version: 66.13
glider: 401
mission: 22
dive: 710
start: 8 8 117 17 55 12
data:
$ID,401
$MISSION,22
$DIVE,710
$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,22
$R_STBD_OVSHOOT,53
$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
$GPS1,080817,173838,6039.4092,-17335.4199,7,0.9,20,7.1,0.5,302.5,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.2
$GPS2,080817,173838,6039.4092,-17335.4199,7,0.9,20,7.1,0.5,302.5,10,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.161675,0.320949
$KALMAN_X,66210.914062,-374.342346,188.560501,-245846.015625,36.595993
$KALMAN_Y,-27296.056641,956.800415,688.746948,181402.343750,116.173645
$MHEAD_RNG_PITCHd_Wd,326.2,47244,-14.2,-11.111,-17.18,5032
$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,9,-1.84,-370.1,2396,1963,2363,4092,0.0,0.0,0,21,6.60,0.00,-3.35,0.000,20482,0.024,0.000,1749,1964,2733,2733,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.36,51.41
$GC,24,-1.84,-370.1,1749,1963,2733,4094,0.1,0.0,1,34,0.00,1.23,-1.65,0.000,16900,0.000,1.288,1749,1517,2915,2915,4094,0,0,0,0,0,0,26.34,24.86,26.32,10.43,51.53
$GC,51,-1.84,-370.1,1748,1517,2915,4094,0.1,0.0,4,60,0.00,0.98,0.00,0.000,1030,0.000,0.028,1749,1935,2915,2915,4094,0,0,0,0,0,0,26.01,26.00,26.03,10.47,52.59
$GC,98,-1.94,-438.8,1749,1936,2915,4094,0.1,0.1,10,107,0.00,1.17,-0.75,0.000,16644,0.000,1.245,1749,2368,2998,2998,4094,0,0,0,0,0,0,26.27,24.82,26.20,10.48,52.16
$GC,118,-1.94,-438.8,1749,2369,2998,4094,0.1,-0.0,12,127,0.10,1.12,0.00,0.000,5126,0.049,0.035,1728,1926,2999,2999,4095,0,0,0,0,0,0,25.90,25.89,25.93,10.51,51.57
$GC,164,-1.94,-438.8,1727,1926,2999,4095,3.3,-11.5,18,173,0.00,1.17,0.00,0.000,260,0.000,0.041,1727,2362,3000,3000,4095,0,0,0,0,0,0,26.20,25.91,26.21,10.51,51.22
$GC,281,-1.94,-438.8,1727,2362,3003,4095,22.3,-15.2,35,290,0.00,1.08,0.00,0.000,1030,0.000,0.028,1728,1931,3003,3003,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.45,50.27
$GC,328,-1.94,-438.8,1727,1931,3004,4094,29.4,-15.9,41,338,0.00,1.15,0.00,0.000,260,0.000,0.041,1728,2362,3005,3005,4094,0,0,0,0,0,0,26.36,26.08,26.37,10.44,49.40
$GC,546,-1.94,-438.8,1727,2362,3010,4094,59.9,-14.4,73,555,0.00,1.10,0.00,0.000,1030,0.000,0.030,1728,1919,3010,3010,4095,0,0,0,0,0,0,26.27,26.25,26.34,10.39,47.40
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,569,-0.45,0.0,1727,1920,3010,4095,62.8,-14.7,75,605,4.95,0.00,25.60,1.302,10244,0.060,0.000,2184,1920,2484,2484,4094,0,0,0,0,0,0,26.21,25.42,24.42,10.38,47.79
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,609,1.94,438.8,2184,1919,2483,4094,65.8,0.0,79,645,8.10,0.00,25.30,1.277,11270,0.032,0.000,2946,1920,1972,1972,4094,0,0,0,0,0,0,25.66,25.81,24.01,10.28,46.73
$GC,684,1.94,438.8,2946,1919,1971,4094,59.1,14.1,88,693,0.00,1.23,0.00,0.000,260,0.000,0.038,2947,2368,1970,1970,4094,0,0,0,0,0,0,25.63,25.37,25.65,10.15,45.66
$GC,731,1.94,438.8,2946,2368,1969,4094,51.6,15.5,94,740,0.00,1.05,0.00,0.000,1030,0.000,0.031,2947,1963,1968,1968,4094,0,0,0,0,0,0,25.60,25.58,25.63,10.15,45.31
$GC,778,1.94,438.8,2946,1963,1967,4094,44.3,15.5,100,788,0.00,1.17,0.00,0.000,516,0.000,0.056,2946,1519,1967,1967,4094,0,0,0,0,0,0,25.95,25.64,25.96,10.15,45.62
$GC,826,1.94,438.8,2946,1518,1966,4094,36.7,15.7,106,835,0.00,1.02,0.00,0.000,1030,0.000,0.024,2947,1961,1965,1965,4094,0,0,0,0,0,0,25.85,25.83,25.86,10.16,46.37
$GC,873,1.94,438.8,2946,1961,1964,4094,29.8,14.6,112,882,0.00,1.05,0.00,0.000,260,0.000,0.041,2947,2362,1964,1964,4095,0,0,0,0,0,0,26.11,25.86,26.13,10.16,47.12
$GC,945,1.94,438.8,2946,2361,1961,4095,18.8,15.0,122,954,0.00,1.00,0.00,0.000,1030,0.000,0.031,2947,1970,1961,1961,4094,0,0,0,0,0,0,25.98,25.96,26.05,10.16,47.71
$GC,992,1.94,438.8,2946,1969,1959,4094,12.4,14.0,128,1002,0.00,1.17,0.00,0.000,516,0.000,0.055,2946,1521,1959,1959,4094,0,0,0,0,0,0,26.25,25.95,26.27,10.16,47.71
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.8,1.024029,110
$GC,1078,0.16,109.5,2946,1956,1956,4094,1.8,12.1,139,1098,5.70,1.17,-3.50,0.000,20996,0.028,1.276,2394,1521,2359,2359,4094,0,0,0,0,0,0,26.10,24.85,26.15,10.22,50.27
$FINISH2,0.2
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,162716
$TT8_MAMPS,0.025466,0.235935
$HUMID,51.10
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,24.01,19.187
$10V_AH,10.20,23.024
$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,25.450,19.925,50.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,409.993,0.000,108.292,590.253,51.332,33.424,329.582,0.000,343.759,0.000,0.542,0.000
$DEVICE_MAMPS,60.435,1288.260,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.319,383.051,303.318,449.448,588.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,14401,141
$CAP_FILE_SIZE,27036,0
$CFSIZE,1024409600,984612864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,173838,6039.409,-17335.420,7,0.9,20,7.1,0.5,302.5,10,4.9