version: 66.13
glider: 401
mission: 22
dive: 671
start: 8 8 117 2 3 38
data:
$ID,401
$MISSION,22
$DIVE,671
$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,45
$R_STBD_OVSHOOT,50
$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
$GPS1,080817,013748,6031.5122,-17339.0273,9,0.9,22,7.1,0.5,13.7,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.7
$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,0.002509,0.324948
$KALMAN_X,60750.273438,-1495.130493,-517.027100,-241970.015625,-47.994690
$KALMAN_Y,31210.939453,555.592407,-1020.986450,110557.882812,-449.731812
$MHEAD_RNG_PITCHd_Wd,353.3,23757,-16.0,-11.111,-18.88,3989
$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,-1.90,-292.5,2410,1954,2355,4092,0.0,0.0,0,18,7.00,0.00,-0.62,0.000,20482,0.025,0.000,1732,1954,2424,2424,4094,0,0,0,0,0,0,25.94,28.83,25.98,10.38,51.49
$GC,21,-1.90,-292.5,1731,1955,2424,4094,0.0,0.0,1,29,0.00,1.12,-3.62,0.000,16644,0.000,1.265,1731,2361,2830,2830,4095,0,0,0,0,0,0,26.14,24.75,26.15,10.38,51.14
$GC,145,-1.90,-292.5,1731,2362,2833,4095,15.0,-14.8,21,152,0.00,1.00,0.00,0.000,1030,0.000,0.029,1731,1961,2834,2834,4095,0,0,0,0,0,0,26.03,25.99,26.05,10.48,50.47
$GC,184,-1.90,-292.5,1731,1961,2834,4095,20.4,-14.0,27,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,1961,2834,2834,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.46,50.39
$GC,221,-1.90,-292.5,1731,1961,2836,4095,25.8,-13.8,33,228,0.00,1.10,0.00,0.000,516,0.000,0.050,1731,1528,2836,2836,4095,0,0,0,0,0,0,26.32,26.03,26.32,10.43,50.51
$GC,290,-1.90,-292.5,1731,1527,2837,4095,35.2,-14.0,44,296,0.00,0.90,0.00,0.000,1030,0.000,0.025,1731,1925,2838,2838,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.39,48.97
$GC,328,-1.90,-292.5,1731,1925,2838,4094,40.7,-14.0,50,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,1925,2839,2839,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,48.46
$GC,366,-1.90,-292.5,1730,1925,2839,4095,46.1,-14.6,56,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,1925,2840,2840,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.38,47.95
$GC,404,-1.90,-292.5,1731,1925,2841,4094,51.2,-13.3,62,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,1925,2840,2840,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.38,46.92
$GC,441,-1.90,-292.5,1731,1926,2841,4094,56.5,-14.3,68,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,1926,2842,2842,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,46.88
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,470,-0.45,0.0,1731,1926,2842,4095,60.4,-14.6,72,500,4.95,0.00,17.77,1.217,10244,0.064,0.000,2184,1926,2484,2484,4094,0,0,0,0,0,0,26.16,25.61,24.62,10.36,46.45
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,504,1.90,292.5,2184,1926,2484,4094,63.0,0.0,77,534,7.85,0.00,17.30,1.203,11270,0.034,0.000,2932,1926,2142,2142,4095,0,0,0,0,0,0,25.82,26.00,24.29,10.28,47.00
$GC,567,1.90,292.5,2931,1927,2141,4095,57.7,12.5,87,573,0.00,1.08,0.00,0.000,516,0.000,0.054,2932,1528,2141,2141,4094,0,0,0,0,0,0,25.79,25.51,25.80,10.20,46.18
$GC,617,1.90,292.5,2931,1528,2140,4094,50.6,13.5,95,624,0.00,0.98,0.00,0.000,1030,0.000,0.024,2932,1953,2140,2140,4094,0,0,0,0,0,0,25.77,25.75,25.77,10.20,45.62
$GC,656,1.90,292.5,2931,1953,2138,4094,45.1,15.0,101,662,0.00,1.05,0.00,0.000,260,0.000,0.041,2932,2352,2138,2138,4094,0,0,0,0,0,0,26.02,25.76,26.03,10.19,45.86
$GC,766,1.90,292.5,2931,2352,2136,4094,29.3,14.4,119,773,0.00,0.98,0.00,0.000,1030,0.000,0.031,2932,1971,2135,2135,4094,0,0,0,0,0,0,25.97,25.94,25.99,10.18,46.85
$GC,805,1.90,292.5,2931,1970,2134,4094,23.7,14.6,125,811,0.00,1.17,0.00,0.000,516,0.000,0.056,2932,1521,2134,2134,4095,0,0,0,0,0,0,26.23,25.93,26.25,10.18,47.28
$GC,933,1.90,292.5,2931,1521,2130,4095,7.1,12.5,146,940,0.00,0.93,0.00,0.000,1030,0.000,0.025,2932,1939,2130,2130,4094,0,0,0,0,0,0,26.17,26.15,26.17,10.26,50.23
$GC,972,1.90,292.5,2931,1939,2129,4094,2.7,11.2,152,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1939,2129,2129,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.28,51.37
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,1.3,1.024063,107
$GC,990,0.16,107.1,2932,1941,2128,4094,1.3,10.9,154,1003,5.75,0.00,-2.00,0.000,20998,0.050,0.000,2394,1945,2366,2366,4094,0,0,0,0,0,0,26.15,25.15,26.20,10.28,50.78
$FINISH2,0.2
$STATE,1004,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,001139
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.44
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.29,18.117
$10V_AH,10.45,22.053
$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,25.550,11.275,35.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,417.219,258.060,118.155,227.544,42.389,33.430,282.663,0.000,235.721,0.000,0.544,0.000
$DEVICE_MAMPS,64.260,1264.545,1217.115,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,10824,156
$CAP_FILE_SIZE,26222,0
$CFSIZE,1024409600,986529792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,013748,6031.512,-17339.027,9,0.9,22,7.1,0.5,13.7,9,4.9