version: 66.13
glider: 401
mission: 22
dive: 681
start: 8 8 117 6 7 37
data:
$ID,401
$MISSION,22
$DIVE,681
$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,450
$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,28
$R_STBD_OVSHOOT,52
$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
$GPS1,080817,051946,6034.3477,-17338.0684,7,0.9,17,7.1,0.0,54.7,10,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.1
$GPS2,080817,051946,6034.3477,-17338.0684,7,0.9,17,7.1,0.0,54.7,10,5.0
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.111111,1.508362
$KALMAN_X,61181.144531,-1264.088867,-243.082108,-241997.421875,78.487610
$KALMAN_Y,-21825.878906,-463.653564,-798.406250,169441.250000,-631.346313
$MHEAD_RNG_PITCHd_Wd,348.7,18520,-0.7,-11.111,-4.20,57591
$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,-0.72,-438.8,2387,1932,2366,4092,0.0,0.0,0,17,2.80,0.00,-4.10,0.000,20482,0.028,0.000,2112,1933,2833,2833,4095,0,0,0,0,0,0,26.20,28.83,26.22,10.38,52.95
$GC,20,-0.72,-438.8,2112,1933,2833,4095,0.0,0.0,1,28,0.00,1.17,-1.48,0.000,16644,0.000,1.268,2112,2358,3005,3005,4094,0,0,0,0,0,0,26.40,24.98,26.37,10.49,52.91
$GC,258,-0.72,-438.8,2111,2357,3009,4094,21.1,-8.1,40,264,0.00,1.02,0.00,0.000,1030,0.000,0.031,2112,1952,3009,3009,4095,0,0,0,0,0,0,26.28,26.25,26.30,10.53,52.59
$GC,297,-0.72,-438.8,2111,1952,3009,4095,23.9,-7.2,46,303,0.00,1.10,0.00,0.000,516,0.000,0.056,2112,1522,3009,3009,4094,0,0,0,0,0,0,26.52,26.22,26.53,10.51,51.49
$GC,336,-0.72,-438.8,2111,1521,3010,4094,27.0,-8.4,52,342,0.00,0.85,0.00,0.000,1030,0.000,0.025,2112,1925,3010,3010,4095,0,0,0,0,0,0,26.36,26.36,26.38,10.49,51.37
$GC,375,-0.72,-438.8,2111,1927,3010,4095,30.6,-9.4,58,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1927,3010,3010,4095,0,0,0,0,0,0,26.55,26.58,26.57,10.47,50.11
$GC,413,-0.72,-438.8,2111,1927,3012,4095,34.3,-10.1,64,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1927,3012,3012,4094,0,0,0,0,0,0,26.57,26.59,26.58,10.46,49.37
$GC,451,-0.72,-438.8,2111,1927,3012,4094,38.2,-10.5,70,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1927,3012,3012,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.44,49.13
$GC,489,-0.72,-438.8,2111,1927,3013,4095,42.3,-10.8,76,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1927,3013,3013,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.43,47.99
$GC,527,-0.72,-438.8,2111,1927,3014,4095,46.6,-11.1,82,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1927,3014,3014,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.43,47.16
$GC,565,-0.72,-438.8,2111,1927,3015,4094,50.7,-10.7,88,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1928,3015,3015,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.43,46.92
$GC,603,-0.72,-438.8,2111,1927,3015,4094,54.5,-9.8,94,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1927,3016,3016,4095,0,0,0,0,0,0,26.64,26.66,26.65,10.41,47.12
$GC,641,-0.72,-438.8,2111,1927,3016,4095,58.1,-9.1,100,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1927,3016,3016,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.41,46.85
$STATE,659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,659,begin apogee
$GC,664,-0.45,0.0,2112,1927,3016,4095,60.2,-10.1,103,695,0.60,0.00,25.48,1.255,10244,0.034,0.000,2177,1927,2484,2484,4094,0,0,0,0,0,0,26.44,25.59,24.61,10.40,46.77
$STATE,696,end apogee,CONTROL_FINISHED_OK
$STATE,696,begin climb
$GC,698,0.72,438.8,2177,1928,2484,4094,63.4,0.0,108,735,3.97,1.05,25.08,1.249,10756,0.041,0.052,2554,1523,1972,1972,4094,0,0,0,0,0,0,25.76,25.70,24.14,10.30,46.18
$GC,833,1.95,1258.6,2553,1522,1970,4094,54.5,9.7,130,888,4.22,0.93,44.90,1.157,11270,0.029,0.024,2967,1939,1018,1018,4094,0,0,0,0,0,0,25.75,25.76,24.00,10.17,46.29
$GC,920,1.95,1258.6,2966,1940,1016,4094,42.5,17.1,144,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1941,1016,1016,4094,0,0,0,0,0,0,25.52,25.53,25.53,9.97,45.98
$GC,958,1.95,1258.6,2966,1941,1014,4094,36.1,17.1,150,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1941,1014,1014,4094,0,0,0,0,0,0,25.71,25.72,25.72,9.97,45.47
$GC,995,1.95,1258.6,2966,1940,1012,4094,29.4,17.4,156,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1941,1012,1012,4094,0,0,0,0,0,0,25.84,25.85,25.84,9.96,46.77
$GC,1033,1.95,1258.6,2966,1940,1011,4094,22.8,17.8,162,1040,0.00,1.12,0.00,0.000,516,0.000,0.057,2967,1520,1010,1010,4094,0,0,0,0,0,0,25.94,25.63,25.94,9.96,46.53
$GC,1144,1.95,1258.6,2966,1520,1005,4094,5.3,15.7,180,1150,0.00,0.85,0.00,0.000,1030,0.000,0.029,2967,1922,1005,1005,4094,0,0,0,0,0,0,25.96,25.94,25.97,10.03,49.21
$STATE,1168,end climb,SURFACE_DEPTH_REACHED
$STATE,1168,begin surface coast
$FINISH,0.0,1.011716
$STATE,1181,end surface coast,CONTROL_FINISHED_OK
$STATE,1181,begin surface
$SM_CCo,1280,0.00,0.000,0,0,1003,1272.45
$SM_GC,0.31,28.65,0.00,0.00,0.021,0.000,0.000,230,1922,1003,-6.59,-1.28,1272.45,0,0,0,0,0,0,25.81,26.20,25.95
$IRIDIUM_FIX,5952.82,-17420.78,080817,051133
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.32
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.00,18.444
$10V_AH,10.48,22.305
$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,40.250,9.050,95.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.638,359.234,184.882,270.103,53.313,33.419,377.942,0.000,278.069,0.000,0.542,0.000
$DEVICE_MAMPS,40.545,1267.605,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,14210,186
$CAP_FILE_SIZE,31428,0
$CFSIZE,1024409600,986038272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,062952,6034.967,-17337.062,4,0.8,19,7.1,0.2,73.7,11,5.0