version: 66.13
glider: 401
mission: 22
dive: 698
start: 8 8 117 13 24 36
data:
$ID,401
$MISSION,22
$DIVE,698
$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,20
$R_STBD_OVSHOOT,45
$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
$GPS1,080817,125843,6036.6426,-17335.3984,6,0.9,19,7.1,0.0,0.0,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.9
$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,-0.107147,0.473061
$KALMAN_X,64835.414062,-534.299988,230.219788,-244331.015625,22.566559
$KALMAN_Y,-27449.064453,530.978210,306.398041,177237.812500,-108.097809
$MHEAD_RNG_PITCHd_Wd,340.1,14600,-9.2,-11.111,-12.90,10325
$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,-1.50,-438.8,2395,1951,2373,4092,0.0,0.0,0,20,5.50,0.00,-4.28,0.000,20482,0.026,0.000,1862,1951,2855,2855,4095,0,0,0,0,0,0,26.12,28.83,26.14,10.38,52.99
$GC,23,-1.50,-438.8,1862,1951,2855,4095,0.1,0.0,1,33,0.00,1.12,-1.33,0.000,16644,0.000,1.264,1861,2359,3001,3001,4095,0,0,0,0,0,0,26.33,24.88,26.34,10.50,52.75
$GC,288,-1.50,-438.8,1861,2359,3005,4095,22.7,-10.0,40,297,0.00,1.05,0.00,0.000,1030,0.000,0.029,1861,1936,3006,3006,4094,0,0,0,0,0,0,26.22,26.18,26.25,10.51,51.06
$GC,336,-1.50,-438.8,1861,1936,3007,4094,27.3,-9.7,46,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1937,3007,3007,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.50,51.33
$GC,382,-1.50,-438.8,1861,1936,3007,4094,31.9,-10.0,52,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1936,3007,3007,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.47,50.03
$GC,427,-1.50,-438.8,1861,1936,3008,4095,36.3,-9.5,58,436,0.00,1.12,0.00,0.000,260,0.000,0.041,1862,2361,3008,3008,4094,0,0,0,0,0,0,26.51,26.23,26.53,10.46,50.00
$GC,460,-1.50,-438.8,1861,2361,3009,4094,39.6,-9.9,62,469,0.00,1.02,0.00,0.000,1030,0.000,0.028,1862,1945,3009,3009,4095,0,0,0,0,0,0,26.29,26.27,26.33,10.44,48.54
$GC,506,-1.50,-438.8,1861,1945,3009,4095,44.2,-9.6,68,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1945,3010,3010,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.43,48.07
$GC,552,-1.50,-438.8,1861,1945,3010,4094,48.7,-9.7,74,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,1945,3010,3010,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,47.16
$GC,597,-1.50,-438.8,1861,1945,3012,4095,53.0,-9.4,80,607,0.00,1.10,0.00,0.000,260,0.000,0.040,1862,2362,3012,3012,4094,0,0,0,0,0,0,26.58,26.31,26.60,10.41,47.28
$GC,631,-1.50,-438.8,1861,2361,3012,4094,56.3,-9.6,84,640,0.00,1.00,0.00,0.000,1030,0.000,0.028,1862,1955,3012,3012,4094,0,0,0,0,0,0,26.37,26.34,26.39,10.40,46.57
$STATE,668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,668,begin apogee
$GC,674,-0.45,0.0,1862,1955,3013,4094,60.1,-9.6,89,709,3.47,0.00,25.55,1.253,10244,0.054,0.000,2184,1955,2484,2484,4095,0,0,0,0,0,0,26.33,25.27,24.56,10.39,46.81
$STATE,710,end apogee,CONTROL_FINISHED_OK
$STATE,710,begin climb
$GC,713,1.50,438.8,2184,1955,2484,4095,62.4,0.0,93,749,6.57,0.00,25.20,1.234,11270,0.036,0.000,2804,1955,1972,1972,4094,0,0,0,0,0,0,25.76,25.93,24.13,10.29,46.22
$GC,788,1.63,524.6,2802,1955,1970,4094,57.6,10.3,102,799,0.35,1.12,6.45,0.894,10500,0.037,0.037,2844,2367,1871,1871,4094,0,0,0,0,0,0,25.51,25.27,24.30,10.17,44.76
$GC,842,1.63,524.6,2844,2366,1870,4094,51.5,11.3,109,851,0.00,1.02,0.00,0.000,1030,0.000,0.030,2844,1969,1870,1870,4094,0,0,0,0,0,0,25.64,25.58,25.63,10.15,45.47
$GC,888,1.63,524.6,2843,1969,1869,4094,46.3,11.7,115,897,0.00,1.17,0.00,0.000,516,0.000,0.057,2844,1524,1869,1869,4094,0,0,0,0,0,0,25.95,25.65,25.96,10.14,45.74
$GC,921,1.63,524.6,2844,1524,1869,4094,42.3,12.1,119,930,0.00,1.02,0.00,0.000,1030,0.000,0.024,2844,1966,1869,1869,4094,0,0,0,0,0,0,25.83,25.82,25.85,10.13,45.58
$GC,968,1.65,537.5,2844,1965,1867,4094,37.0,11.0,125,978,0.00,1.05,2.28,0.150,8452,0.000,0.040,2844,2367,1859,1859,4094,0,0,0,0,0,0,26.10,25.46,24.83,10.13,46.18
$GC,1054,1.65,537.5,2843,2366,1857,4094,26.9,11.7,137,1063,0.00,1.00,0.00,0.000,1030,0.000,0.029,2844,1972,1857,1857,4094,0,0,0,0,0,0,26.00,25.97,26.02,10.15,47.40
$GC,1100,1.70,571.9,2843,1971,1856,4094,21.9,10.8,143,1111,0.15,1.12,3.62,0.430,10756,0.058,0.052,2870,1519,1816,1816,4094,0,0,0,0,0,0,26.06,25.63,25.09,10.17,47.79
$GC,1149,1.76,614.6,2869,1519,1815,4094,16.9,10.7,149,1160,0.08,1.10,3.90,0.428,11270,0.057,0.025,2883,1989,1767,1767,4094,0,0,0,0,0,0,26.01,26.07,25.15,10.17,49.56
$GC,1198,1.86,682.1,2882,1989,1765,4094,11.8,10.4,155,1210,0.30,1.00,5.18,0.500,10500,0.047,0.041,2919,2372,1688,1688,4094,0,0,0,0,0,0,26.06,25.89,25.20,10.17,49.88
$GC,1247,1.86,682.1,2918,2371,1686,4094,6.5,11.1,161,1257,0.00,0.95,0.00,0.000,1030,0.000,0.029,2919,1990,1686,1686,4094,0,0,0,0,0,0,26.08,26.04,26.13,10.17,50.78
$STATE,1293,end climb,FINISH_DEPTH_REACHED
$STATE,1293,begin subsurface finish
$FINISH1,1.8,1.024116,103
$GC,1301,0.16,103.4,2919,1951,1685,4094,1.8,9.9,167,1319,5.55,1.10,-5.88,0.000,20996,0.042,1.271,2392,1522,2368,2368,4094,0,0,0,0,0,0,26.10,24.86,26.15,10.20,51.10
$FINISH2,0.2
$STATE,1320,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1321,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,124949
$TT8_MAMPS,0.026215,0.249417
$HUMID,51.61
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,24.13,18.916
$10V_AH,10.20,22.754
$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,21.975,19.250,72.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,485.574,0.000,126.783,708.307,61.626,33.430,389.699,0.000,410.753,0.000,0.543,0.000
$DEVICE_MAMPS,58.140,1271.430,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.333,459.124,363.492,538.977,705.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,17874,169
$CAP_FILE_SIZE,34416,0
$CFSIZE,1024409600,985169920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,125843,6036.643,-17335.398,6,0.9,19,7.1,0.0,0.0,11,4.9