version: 66.13
glider: 401
mission: 22
dive: 707
start: 8 8 117 16 54 15
data:
$ID,401
$MISSION,22
$DIVE,707
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,080817,163240,6038.5737,-17335.3750,7,0.8,17,7.1,0.6,16.7,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.5
$GPS2,080817,163240,6038.5737,-17335.3750,7,0.8,17,7.1,0.6,16.7,10,4.7
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.147324,0.298336
$KALMAN_X,65827.820312,-402.493958,206.181763,-245410.484375,34.118851
$KALMAN_Y,-27599.566406,764.375671,515.614136,180526.468750,109.898987
$MHEAD_RNG_PITCHd_Wd,326.6,48745,-15.6,-11.111,-18.47,4210
$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,-1.88,-309.0,2394,1955,2363,4092,0.0,0.0,0,18,6.75,0.00,-0.52,0.000,20482,0.027,0.000,1738,1956,2422,2422,4094,0,0,0,0,0,0,26.14,28.83,26.18,10.36,51.33
$GC,21,-1.88,-309.0,1737,1956,2422,4094,0.1,0.0,1,28,0.00,0.00,-3.83,0.000,16390,0.000,0.000,1738,1956,2849,2849,4094,0,0,0,0,0,0,26.34,25.13,26.34,10.38,51.22
$GC,60,-2.00,-386.1,1737,1956,2849,4094,2.5,-9.2,7,68,0.12,1.10,-0.47,0.000,20740,0.066,1.258,1718,2370,2941,2941,4095,0,0,0,0,0,0,26.15,24.88,26.17,10.47,51.26
$GC,88,-2.00,-386.1,1717,2369,2941,4095,7.0,-16.0,11,95,0.00,1.05,0.00,0.000,1030,0.000,0.029,1718,1949,2941,2941,4095,0,0,0,0,0,0,26.05,26.01,26.06,10.49,51.57
$GC,127,-2.00,-386.1,1717,1948,2943,4095,13.6,-17.0,17,133,0.00,1.08,0.00,0.000,516,0.000,0.049,1718,1525,2943,2943,4095,0,0,0,0,0,0,26.29,26.00,26.32,10.47,51.77
$GC,207,-2.00,-386.1,1717,1524,2945,4095,26.7,-16.6,30,214,0.00,0.95,0.00,0.000,1030,0.000,0.026,1718,1935,2945,2945,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.44,50.11
$GC,246,-2.00,-386.1,1717,1935,2946,4094,33.1,-16.9,36,253,0.00,1.12,0.00,0.000,260,0.000,0.044,1717,2364,2946,2946,4094,0,0,0,0,0,0,26.40,26.11,26.41,10.43,49.60
$GC,309,-2.00,-386.1,1717,2364,2949,4094,43.3,-15.5,46,315,0.00,1.02,0.00,0.000,1030,0.000,0.029,1717,1949,2950,2950,4094,0,0,0,0,0,0,26.22,26.17,26.23,10.41,48.66
$GC,347,-2.00,-386.1,1717,1949,2950,4094,49.1,-15.7,52,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,1948,2950,2950,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.39,48.74
$GC,385,-2.00,-386.1,1717,1948,2951,4094,55.0,-15.4,58,391,0.00,1.05,0.00,0.000,516,0.000,0.050,1718,1531,2951,2951,4094,0,0,0,0,0,0,26.48,26.19,26.49,10.38,48.26
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,415,begin apogee
$GC,422,-0.45,0.0,1717,1949,2952,4095,60.1,-15.8,63,453,5.12,0.00,22.85,1.276,10244,0.063,0.000,2186,1949,2484,2484,4094,0,0,0,0,0,0,26.20,25.49,24.49,10.38,47.59
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,454,begin climb
$GC,457,2.00,386.1,2186,1949,2485,4094,63.2,0.0,68,494,8.18,1.08,22.27,1.248,10500,0.031,0.039,2965,2365,2034,2034,4094,0,0,0,0,0,0,25.67,25.62,24.10,10.28,47.04
$GC,558,2.00,386.1,2965,2364,2032,4094,51.6,15.7,84,564,0.00,1.05,0.00,0.000,1030,0.000,0.031,2965,1960,2031,2031,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.17,45.66
$GC,596,2.00,386.1,2965,1959,2030,4094,45.1,15.8,90,603,0.00,1.15,0.00,0.000,516,0.000,0.056,2965,1523,2030,2030,4094,0,0,0,0,0,0,25.92,25.63,25.93,10.17,45.90
$GC,647,2.00,386.1,2965,1523,2028,4094,37.3,15.6,98,653,0.00,1.10,0.00,0.000,1030,0.000,0.024,2965,1990,2028,2028,4094,0,0,0,0,0,0,25.84,25.82,25.85,10.17,46.14
$GC,685,2.00,386.1,2965,1990,2027,4094,31.5,15.1,104,692,0.00,1.00,0.00,0.000,260,0.000,0.042,2965,2370,2027,2027,4094,0,0,0,0,0,0,26.09,25.82,26.10,10.17,46.69
$GC,784,2.00,386.1,2965,2370,2023,4094,16.6,15.1,120,790,0.00,0.95,0.00,0.000,1030,0.000,0.031,2966,1996,2023,2023,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.19,48.26
$GC,822,2.00,386.1,2965,1995,2023,4094,11.1,14.0,126,829,0.00,1.23,0.00,0.000,516,0.000,0.056,2965,1527,2022,2022,4094,0,0,0,0,0,0,26.27,25.96,26.27,10.20,48.85
$STATE,895,end climb,FINISH_DEPTH_REACHED
$STATE,895,begin subsurface finish
$FINISH1,2.0,1.024065,107
$GC,903,0.16,107.0,2965,1954,2019,4094,2.0,11.7,138,917,6.12,1.20,-2.78,0.000,20996,0.052,1.284,2390,1522,2366,2366,4094,0,0,0,0,0,0,26.13,24.86,26.15,10.24,50.47
$FINISH2,0.4
$STATE,919,end subsurface finish,CONTROL_FINISHED_OK
$STATE,919,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,151925
$TT8_MAMPS,0.025466,0.103362
$HUMID,51.61
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.10,19.119
$10V_AH,10.45,22.948
$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,26.300,19.200,45.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.573,223.244,121.095,204.384,44.384,33.429,273.780,0.000,213.119,0.000,0.543,0.000
$DEVICE_MAMPS,65.790,1284.435,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,10763,140
$CAP_FILE_SIZE,26667,0
$CFSIZE,1024409600,984760320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,163240,6038.574,-17335.375,7,0.8,17,7.1,0.6,16.7,10,4.7