version: 66.13
glider: 401
mission: 22
dive: 654
start: 8 7 117 17 49 48
data:
$ID,401
$MISSION,22
$DIVE,654
$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,24
$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,600
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,39
$R_STBD_OVSHOOT,52
$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
$GPS1,070817,165743,6029.3892,-17334.7832,10,0.8,14,7.1,0.0,350.6,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.4
$GPS2,070817,165743,6029.3892,-17334.7832,10,0.8,14,7.1,0.0,350.6,10,4.8
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.048709,0.336437
$KALMAN_X,63902.601562,-1309.233887,-173.316238,-241637.281250,20.046753
$KALMAN_Y,41537.339844,2471.384766,527.928528,92661.109375,-126.858154
$MHEAD_RNG_PITCHd_Wd,344.7,27936,-9.7,-8.333,-13.77,7633
$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,-1.52,-427.8,2411,1985,2314,4092,0.0,0.0,0,21,5.78,0.00,-4.43,0.000,20482,0.024,0.000,1851,1985,2805,2805,4095,0,0,0,0,0,0,26.16,28.83,26.18,10.32,51.69
$GC,24,-1.52,-427.8,1851,1985,2805,4095,0.1,0.0,1,34,0.00,1.20,-1.62,0.000,16900,0.000,1.288,1851,1540,2984,2984,4094,0,0,0,0,0,0,26.36,24.92,26.34,10.42,51.73
$GC,267,-1.52,-427.8,1851,1540,2989,4094,23.0,-9.6,37,277,0.00,0.93,0.00,0.000,1030,0.000,0.026,1851,1946,2989,2989,4095,0,0,0,0,0,0,26.22,26.20,26.23,10.44,50.51
$GC,315,-1.52,-427.8,1850,1946,2990,4095,27.8,-10.7,43,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1947,2990,2990,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,50.31
$GC,361,-1.52,-427.8,1850,1947,2990,4095,32.9,-11.1,49,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1947,2990,2990,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.40,49.76
$GC,407,-1.52,-427.8,1851,1948,2991,4095,37.5,-10.1,55,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1948,2992,2992,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.40,48.97
$GC,454,-1.52,-427.8,1850,1948,2993,4095,42.4,-10.7,61,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1948,2992,2992,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,48.07
$GC,500,-1.52,-427.8,1850,1948,2993,4094,47.1,-9.9,67,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1948,2993,2993,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.38,47.75
$GC,547,-1.52,-427.8,1850,1948,2994,4094,52.0,-10.7,73,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1948,2995,2995,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.37,46.85
$GC,590,-1.52,-427.8,1850,1948,2995,4094,56.9,-11.0,79,598,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,1948,2995,2995,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.37,46.92
$STATE,619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,619,begin apogee
$GC,625,-0.45,0.0,1851,1948,2996,4095,60.3,-10.7,83,660,3.62,0.00,24.85,1.271,10244,0.056,0.000,2185,1949,2484,2484,4094,0,0,0,0,0,0,26.30,25.27,24.53,10.36,46.53
$STATE,661,end apogee,CONTROL_FINISHED_OK
$STATE,661,begin climb
$GC,664,1.52,427.8,2185,1949,2484,4094,62.7,0.0,87,700,6.68,0.00,24.65,1.254,11270,0.037,0.000,2809,1949,1985,1985,4094,0,0,0,0,0,0,25.73,25.91,24.09,10.25,46.10
$GC,738,1.52,427.8,2809,1949,1984,4094,58.2,9.5,96,747,0.00,1.10,0.00,0.000,260,0.000,0.040,2809,2358,1984,1984,4094,0,0,0,0,0,0,25.68,25.42,25.69,10.14,45.11
$GC,818,1.52,427.8,2808,2357,1982,4094,49.7,10.8,107,827,0.00,1.02,0.00,0.000,1030,0.000,0.029,2809,1961,1982,1982,4094,0,0,0,0,0,0,25.72,25.69,25.72,10.13,45.31
$GC,865,1.52,427.8,2809,1960,1981,4094,44.7,10.6,113,875,0.00,1.15,0.00,0.000,516,0.000,0.055,2809,1523,1981,1981,4094,0,0,0,0,0,0,26.03,25.72,26.04,10.13,46.10
$GC,945,1.52,427.8,2809,1522,1979,4094,36.2,10.8,124,954,0.00,0.98,0.00,0.000,1030,0.000,0.025,2809,1949,1979,1979,4094,0,0,0,0,0,0,25.98,25.95,25.98,10.12,46.18
$GC,992,1.52,427.8,2808,1949,1979,4094,31.3,10.5,130,1002,0.00,1.05,0.00,0.000,260,0.000,0.042,2809,2353,1978,1978,4094,0,0,0,0,0,0,26.20,25.93,26.22,10.13,46.33
$GC,1083,1.52,427.8,2809,2353,1976,4094,21.6,10.2,143,1092,0.00,1.02,0.00,0.000,1030,0.000,0.031,2809,1951,1976,1976,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.14,47.55
$GC,1130,1.52,427.8,2808,1950,1975,4094,17.3,9.3,149,1139,0.00,1.12,0.00,0.000,516,0.000,0.057,2809,1518,1975,1975,4094,0,0,0,0,0,0,26.33,26.04,26.34,10.16,48.03
$GC,1195,1.52,427.8,2809,1517,1974,4094,11.5,8.7,158,1204,0.00,0.93,0.00,0.000,1030,0.000,0.027,2809,1935,1974,1974,4094,0,0,0,0,0,0,26.20,26.18,26.21,10.18,49.33
$GC,1241,1.52,427.8,2809,1937,1973,4094,7.6,8.4,164,1250,0.00,1.08,0.00,0.000,260,0.000,0.039,2809,2350,1973,1973,4094,0,0,0,0,0,0,26.41,26.13,26.41,10.20,50.11
$STATE,1309,end climb,SURFACE_DEPTH_REACHED
$STATE,1309,begin surface coast
$FINISH,0.1,1.009467
$STATE,1332,end surface coast,CONTROL_FINISHED_OK
$STATE,1332,begin surface
$SM_CCo,1430,0.00,0.000,0,0,1971,441.32
$SM_GC,1.09,26.88,1.05,0.00,0.021,0.031,0.000,229,1943,1971,-6.59,1.18,441.32,0,0,0,0,0,0,26.17,26.22,26.24
$IRIDIUM_FIX,5952.82,-17420.78,070817,151759
$TT8_MAMPS,0.025466,0.234437
$HUMID,51.81
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,24.09,17.611
$10V_AH,10.19,21.499
$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,42.950,12.625,49.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,496.040,59.861,137.440,738.417,59.066,33.417,386.193,0.000,426.647,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1288.260,1271.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.333,480.804,380.632,564.147,736.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,17761,177
$CAP_FILE_SIZE,30466,0
$CFSIZE,1024409600,987348992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,181432,6030.076,-17335.002,3,0.8,18,7.1,0.0,0.0,11,4.9