version: 66.13
glider: 401
mission: 22
dive: 682
start: 8 8 117 6 37 59
data:
$ID,401
$MISSION,22
$DIVE,682
$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,24
$R_STBD_OVSHOOT,68
$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
$GPS1,080817,062952,6034.9673,-17337.0625,4,0.8,19,7.1,0.2,73.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-19.1
$GPS2,080817,063649,6034.9971,-17336.9551,8,0.8,24,7.1,0.4,50.9,11,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.045380,0.383274
$KALMAN_X,62010.714844,-1144.681152,-121.732033,-242032.359375,220.030487
$KALMAN_Y,-23448.824219,98.295219,-168.744751,171087.437500,191.595337
$MHEAD_RNG_PITCHd_Wd,346.1,17390,-12.9,-11.111,-16.06,5950
$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,-1.83,-438.8,230,1924,1002,4091,0.0,0.0,0,21,10.40,0.00,0.00,0.000,2049,0.047,0.000,1193,1924,1002,1002,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.15,52.08
$GC,24,-1.83,-438.8,1193,1924,1003,4094,0.1,0.0,1,51,5.88,1.15,-17.27,0.000,18692,0.044,1.265,1748,2341,3000,3000,4094,0,0,0,0,0,0,26.00,24.84,26.06,10.15,51.77
$GC,297,-1.83,-438.8,1747,2343,3005,4094,23.4,-12.7,41,307,0.00,0.98,0.00,0.000,1030,0.000,0.029,1748,1945,3005,3005,4095,0,0,0,0,0,0,26.24,26.19,26.25,10.54,49.88
$GC,345,-1.83,-438.8,1747,1945,3006,4095,29.4,-13.6,47,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,1945,3006,3006,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.51,49.80
$GC,389,-1.83,-438.8,1747,1945,3007,4095,35.6,-13.2,53,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,1945,3007,3007,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.48,47.71
$GC,433,-1.83,-438.8,1747,1945,3009,4094,41.6,-13.5,59,441,0.00,1.05,0.00,0.000,516,0.000,0.049,1748,1525,3008,3008,4095,0,0,0,0,0,0,26.53,26.24,26.55,10.47,46.81
$GC,558,-1.83,-438.8,1747,1525,3012,4095,59.8,-15.0,77,566,0.00,0.90,0.00,0.000,1030,0.000,0.025,1748,1926,3012,3012,4095,0,0,0,0,0,0,26.40,26.36,26.44,10.44,45.74
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,580,-0.45,0.0,1748,1926,3012,4094,62.7,-14.9,79,615,4.70,0.00,25.52,1.281,10244,0.059,0.000,2185,1926,2483,2483,4095,0,0,0,0,0,0,26.30,25.52,24.53,10.43,45.31
$STATE,616,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,619,1.83,438.8,2185,1926,2483,4095,65.5,0.0,83,655,7.65,0.00,25.10,1.260,11270,0.032,0.000,2909,1931,1971,1971,4094,0,0,0,0,0,0,25.74,25.91,24.10,10.32,45.03
$GC,693,1.83,438.8,2909,1931,1971,4094,59.9,11.8,92,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1931,1971,1971,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.21,44.09
$GC,737,1.83,438.8,2909,1931,1971,4094,53.6,13.5,98,746,0.00,1.05,0.00,0.000,516,0.000,0.053,2910,1533,1969,1969,4095,0,0,0,0,0,0,25.86,25.58,25.88,10.19,44.88
$GC,822,1.83,438.8,2909,1533,1967,4095,41.9,13.4,110,831,0.00,0.88,0.00,0.000,1030,0.000,0.024,2909,1930,1967,1967,4094,0,0,0,0,0,0,25.89,25.87,25.90,10.19,44.92
$GC,869,1.83,438.8,2909,1930,1966,4094,36.0,12.6,116,879,0.00,1.10,0.00,0.000,260,0.000,0.040,2910,2351,1966,1966,4094,0,0,0,0,0,0,26.14,25.87,26.15,10.18,45.51
$GC,928,1.83,438.8,2909,2351,1964,4094,28.1,13.1,124,937,0.00,1.12,0.00,0.000,1030,0.000,0.032,2910,1913,1963,1963,4095,0,0,0,0,0,0,26.00,26.00,26.06,10.18,45.66
$GC,975,1.83,438.8,2909,1912,1962,4095,22.3,12.3,130,985,0.00,1.00,0.00,0.000,516,0.000,0.057,2910,1524,1962,1962,4094,0,0,0,0,0,0,26.27,25.96,26.29,10.19,46.65
$GC,1046,1.83,438.8,2909,1524,1960,4094,13.0,12.0,140,1055,0.00,0.77,0.00,0.000,1030,0.000,0.026,2910,1897,1960,1960,4094,0,0,0,0,0,0,26.15,26.17,26.18,10.24,48.07
$GC,1093,1.83,438.8,2909,1898,1958,4094,7.7,12.1,146,1102,0.00,1.17,0.00,0.000,260,0.000,0.039,2910,2351,1958,1958,4094,0,0,0,0,0,0,26.38,26.10,26.39,10.26,50.11
$STATE,1142,end climb,FINISH_DEPTH_REACHED
$STATE,1142,begin subsurface finish
$FINISH1,1.6,1.024073,106
$GC,1150,0.16,106.4,2910,1950,1957,4094,1.6,11.2,153,1169,5.32,1.12,-3.45,0.000,20740,0.033,1.281,2394,2351,2359,2359,4095,0,0,0,0,0,0,26.19,24.97,26.24,10.28,50.27
$FINISH2,0.1
$STATE,1170,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1170,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,051455
$TT8_MAMPS,0.025466,0.23968
$HUMID,51.26
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,24.10,18.478
$10V_AH,10.22,22.345
$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,33.950,13.350,50.625,0.000,0.000,23.707,26.812,221.112,0.000,0.000,25.689,437.125,0.000,113.590,926.999,133.176,33.447,343.956,0.000,377.073,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1281.375,1280.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.746,421.095,333.302,494.311,639.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,14400,155
$CAP_FILE_SIZE,30169,0
$CFSIZE,1024409600,985989120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,063649,6034.997,-17336.955,8,0.8,24,7.1,0.4,50.9,11,4.9