version: 66.13
glider: 401
mission: 22
dive: 668
start: 8 8 117 0 42 40
data:
$ID,401
$MISSION,22
$DIVE,668
$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,30
$R_STBD_OVSHOOT,77
$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
$GPS1,080817,001759,6030.7246,-17338.4473,9,0.8,15,7.1,0.0,0.0,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.0
$GPS2,080817,001759,6030.7246,-17338.4473,9,0.8,15,7.1,0.0,0.0,11,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.070226,1.426313
$KALMAN_X,61305.617188,-1427.072754,-454.941559,-242108.906250,-130.490265
$KALMAN_Y,36816.449219,1584.991699,-132.994400,101462.851562,-250.185455
$MHEAD_RNG_PITCHd_Wd,355.7,25219,-0.8,-8.333,-3.34,39413
$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,-0.95,-585.0,2415,1946,2335,4092,0.0,0.0,0,21,3.83,0.00,-6.82,0.000,20482,0.024,0.000,2034,1946,3085,3085,4095,0,0,0,0,0,0,26.21,28.83,26.22,10.36,52.87
$GC,24,-0.95,-585.0,2034,1946,3086,4095,0.0,0.0,1,34,0.00,1.02,-0.70,0.000,16644,0.000,1.272,2034,2320,3168,3168,4094,0,0,0,0,0,0,26.39,24.96,26.32,10.53,53.03
$GC,203,-0.95,-585.0,2033,2320,3171,4094,17.3,-10.3,27,213,0.00,0.90,0.00,0.000,1030,0.000,0.032,2034,1963,3171,3171,4095,0,0,0,0,0,0,26.17,26.14,26.19,10.55,52.36
$GC,251,-0.95,-585.0,2034,1962,3172,4095,22.3,-10.4,33,260,0.00,0.95,0.00,0.000,260,0.000,0.037,2034,2328,3172,3172,4095,0,0,0,0,0,0,26.42,26.15,26.43,10.52,51.26
$GC,283,-0.95,-585.0,2034,2328,3173,4095,25.8,-10.0,37,293,0.00,0.90,0.00,0.000,1030,0.000,0.031,2034,1963,3173,3173,4095,0,0,0,0,0,0,26.23,26.17,26.24,10.51,50.66
$GC,329,-0.95,-585.0,2034,1963,3173,4095,30.6,-10.5,43,339,0.00,0.95,0.00,0.000,260,0.000,0.037,2034,2330,3174,3174,4094,0,0,0,0,0,0,26.46,26.20,26.47,10.49,49.76
$GC,362,-0.95,-585.0,2033,2329,3174,4094,33.9,-10.3,47,371,0.00,0.82,0.00,0.000,1030,0.000,0.030,2034,1994,3175,3175,4095,0,0,0,0,0,0,26.28,26.25,26.29,10.47,49.05
$GC,408,-0.95,-585.0,2033,1993,3175,4095,38.8,-10.3,53,417,0.00,0.88,0.00,0.000,260,0.000,0.037,2034,2332,3175,3175,4094,0,0,0,0,0,0,26.50,26.23,26.51,10.45,48.30
$GC,525,-0.95,-585.0,2034,2332,3177,4094,51.9,-10.7,70,535,0.00,0.85,0.00,0.000,1030,0.000,0.030,2034,1987,3178,3178,4094,0,0,0,0,0,0,26.35,26.32,26.37,10.41,46.96
$GC,573,-0.95,-585.0,2033,1986,3178,4094,57.1,-11.9,76,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1987,3178,3178,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.42,46.57
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,602,-0.45,0.0,2034,1942,3179,4094,60.3,-12.0,79,646,1.38,0.00,33.15,1.310,10244,0.031,0.000,2174,1942,2485,2485,4094,0,0,0,0,0,0,26.35,25.04,24.32,10.42,46.22
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,650,0.95,585.0,2174,1942,2485,4094,65.4,0.0,84,694,4.80,1.02,33.40,1.306,10500,0.037,0.034,2625,2332,1802,1802,4094,0,0,0,0,0,0,25.51,25.49,23.84,10.28,44.99
$GC,843,0.95,585.0,2625,2332,1797,4094,47.6,11.8,111,853,0.00,0.95,0.00,0.000,1030,0.000,0.029,2626,1959,1797,1797,4094,0,0,0,0,0,0,25.71,25.69,25.75,10.11,45.39
$GC,891,0.95,585.0,2625,1959,1797,4094,42.2,12.0,117,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1959,1796,1796,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.11,45.35
$GC,937,0.95,585.0,2625,1959,1795,4094,36.6,12.1,123,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1960,1795,1795,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.10,45.62
$GC,983,0.95,585.0,2625,1959,1794,4094,31.2,11.3,129,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1959,1794,1794,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.11,45.78
$GC,1027,0.95,585.0,2625,1958,1793,4094,26.1,11.4,135,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1959,1793,1793,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.10,46.25
$GC,1071,0.95,585.0,2625,1959,1792,4094,21.2,11.1,141,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1959,1791,1791,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.11,46.85
$GC,1116,0.95,585.0,2625,1959,1790,4094,16.3,10.9,147,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1959,1790,1790,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.14,47.28
$GC,1161,0.95,585.0,2625,1959,1789,4094,11.5,10.8,153,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1959,1789,1789,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.16,48.18
$GC,1206,0.95,585.0,2625,1959,1788,4094,6.6,11.0,159,1215,0.00,1.12,0.00,0.000,516,0.000,0.054,2625,1521,1788,1788,4095,0,0,0,0,0,0,26.36,26.06,26.36,10.18,49.96
$GC,1245,0.95,585.0,2625,1521,1787,4095,2.2,11.2,164,1254,0.00,0.88,0.00,0.000,1030,0.000,0.027,2625,1934,1786,1786,4094,0,0,0,0,0,0,26.21,26.20,26.21,10.19,50.66
$STATE,1261,end climb,FINISH_DEPTH_REACHED
$STATE,1261,begin subsurface finish
$FINISH1,0.1,1.023930,116
$GC,1268,0.17,116.4,2625,1935,1786,4094,0.1,11.0,166,1279,2.28,0.00,-4.90,0.000,20742,0.025,0.000,2401,1935,2354,2354,4094,0,0,0,0,0,0,26.20,25.18,26.16,10.20,51.14
$FINISH2,0.1
$STATE,1280,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1280,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,224518
$TT8_MAMPS,0.025466,0.238931
$HUMID,52.12
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.84,18.020
$10V_AH,10.20,21.986
$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,12.275,11.325,66.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.867,0.000,126.181,696.488,58.944,33.424,385.237,0.000,403.653,0.000,0.543,0.000
$DEVICE_MAMPS,36.720,1272.195,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.852,453.756,359.213,531.967,694.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,17626,167
$CAP_FILE_SIZE,29474,0
$CFSIZE,1024409600,986660864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,001759,6030.725,-17338.447,9,0.8,15,7.1,0.0,0.0,11,5.0