15,25.13,26.20,10.26,50.82
$FINISH2,0.1
$STATE,1065,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1065,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,141227
$TT8_MAMPS,0.025466,0.158788
$HUMID,51.29
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,24.06,19.033
$10V_AH,10.39,22.861
$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,34.650,10.500,53.650,0.000,0.000,24.627,22.414,251.024,0.000,0.000,38.547,440.324,252.907,149.549,565.247,141.925,33.454,335.790,0.000,250.267,0.000,0.544,0.000
$DEVICE_MAMPS,102.510,1267.605,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,10825,165
$CAP_FILE_SIZE,33968,0
$CFSIZE,1024409600,984940544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,152501,6037.743,-17335.297,7,0.8,37,7.1,0.3,334.3,10,4.9