version: 66.13
glider: 401
mission: 22
dive: 667
start: 8 8 117 0 19 7
data:
$ID,401
$MISSION,22
$DIVE,667
$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,13
$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
$GPS1,080817,000804,6030.6562,-17338.3594,4,0.9,38,7.1,0.4,20.7,10,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-38.2
$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,0.051476,2.273557
$KALMAN_X,61396.222656,-1424.345703,-451.347382,-242190.281250,-127.658691
$KALMAN_Y,38529.773438,2065.980713,273.078094,98780.351562,-94.108261
$MHEAD_RNG_PITCHd_Wd,354.2,25219,-0.8,-8.333,-2.10,39413
$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,-585.0,231,1964,1786,4092,0.0,0.0,0,18,8.05,0.00,0.00,0.000,2049,0.094,0.000,913,1965,1786,1786,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.29,50.03
$GC,21,-0.95,-585.0,913,1964,1786,4094,0.7,0.0,1,52,11.93,1.00,-12.50,0.000,18692,0.043,1.265,2030,2335,3170,3170,4095,0,0,0,0,0,0,25.98,24.77,26.01,10.30,50.11
$GC,281,-0.95,-585.0,2029,2334,3175,4095,23.7,-11.0,44,288,0.00,1.00,0.00,0.000,1030,0.000,0.029,2030,1933,3174,3174,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.56,48.38
$GC,320,-0.95,-585.0,2029,1932,3175,4095,27.8,-10.7,50,327,0.00,1.02,0.00,0.000,260,0.000,0.034,2030,2328,3175,3175,4095,0,0,0,0,0,0,26.41,26.15,26.42,10.53,47.71
$GC,556,-0.95,-585.0,2030,2328,3180,4095,55.1,-11.2,89,563,0.00,0.85,0.00,0.000,1030,0.000,0.028,2030,1981,3180,3180,4094,0,0,0,0,0,0,26.34,26.32,26.36,10.45,45.07
$GC,595,-0.95,-585.0,2030,1981,3181,4094,59.5,-11.3,95,602,0.00,0.90,0.00,0.000,260,0.000,0.037,2030,2330,3181,3181,4095,0,0,0,0,0,0,26.55,26.29,26.57,10.45,44.56
$STATE,608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,608,begin apogee
$GC,615,-0.45,0.0,2030,1945,3181,4094,61.0,-11.3,97,656,1.42,0.00,33.20,1.317,10244,0.033,0.000,2174,1945,2484,2484,4095,0,0,0,0,0,0,26.33,25.01,24.30,10.44,44.48
$STATE,657,end apogee,CONTROL_FINISHED_OK
$STATE,657,begin climb
$GC,660,0.95,585.0,2174,1944,2484,4095,65.6,0.0,104,702,4.82,0.00,33.15,1.299,11270,0.038,0.000,2626,1945,1803,1803,4094,0,0,0,0,0,0,25.49,25.67,23.84,10.30,43.97
$GC,734,0.95,585.0,2625,1944,1802,4094,61.2,9.2,116,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1945,1802,1802,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.15,43.34
$GC,771,0.95,585.0,2625,1944,1801,4094,57.1,11.5,122,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1945,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.14,43.34
$GC,809,0.95,585.0,2625,1944,1800,4094,52.7,11.7,128,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1945,1800,1800,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.13,43.58
$GC,847,0.95,585.0,2625,1944,1799,4094,48.4,11.1,134,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1945,1798,1798,4095,0,0,0,0,0,0,25.90,25.91,25.91,10.13,43.93
$GC,884,0.95,585.0,2625,1944,1798,4095,44.2,10.9,140,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1945,1797,1797,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.13,44.44
$GC,922,0.95,585.0,2625,1944,1796,4094,40.0,11.4,146,929,0.00,1.02,0.00,0.000,260,0.000,0.037,2626,2330,1796,1796,4095,0,0,0,0,0,0,26.05,25.78,26.06,10.12,44.80
$GC,1003,0.95,585.0,2625,2330,1794,4095,30.8,11.4,159,1009,0.00,0.85,0.00,0.000,1030,0.000,0.028,2626,1987,1794,1794,4094,0,0,0,0,0,0,25.96,25.92,25.97,10.12,45.55
$GC,1041,0.95,585.0,2625,1987,1793,4094,26.3,11.5,165,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1988,1793,1793,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,45.58
$GC,1079,0.95,585.0,2625,1987,1792,4094,22.0,11.4,171,1085,0.00,0.90,0.00,0.000,260,0.000,0.041,2625,2327,1792,1792,4094,0,0,0,0,0,0,26.24,25.97,26.25,10.13,46.25
$STATE,1265,end climb,FINISH_DEPTH_REACHED
$STATE,1265,begin subsurface finish
$FINISH1,1.3,1.023733,130
$GC,1273,0.20,130.2,2625,1946,1786,4094,1.3,11.0,202,1286,2.05,0.00,-4.72,0.000,20486,0.027,0.000,2415,1946,2335,2335,4095,0,0,0,0,0,0,26.19,25.63,26.22,10.21,51.22
$FINISH2,0.2
$STATE,1287,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1287,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,224518
$TT8_MAMPS,0.025466,0.158788
$HUMID,51.73
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.84,17.996
$10V_AH,10.39,21.949
$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,28.275,9.550,66.350,0.000,0.000,57.061,20.958,315.986,0.000,0.000,17.076,518.426,396.688,144.946,696.203,145.379,33.453,345.606,0.000,305.074,0.000,0.542,0.000
$DEVICE_MAMPS,94.095,1265.310,1316.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329356
$DATA_FILE_SIZE,14298,204
$CAP_FILE_SIZE,33970,0
$CFSIZE,1024409600,986710016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080817,001759,6030.725,-17338.447,9,0.8,15,7.1,0.0,0.0,11,5.0