version: 66.13
glider: 401
mission: 22
dive: 669
start: 8 8 117 1 6 7
data:
$ID,401
$MISSION,22
$DIVE,669
$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,23
$R_STBD_OVSHOOT,66
$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
$GPS1,080817,001759,6030.7246,-17338.4473,9,0.8,15,7.1,0.0,0.0,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.1
$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,-0.003910,0.384382
$KALMAN_X,61224.246094,-1439.287842,-466.319489,-242003.578125,-142.167084
$KALMAN_Y,34759.074219,1684.984863,-8.295944,103256.648438,-1097.173096
$MHEAD_RNG_PITCHd_Wd,352.3,25219,-7.7,-8.333,-12.23,10334
$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,-1.58,-585.0,2400,1934,2354,4092,0.0,0.0,0,18,5.80,0.00,-2.12,0.000,20482,0.026,0.000,1832,1935,2588,2588,4094,0,0,0,0,0,0,26.25,28.83,26.29,10.36,52.59
$GC,21,-1.58,-585.0,1832,1935,2588,4094,0.0,0.0,1,34,0.00,1.08,-5.32,0.000,16644,0.000,1.280,1832,2335,3170,3170,4095,0,0,0,0,0,0,26.44,25.00,26.44,10.40,51.92
$GC,132,-1.58,-585.0,1831,2335,3172,4095,11.8,-13.0,19,138,0.00,0.98,0.00,0.000,1030,0.000,0.030,1832,1944,3173,3173,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.54,51.61
$GC,170,-1.58,-585.0,1831,1944,3173,4095,16.2,-11.7,25,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1944,3173,3173,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.53,51.89
$GC,208,-1.58,-585.0,1831,1944,3174,4095,20.5,-11.1,31,215,0.00,1.08,0.00,0.000,516,0.000,0.051,1832,1520,3174,3174,4095,0,0,0,0,0,0,26.45,26.15,26.46,10.52,51.26
$GC,252,-1.58,-585.0,1831,1520,3175,4095,25.3,-10.7,38,259,0.00,0.90,0.00,0.000,1030,0.000,0.025,1832,1920,3175,3175,4095,0,0,0,0,0,0,26.28,26.26,26.30,10.49,50.59
$GC,291,-1.58,-585.0,1831,1919,3175,4095,29.2,-9.9,44,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1920,3175,3175,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.47,50.63
$GC,329,-1.58,-585.0,1831,1920,3176,4094,33.0,-10.0,50,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1921,3175,3175,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.45,49.48
$GC,366,-1.58,-585.0,1831,1921,3177,4095,36.8,-10.6,56,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1921,3177,3177,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.44,48.66
$GC,404,-1.58,-585.0,1831,1921,3178,4094,40.9,-10.5,62,411,0.00,1.12,0.00,0.000,260,0.000,0.042,1832,2356,3178,3178,4095,0,0,0,0,0,0,26.54,26.26,26.55,10.43,48.42
$GC,448,-1.58,-585.0,1831,2356,3178,4095,45.6,-10.9,69,455,0.00,1.05,0.00,0.000,1030,0.000,0.029,1832,1931,3179,3179,4095,0,0,0,0,0,0,26.34,26.29,26.36,10.43,48.03
$GC,487,-1.58,-585.0,1831,1931,3179,4095,49.7,-10.5,75,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1931,3180,3180,4095,0,0,0,0,0,0,26.58,26.58,26.58,10.42,47.48
$GC,525,-1.58,-585.0,1831,1931,3180,4095,53.9,-10.9,81,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1931,3180,3180,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.41,47.04
$GC,563,-1.58,-585.0,1831,1931,3181,4095,58.0,-10.9,87,569,0.00,1.12,0.00,0.000,260,0.000,0.042,1832,2357,3181,3181,4095,0,0,0,0,0,0,26.60,26.32,26.61,10.40,46.88
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,588,-0.45,0.0,1831,1953,3181,4095,60.3,-10.8,90,630,3.75,0.00,33.03,1.291,10244,0.052,0.000,2185,1953,2484,2484,4094,0,0,0,0,0,0,26.32,25.34,24.37,10.40,47.28
$STATE,631,end apogee,CONTROL_FINISHED_OK
$STATE,631,begin climb
$GC,633,1.58,585.0,2185,1953,2484,4094,62.7,0.0,97,680,6.90,0.00,33.10,1.265,11270,0.035,0.000,2832,1953,1800,1800,4094,0,0,0,0,0,0,25.57,25.72,23.90,10.26,46.57
$GC,712,1.58,585.0,2832,1953,1799,4094,57.3,9.7,110,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1953,1799,1799,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.11,45.23
$GC,750,1.58,585.0,2832,1953,1798,4094,53.7,9.4,116,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1953,1798,1798,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.11,45.74
$GC,788,1.58,585.0,2832,1953,1797,4094,50.0,9.9,122,794,0.00,1.10,0.00,0.000,260,0.000,0.040,2833,2356,1797,1797,4094,0,0,0,0,0,0,25.83,25.57,25.84,10.10,45.78
$GC,874,1.58,585.0,2832,2356,1795,4094,41.7,9.9,136,881,0.00,1.02,0.00,0.000,1030,0.000,0.031,2833,1959,1795,1795,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.09,46.57
$GC,913,1.58,585.0,2832,1959,1795,4094,37.9,9.8,142,920,0.00,1.15,0.00,0.000,516,0.000,0.056,2833,1520,1794,1794,4094,0,0,0,0,0,0,26.08,25.77,26.09,10.10,46.96
$GC,953,1.58,585.0,2832,1520,1794,4094,34.1,9.9,148,960,0.00,1.02,0.00,0.000,1030,0.000,0.025,2833,1966,1794,1794,4094,0,0,0,0,0,0,25.95,25.93,26.00,10.09,46.77
$GC,991,1.58,585.0,2832,1966,1793,4094,30.3,9.7,154,998,0.00,1.02,0.00,0.000,260,0.000,0.042,2833,2357,1793,1793,4094,0,0,0,0,0,0,26.17,25.91,26.19,10.09,46.92
$GC,1060,1.58,585.0,2832,2356,1791,4094,23.7,9.5,165,1067,0.00,0.98,0.00,0.000,1030,0.000,0.031,2833,1972,1791,1791,4094,0,0,0,0,0,0,26.03,26.01,26.05,10.10,47.44
$GC,1099,1.58,585.0,2832,1972,1790,4094,20.0,9.9,171,1105,0.00,1.17,0.00,0.000,516,0.000,0.057,2833,1523,1790,1790,4094,0,0,0,0,0,0,26.28,25.97,26.29,10.10,48.11
$GC,1143,1.58,585.0,2832,1522,1789,4094,16.0,8.5,178,1150,0.00,1.05,0.00,0.000,1030,0.000,0.026,2833,1979,1789,1789,4095,0,0,0,0,0,0,26.13,26.11,26.15,10.12,48.85
$GC,1182,1.58,585.0,2832,1978,1788,4095,12.8,8.7,184,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1979,1788,1788,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.15,50.15
$GC,1219,1.58,585.0,2832,1978,1788,4094,9.4,9.0,190,1226,0.00,1.00,0.00,0.000,260,0.000,0.043,2832,2362,1788,1788,4094,0,0,0,0,0,0,26.37,26.10,26.39,10.16,50.63
$GC,1264,1.59,592.4,2832,2362,1787,4094,5.8,8.3,197,1270,0.00,0.98,0.00,0.000,1030,0.000,0.031,2833,1974,1786,1786,4094,0,0,0,0,0,0,26.17,26.16,26.21,10.18,51.22
$GC,1303,1.63,617.3,2833,1973,1786,4094,2.7,8.1,203,1310,0.00,1.17,2.83,0.230,8708,0.000,0.056,2833,1521,1762,1762,4094,0,0,0,0,0,0,26.43,26.08,25.44,10.19,51.53
$STATE,1315,end climb,SURFACE_DEPTH_REACHED
$STATE,1315,begin surface coast
$FINISH,0.1,1.002334
$STATE,1341,end surface coast,CONTROL_FINISHED_OK
$STATE,1341,begin surface
$SM_CCo,1439,0.00,0.000,0,0,1761,621.63
$SM_GC,0.82,27.10,1.02,0.00,0.022,0.026,0.000,229,1947,1761,-6.59,-2.00,621.63,0,0,0,0,0,0,26.15,26.20,26.21
$IRIDIUM_FIX,5952.82,-17420.78,070817,224518
$TT8_MAMPS,0.024717,0.10486
$HUMID,53.30
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.90,18.045
$10V_AH,10.45,21.999
$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,43.550,21.050,68.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,542.405,384.726,203.068,305.056,64.968,33.414,428.287,0.000,310.667,0.000,0.541,0.000
$DEVICE_MAMPS,52.020,1279.845,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,140.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,14309,209
$CAP_FILE_SIZE,39829,0
$CFSIZE,1024409600,986611712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,013056,6031.446,-17338.994,2,0.8,14,7.1,0.0,319.9,12,4.7