version: 66.13
glider: 401
mission: 22
dive: 670
start: 8 8 117 1 38 57
data:
$ID,401
$MISSION,22
$DIVE,670
$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,300
$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,38
$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
$GPS1,080817,013056,6031.4463,-17338.9941,2,0.8,14,7.1,0.0,319.9,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-40.9
$GPS2,080817,013748,6031.5122,-17339.0273,9,0.9,22,7.1,0.5,13.7,9,4.9
$SPEED_LIMITS,0.111,0.325
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.072859,7.557841
$KALMAN_X,60824.148438,-1491.704834,-520.660522,-242038.796875,-33.965118
$KALMAN_Y,34843.687500,1977.581421,310.594940,103955.648438,-137.982178
$MHEAD_RNG_PITCHd_Wd,353.5,23757,-0.7,-11.111,-0.84,57591
$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,-0.50,-292.5,229,1953,1761,4092,0.0,0.0,0,20,9.98,0.00,0.00,0.000,2049,0.099,0.000,1070,1953,1761,1761,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.28,50.31
$GC,22,-0.50,-292.5,1070,1953,1761,4094,0.8,0.0,1,50,11.80,1.15,-9.55,0.000,18692,0.044,1.270,2172,2369,2831,2831,4095,0,0,0,0,0,0,26.01,24.82,26.06,10.29,50.51
$GC,193,-0.50,-292.5,2171,2370,2832,4095,8.9,-7.5,25,202,0.00,1.05,0.00,0.000,1030,0.000,0.028,2172,1949,2833,2833,4095,0,0,0,0,0,0,26.13,26.11,26.17,10.52,49.52
$GC,239,-0.50,-292.5,2171,1949,2833,4095,12.5,-7.0,31,249,0.00,1.08,0.00,0.000,516,0.000,0.050,2172,1525,2833,2833,4095,0,0,0,0,0,0,26.37,26.07,26.39,10.51,49.09
$GC,331,-0.50,-292.5,2171,1524,2834,4095,19.1,-7.2,44,340,0.00,0.95,0.00,0.000,1030,0.000,0.024,2172,1965,2834,2834,4094,0,0,0,0,0,0,26.26,26.25,26.27,10.50,48.58
$GC,377,-0.50,-292.5,2171,1964,2835,4094,22.2,-6.7,50,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1965,2835,2835,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.48,47.91
$GC,422,-0.50,-292.5,2171,1964,2836,4095,25.4,-7.2,56,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1965,2836,2836,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.46,47.20
$GC,467,-0.50,-292.5,2171,1965,2837,4094,28.8,-7.7,62,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1965,2837,2837,4094,0,0,0,0,0,0,26.48,26.52,26.51,10.44,46.41
$GC,513,-0.50,-292.5,2171,1964,2837,4094,32.2,-7.7,68,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1965,2837,2837,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.42,46.06
$GC,558,-0.50,-292.5,2171,1964,2838,4094,35.8,-8.0,74,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1965,2838,2838,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.40,45.51
$GC,603,-0.50,-292.5,2171,1964,2838,4094,39.4,-8.1,80,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1965,2838,2838,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.39,44.60
$GC,648,-0.50,-292.5,2171,1964,2839,4095,43.0,-7.9,86,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1965,2839,2839,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.39,43.85
$GC,693,-0.50,-292.5,2171,1964,2840,4094,46.5,-8.0,92,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1965,2840,2840,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.38,43.69
$GC,738,-0.50,-292.5,2171,1964,2840,4094,50.0,-7.6,98,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1965,2841,2841,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.38,43.54
$GC,784,-0.50,-292.5,2171,1964,2841,4095,53.4,-7.3,104,793,0.00,0.98,0.00,0.000,260,0.000,0.038,2171,2347,2841,2841,4095,0,0,0,0,0,0,26.63,26.36,26.64,10.38,43.89
$STATE,879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,879,begin apogee
$GC,886,-0.45,0.0,2172,1946,2843,4094,60.5,-7.3,118,913,0.00,0.00,17.73,1.224,8196,0.000,0.000,2172,1946,2484,2484,4094,0,0,0,0,0,0,26.63,25.51,24.81,10.36,45.15
$STATE,914,end apogee,CONTROL_FINISHED_OK
$STATE,914,begin climb
$GC,916,0.50,292.5,2171,1946,2485,4094,62.6,0.0,121,944,3.30,0.00,17.25,1.218,11270,0.041,0.000,2481,1946,2145,2145,4095,0,0,0,0,0,0,25.95,26.17,24.42,10.29,44.17
$GC,982,3.44,2250.4,2480,1946,2144,4095,60.1,7.6,129,1096,9.98,1.12,96.78,1.124,10500,0.028,0.038,3434,2345,51,51,4094,0,0,0,0,0,0,25.73,24.63,23.90,10.21,43.97
$GC,1221,3.90,2558.0,3433,2344,47,4094,18.4,10.6,160,1230,1.40,0.93,0.00,0.000,3078,0.024,0.026,3574,1959,47,47,4094,0,0,0,0,0,0,25.55,25.53,25.56,9.80,44.60
$GC,1268,3.90,2558.0,3573,1958,44,4094,10.7,18.9,166,1276,0.00,1.10,0.00,0.000,516,0.000,0.059,3574,1545,43,43,4094,0,0,0,0,0,0,25.86,25.56,25.86,9.84,46.77
$STATE,1304,end climb,FINISH_DEPTH_REACHED
$STATE,1304,begin subsurface finish
$FINISH1,1.8,1.023934,116
$GC,1312,0.17,116.1,3574,1937,39,4094,1.8,22.4,171,1349,12.18,1.12,-19.33,0.000,20996,0.021,1.278,2410,1538,2355,2355,4094,0,0,0,0,0,0,25.75,24.59,25.77,9.86,48.38
$FINISH2,0.1
$STATE,1350,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1350,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,001139
$TT8_MAMPS,0.025466,0.252413
$HUMID,50.35
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.90,18.104
$10V_AH,10.19,22.043
$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,48.625,11.425,131.750,0.000,0.000,22.740,20.331,223.794,0.000,0.000,24.170,456.140,0.000,175.652,1008.458,143.629,33.450,482.966,0.000,424.766,0.000,0.544,0.000
$DEVICE_MAMPS,99.450,1277.550,1224.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.198,475.406,376.333,557.677,729.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,17817,175
$CAP_FILE_SIZE,34779,0
$CFSIZE,1024409600,986546176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080817,013748,6031.512,-17339.027,9,0.9,22,7.1,0.5,13.7,9,4.9