version: 66.13
glider: 401
mission: 22
dive: 716
start: 8 8 117 20 9 38
data:
$ID,401
$MISSION,22
$DIVE,716
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,080817,194930,6040.4131,-17334.9395,6,1.0,18,7.1,0.4,105.7,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-3.2
$GPS2,080817,194930,6040.4131,-17334.9395,6,1.0,18,7.1,0.4,105.7,9,4.7
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.187703,0.345356
$KALMAN_X,67541.031250,-238.640335,240.092010,-246908.109375,82.788010
$KALMAN_Y,-27753.097656,1154.391357,805.662842,183402.734375,0.266418
$MHEAD_RNG_PITCHd_Wd,324.4,45581,-12.6,-11.111,-15.78,6213
$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,-1.80,-438.8,2392,1936,2366,4092,0.0,0.0,0,21,6.35,0.00,-3.80,0.000,20482,0.024,0.000,1764,1941,2785,2785,4094,0,0,0,0,0,0,26.16,28.83,26.21,10.34,52.16
$GC,24,-1.80,-438.8,1764,1941,2785,4094,0.2,0.0,1,34,0.00,1.15,-1.95,0.000,16644,0.000,1.271,1764,2356,2997,2997,4094,0,0,0,0,0,0,26.37,24.91,26.36,10.43,51.73
$GC,122,-1.80,-438.8,1763,2356,2999,4094,9.6,-15.2,15,132,0.00,1.02,0.00,0.000,1030,0.000,0.030,1764,1945,2999,2999,4095,0,0,0,0,0,0,26.08,26.07,26.13,10.47,52.12
$GC,168,-1.80,-438.8,1763,1945,3000,4095,15.7,-13.4,21,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1945,3001,3001,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.44,51.14
$GC,213,-1.80,-438.8,1763,1945,3002,4095,22.1,-14.5,27,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1945,3001,3001,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.43,50.98
$GC,258,-1.80,-438.8,1763,1945,3003,4095,28.7,-14.8,33,268,0.00,1.08,0.00,0.000,516,0.000,0.049,1764,1520,3003,3003,4094,0,0,0,0,0,0,26.43,26.13,26.44,10.41,49.84
$GC,310,-1.80,-438.8,1763,1520,3003,4094,36.4,-14.9,40,320,0.00,0.95,0.00,0.000,1030,0.000,0.027,1764,1930,3005,3005,4094,0,0,0,0,0,0,26.26,26.23,26.27,10.41,49.01
$GC,358,-1.80,-438.8,1763,1930,3006,4094,43.2,-14.9,46,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1930,3006,3006,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.39,49.37
$GC,404,-1.80,-438.8,1763,1930,3007,4094,49.6,-13.2,52,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1930,3007,3007,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.40,48.11
$GC,451,-1.80,-438.8,1763,1930,3008,4094,55.8,-13.6,58,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1930,3008,3008,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,47.67
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,485,-0.45,0.0,1764,1930,3009,4095,60.2,-13.8,62,521,4.53,0.00,25.48,1.278,10244,0.060,0.000,2186,1930,2483,2483,4094,0,0,0,0,0,0,26.24,25.46,24.46,10.38,47.51
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,525,1.80,438.8,2185,1930,2484,4094,63.1,0.0,66,567,7.53,0.00,25.17,1.255,11270,0.034,0.000,2900,1933,1973,1973,4094,0,0,0,0,0,0,25.69,25.84,24.05,10.26,46.81
$GC,605,1.80,438.8,2900,1932,1972,4094,56.1,13.4,76,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1933,1972,1972,4094,0,0,0,0,0,0,25.68,25.69,25.69,10.15,45.55
$GC,650,1.80,438.8,2900,1932,1971,4094,50.0,13.4,82,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1933,1971,1971,4095,0,0,0,0,0,0,25.84,25.85,25.85,10.14,45.51
$GC,695,1.80,438.8,2900,1932,1970,4095,43.9,13.6,88,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1932,1969,1969,4094,0,0,0,0,0,0,25.96,25.96,25.96,10.14,46.02
$GC,739,1.80,438.8,2900,1932,1968,4094,38.3,12.3,94,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1933,1968,1968,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.14,46.85
$GC,784,1.80,438.8,2900,1933,1967,4094,32.6,12.6,100,794,0.00,1.15,0.00,0.000,260,0.000,0.041,2901,2366,1967,1967,4094,0,0,0,0,0,0,26.11,25.83,26.12,10.14,46.33
$GC,845,1.80,438.8,2900,2365,1966,4094,25.2,12.9,108,853,0.00,1.10,0.00,0.000,1030,0.000,0.031,2900,1938,1965,1965,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.14,47.16
$GC,891,1.80,438.8,2900,1937,1964,4094,19.4,12.7,114,901,0.00,1.08,0.00,0.000,516,0.000,0.057,2901,1523,1964,1964,4094,0,0,0,0,0,0,26.24,25.90,26.25,10.15,47.48
$GC,943,1.80,438.8,2900,1522,1962,4094,12.4,13.0,121,952,0.00,0.98,0.00,0.000,1030,0.000,0.024,2901,1950,1962,1962,4094,0,0,0,0,0,0,26.09,26.08,26.11,10.15,48.70
$GC,988,1.80,438.8,2900,1950,1960,4094,6.5,13.2,127,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1951,1960,1960,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.17,48.50
$STATE,1025,end climb,FINISH_DEPTH_REACHED
$STATE,1025,begin subsurface finish
$FINISH1,1.7,1.024049,108
$GC,1032,0.16,108.1,2900,1953,1958,4094,1.7,12.1,132,1050,5.25,0.00,-3.50,0.000,20486,0.038,0.000,2391,1957,2361,2361,4094,0,0,0,0,0,0,26.14,25.57,26.18,10.20,49.84
$FINISH2,0.2
$STATE,1051,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1051,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,183929
$TT8_MAMPS,0.025466,0.253162
$HUMID,50.11
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.05,19.332
$10V_AH,10.18,23.155
$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,23.650,9.500,50.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.052,0.000,122.252,556.127,54.518,33.427,353.177,0.000,327.833,0.000,0.543,0.000
$DEVICE_MAMPS,60.435,1271.430,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.966,363.960,288.293,427.103,553.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,14362,134
$CAP_FILE_SIZE,26512,0
$CFSIZE,1024409600,984317952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,194930,6040.413,-17334.939,6,1.0,18,7.1,0.4,105.7,9,4.7