version: 66.13
glider: 401
mission: 22
dive: 655
start: 8 7 117 18 24 3
data:
$ID,401
$MISSION,22
$DIVE,655
$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,28
$R_STBD_OVSHOOT,56
$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
$GPS1,070817,181432,6030.0762,-17335.0020,3,0.8,18,7.1,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-46.6
$GPS2,070817,182255,6030.0688,-17335.0566,9,0.8,36,7.1,0.0,250.2,11,4.1
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.053288,0.254861
$KALMAN_X,63776.070312,-1324.819580,-199.003098,-241722.937500,33.218445
$KALMAN_Y,41905.949219,2620.951660,691.615601,93212.343750,-49.366333
$MHEAD_RNG_PITCHd_Wd,341.1,26656,-14.3,-8.333,-17.75,4041
$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,6,begin dive
$GC,8,-1.63,-223.4,229,1943,1971,4092,0.0,0.0,0,21,10.18,0.00,0.00,0.000,2049,0.106,0.000,1077,1944,1971,1971,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.30,49.37
$GC,23,-1.63,-223.4,1076,1943,1971,4094,0.9,0.0,1,43,7.95,1.15,-7.10,0.000,18692,0.051,1.271,1811,2355,2751,2751,4094,0,0,0,0,0,0,25.98,24.79,26.05,10.30,49.60
$GC,237,-1.63,-223.4,1810,2355,2755,4094,21.5,-11.0,32,247,0.00,1.00,0.00,0.000,1030,0.000,0.029,1811,1949,2755,2755,4094,0,0,0,0,0,0,26.17,26.17,26.19,10.46,48.34
$GC,283,-1.63,-223.4,1811,1949,2756,4094,26.3,-10.8,38,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1949,2756,2756,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.42,47.71
$GC,328,-1.63,-223.4,1811,1949,2757,4094,31.3,-11.0,44,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1949,2757,2757,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.40,46.73
$GC,374,-1.63,-223.4,1811,1949,2758,4094,36.2,-10.8,50,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1949,2758,2758,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.39,45.66
$GC,419,-1.63,-223.4,1810,1949,2759,4094,41.0,-10.1,56,429,0.00,1.08,0.00,0.000,516,0.000,0.050,1811,1522,2759,2759,4094,0,0,0,0,0,0,26.49,26.19,26.51,10.38,45.43
$STATE,587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,587,begin apogee
$GC,595,-0.45,0.0,1811,1942,2763,4095,60.0,-11.6,81,622,4.10,0.00,14.32,1.204,10244,0.062,0.000,2186,1944,2484,2484,4094,0,0,0,0,0,0,26.27,25.51,24.75,10.35,43.97
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,626,1.63,223.4,2186,1944,2483,4094,62.7,0.0,84,653,6.95,0.00,13.70,1.190,11270,0.034,0.000,2853,1945,2221,2221,4095,0,0,0,0,0,0,26.01,26.18,24.49,10.29,44.01
$GC,691,1.63,223.4,2852,1945,2221,4095,58.5,10.1,92,701,0.00,1.10,0.00,0.000,260,0.000,0.037,2853,2362,2221,2221,4094,0,0,0,0,0,0,26.00,25.74,26.01,10.22,43.81
$GC,743,1.63,223.4,2852,2362,2220,4094,53.2,10.3,99,753,0.00,1.00,0.00,0.000,1030,0.000,0.030,2853,1971,2220,2220,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.22,44.32
$GC,790,1.63,223.4,2852,1971,2219,4094,48.4,10.7,105,800,0.00,1.20,0.00,0.000,516,0.000,0.055,2853,1514,2219,2219,4094,0,0,0,0,0,0,26.17,25.86,26.18,10.21,44.05
$GC,914,1.63,223.4,2852,1513,2216,4094,35.0,10.7,123,923,0.00,0.98,0.00,0.000,1030,0.000,0.024,2853,1951,2216,2216,4094,0,0,0,0,0,0,26.12,26.11,26.14,10.20,45.35
$GC,960,1.63,223.4,2853,1950,2215,4094,30.3,10.5,129,969,0.00,1.02,0.00,0.000,260,0.000,0.038,2853,2347,2215,2215,4094,0,0,0,0,0,0,26.34,26.09,26.35,10.21,45.78
$GC,1044,1.63,223.4,2852,2347,2213,4094,22.0,9.8,141,1053,0.00,1.02,0.00,0.000,1030,0.000,0.032,2853,1945,2213,2213,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.22,46.65
$GC,1091,1.63,223.4,2852,1945,2212,4095,17.7,9.4,147,1100,0.00,1.10,0.00,0.000,516,0.000,0.057,2853,1520,2212,2212,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.24,47.08
$GC,1195,1.63,223.4,2853,1520,2210,4094,8.5,8.3,162,1204,0.00,0.93,0.00,0.000,1030,0.000,0.026,2853,1945,2210,2210,4094,0,0,0,0,0,0,26.32,26.29,26.33,10.28,49.68
$GC,1242,1.64,228.0,2852,1946,2209,4094,4.9,8.2,168,1252,0.00,1.02,0.00,0.000,260,0.000,0.039,2853,2344,2209,2209,4094,0,0,0,0,0,0,26.51,26.24,26.53,10.29,50.23
$STATE,1275,end climb,FINISH_DEPTH_REACHED
$STATE,1275,begin subsurface finish
$FINISH1,1.7,1.024172,99
$GC,1283,0.15,99.5,2853,1943,2209,4094,1.7,9.2,172,1294,5.07,1.12,-1.48,0.000,20740,0.071,1.285,2394,2348,2375,2375,4094,0,0,0,0,0,0,26.25,25.04,26.32,10.30,50.39
$FINISH2,0.3
$STATE,1295,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1296,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,165115
$TT8_MAMPS,0.026215,0.208971
$HUMID,50.35
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,24.49,17.641
$10V_AH,10.24,21.532
$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,34.250,15.750,28.025,0.000,0.000,22.297,20.713,292.607,0.000,0.000,38.114,486.131,1.385,100.023,1087.581,143.483,33.453,340.230,0.000,262.205,0.000,0.543,0.000
$DEVICE_MAMPS,105.570,1285.200,1204.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.761,470.053,0.000,551.682,721.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,17846,173
$CAP_FILE_SIZE,33356,0
$CFSIZE,1024409600,987283456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070817,182255,6030.069,-17335.057,9,0.8,36,7.1,0.0,250.2,11,4.1