version: 66.13
glider: 401
mission: 22
dive: 693
start: 8 8 117 11 6 45
data:
$ID,401
$MISSION,22
$DIVE,693
$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,37
$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
$GPS1,080817,102505,6036.3999,-17335.3945,6,0.8,16,7.1,0.0,218.4,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-6.2
$GPS2,080817,102505,6036.3999,-17335.3945,6,0.8,16,7.1,0.0,218.4,9,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.136516,0.447656
$KALMAN_X,64371.070312,-607.729065,260.187744,-243818.531250,78.756897
$KALMAN_Y,-26102.730469,603.291687,414.770569,175260.312500,-177.482239
$MHEAD_RNG_PITCHd_Wd,335.9,15040,-9.8,-11.111,-13.36,9460
$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,-1.55,-438.8,2387,1944,2372,4092,0.0,0.0,0,18,5.55,0.00,-2.22,0.000,20482,0.024,0.000,1843,1944,2618,2618,4095,0,0,0,0,0,0,26.13,28.83,26.17,10.38,51.73
$GC,21,-1.55,-438.8,1843,1944,2618,4095,0.1,0.0,1,29,0.00,1.17,-3.45,0.000,16644,0.000,1.260,1843,2369,3002,3002,4094,0,0,0,0,0,0,26.33,24.89,26.34,10.43,52.08
$GC,259,-1.55,-438.8,1841,2370,3006,4094,22.3,-10.4,40,266,0.00,1.05,0.00,0.000,1030,0.000,0.029,1843,1945,3006,3006,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.50,51.02
$GC,298,-1.55,-438.8,1842,1945,3007,4095,26.2,-10.0,46,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3007,3007,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.49,51.57
$GC,336,-1.55,-438.8,1842,1945,3007,4094,30.2,-10.2,52,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3007,3007,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.47,50.27
$GC,374,-1.55,-438.8,1842,1945,3008,4094,34.1,-10.2,58,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3008,3008,4093,0,0,0,0,0,0,26.53,26.55,26.55,10.45,49.84
$GC,413,-1.55,-438.8,1842,1945,3008,4093,38.1,-10.2,64,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3009,3009,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.43,48.62
$GC,451,-1.55,-438.8,1842,1945,3010,4094,41.9,-10.4,70,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1944,3010,3010,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,48.93
$GC,489,-1.55,-438.8,1842,1945,3010,4094,45.7,-10.1,76,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3010,3010,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.42,47.79
$GC,527,-1.55,-438.8,1843,1945,3011,4095,49.5,-10.2,82,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3011,3011,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.40,47.51
$GC,565,-1.55,-438.8,1842,1944,3012,4095,53.2,-9.7,88,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3012,3012,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.40,47.12
$GC,603,-1.55,-438.8,1843,1944,3013,4095,57.1,-10.1,94,609,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,1945,3013,3013,4095,0,0,0,0,0,0,26.63,26.63,26.64,10.39,47.28
$STATE,632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,633,begin apogee
$GC,639,-0.45,0.0,1843,1945,3013,4095,60.5,-10.1,99,674,3.65,0.00,25.45,1.259,10244,0.054,0.000,2186,1944,2482,2482,4094,0,0,0,0,0,0,26.34,25.29,24.58,10.38,46.92
$STATE,675,end apogee,CONTROL_FINISHED_OK
$STATE,675,begin climb
$GC,678,1.55,438.8,2186,1944,2483,4094,62.6,0.0,105,714,6.68,0.00,24.95,1.235,11270,0.035,0.000,2817,1944,1972,1972,4094,0,0,0,0,0,0,25.77,25.95,24.13,10.28,46.85
$GC,746,1.75,573.6,2816,1943,1971,4094,57.8,9.6,116,760,0.60,0.00,9.05,1.007,10246,0.030,0.000,2885,1944,1814,1814,4094,0,0,0,0,0,0,25.51,25.15,24.24,10.17,45.55
$GC,792,1.75,573.6,2884,1944,1813,4094,52.4,12.7,123,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1944,1814,1814,4095,0,0,0,0,0,0,25.72,25.74,25.74,10.12,46.18
$GC,830,1.75,573.6,2884,1944,1813,4095,47.5,13.2,129,836,0.00,1.15,0.00,0.000,260,0.000,0.041,2885,2365,1813,1813,4094,0,0,0,0,0,0,25.86,25.60,25.87,10.12,46.22
$GC,910,1.75,573.6,2884,2365,1810,4094,37.2,12.6,142,917,0.00,1.02,0.00,0.000,1030,0.000,0.029,2885,1964,1810,1810,4095,0,0,0,0,0,0,25.84,25.80,25.86,10.12,46.81
$GC,949,1.75,573.6,2885,1963,1809,4095,32.4,12.5,148,955,0.00,1.15,0.00,0.000,516,0.000,0.054,2885,1523,1809,1809,4094,0,0,0,0,0,0,26.11,25.82,26.12,10.12,47.51
$GC,993,1.75,573.6,2884,1523,1808,4094,27.0,12.0,155,1000,0.00,1.00,0.00,0.000,1030,0.000,0.025,2885,1960,1808,1808,4094,0,0,0,0,0,0,25.98,25.96,26.00,10.12,47.24
$GC,1032,1.75,573.6,2884,1959,1807,4094,22.5,11.5,161,1039,0.00,1.05,0.00,0.000,260,0.000,0.042,2885,2358,1807,1807,4094,0,0,0,0,0,0,26.22,25.94,26.23,10.15,48.14
$GC,1095,1.75,573.6,2884,2357,1805,4094,15.3,11.2,171,1101,0.00,1.00,0.00,0.000,1030,0.000,0.030,2885,1964,1805,1805,4094,0,0,0,0,0,0,26.07,26.04,26.08,10.18,49.64
$GC,1133,1.75,573.6,2884,1964,1804,4094,10.9,11.2,177,1140,0.00,1.15,0.00,0.000,516,0.000,0.054,2885,1522,1804,1804,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.19,50.82
$GC,1178,2.16,848.6,2884,1521,1803,4095,6.7,8.1,184,1203,1.27,1.02,14.80,0.646,11270,0.029,0.026,3014,1973,1493,1493,4094,0,0,0,0,0,0,26.12,26.15,25.18,10.21,51.41
$STATE,1220,end climb,SURFACE_DEPTH_REACHED
$STATE,1221,begin surface coast
$FINISH,0.3,1.024166
$STATE,1236,end surface coast,CONTROL_FINISHED_OK
$STATE,1236,begin surface
$SM_CCo,1335,0.00,0.000,0,0,1491,853.45
$SM_GC,0.63,29.02,0.00,0.00,0.021,0.000,0.000,237,1974,1491,-6.55,1.18,853.45,0,0,0,0,0,0,26.03,26.23,26.06
$IRIDIUM_FIX,5952.82,-17420.78,080817,090913
$TT8_MAMPS,0.025466,0.102613
$HUMID,52.48
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.13,18.776
$10V_AH,10.46,22.602
$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,46.775,10.775,74.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,504.967,372.187,182.559,280.573,59.284,33.415,384.362,0.000,288.037,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1259.955,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,129.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,14262,193
$CAP_FILE_SIZE,34539,0
$CFSIZE,1024409600,985432064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,113001,6036.613,-17335.398,4,0.7,25,7.1,0.2,223.7,11,4.4