version: 66.13
glider: 401
mission: 22
dive: 724
start: 8 8 117 23 16 14
data:
$ID,401
$MISSION,22
$DIVE,724
$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,20
$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,25
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,33
$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
$GPS1,080817,230757,6041.9585,-17336.3672,4,1.0,27,7.1,0.0,283.3,9,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-42.6
$GPS2,080817,231505,6041.9604,-17336.4746,6,0.8,25,7.1,0.0,343.5,10,4.9
$SPEED_LIMITS,0.100,0.370
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.014818,0.367995
$KALMAN_X,67448.812500,-329.786652,41.683380,-247968.062500,-112.700539
$KALMAN_Y,-28277.318359,1395.057617,932.268799,186407.265625,-18.517273
$MHEAD_RNG_PITCHd_Wd,350.6,42441,-11.7,-10.000,-15.19,6502
$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,-1.71,-433.2,237,1942,1957,4092,0.0,0.0,0,20,9.90,0.00,0.00,0.000,2049,0.090,0.000,1091,1942,1958,1958,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.69
$GC,23,-1.71,-433.2,1091,1942,1957,4094,0.9,0.0,1,50,7.32,1.50,-9.50,0.000,18692,0.041,1.275,1786,2475,2994,2994,4095,0,0,0,0,0,0,25.98,24.75,26.05,10.26,51.37
$GC,226,-1.71,-433.2,1785,2474,2998,4095,21.0,-13.5,30,234,0.00,1.33,0.00,0.000,1030,0.000,0.028,1786,1953,2998,2998,4095,0,0,0,0,0,0,26.07,26.03,26.09,10.43,49.37
$GC,271,-1.71,-433.2,1785,1953,3000,4095,27.1,-13.5,36,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3000,3000,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.42,48.50
$GC,315,-1.71,-433.2,1785,1953,3001,4095,33.3,-13.9,42,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3001,3001,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.41,47.99
$GC,361,-1.71,-433.2,1785,1953,3002,4095,39.6,-14.1,48,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3002,3002,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.41,47.95
$GC,408,-1.71,-433.2,1785,1953,3004,4095,45.9,-13.5,54,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3003,3003,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.39,47.75
$GC,454,-1.71,-433.2,1785,1953,3004,4094,52.0,-13.0,60,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3004,3004,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.39,47.16
$GC,499,-1.71,-433.2,1785,1953,3005,4095,57.9,-13.6,66,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3006,3006,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,47.04
$STATE,515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,515,begin apogee
$GC,522,-0.45,0.0,1785,2088,3006,4094,60.4,-13.3,68,557,4.28,0.00,25.48,1.291,10244,0.058,0.000,2185,2089,2484,2484,4094,0,0,0,0,0,0,26.18,25.39,24.39,10.38,46.73
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,561,1.71,433.2,2185,2089,2484,4094,63.5,0.0,72,597,7.25,0.00,25.08,1.265,11270,0.034,0.000,2875,2089,1979,1979,4094,0,0,0,0,0,0,25.64,25.79,23.98,10.27,46.06
$GC,635,1.71,433.2,2875,2088,1978,4094,58.3,11.0,81,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2089,1978,1978,4094,0,0,0,0,0,0,25.61,25.63,25.62,10.15,45.03
$GC,681,1.71,433.2,2874,2088,1977,4094,52.8,11.7,87,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2089,1976,1976,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.14,45.11
$GC,728,1.71,433.2,2875,2088,1975,4094,47.0,12.4,93,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2089,1975,1975,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.14,45.82
$GC,772,1.71,433.2,2874,2088,1974,4094,41.4,11.7,99,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2089,1974,1974,4094,0,0,0,0,0,0,26.00,26.02,26.01,10.13,46.45
$GC,817,1.71,433.2,2875,2089,1973,4094,36.4,11.0,105,826,0.00,1.45,0.00,0.000,516,0.000,0.050,2875,1545,1973,1973,4095,0,0,0,0,0,0,26.08,25.77,26.09,10.14,45.90
$GC,869,1.71,433.2,2875,1545,1972,4095,30.6,11.3,112,878,0.00,1.27,0.00,0.000,1030,0.000,0.026,2875,2071,1972,1972,4094,0,0,0,0,0,0,25.94,25.91,25.95,10.14,46.41
$GC,915,1.71,433.2,2875,2071,1970,4094,25.6,11.1,118,925,0.00,1.45,0.00,0.000,260,0.000,0.052,2875,2607,1970,1970,4095,0,0,0,0,0,0,26.20,25.89,26.21,10.14,46.92
$GC,968,1.71,433.2,2875,2607,1969,4095,19.1,12.2,125,977,0.00,1.30,0.00,0.000,1030,0.000,0.027,2875,2089,1969,1969,4094,0,0,0,0,0,0,26.04,26.01,26.05,10.14,47.20
$GC,1014,1.71,433.2,2875,2089,1968,4094,13.6,11.6,131,1023,0.00,1.42,0.00,0.000,516,0.000,0.051,2875,1542,1967,1967,4094,0,0,0,0,0,0,26.29,26.01,26.30,10.14,47.87
$GC,1079,1.71,433.2,2875,1542,1966,4094,6.1,11.4,140,1089,0.00,1.35,0.00,0.000,1030,0.000,0.028,2875,2096,1967,1967,4094,0,0,0,0,0,0,26.13,26.09,26.15,10.16,48.54
$STATE,1124,end climb,FINISH_DEPTH_REACHED
$STATE,1124,begin subsurface finish
$FINISH1,1.4,1.024041,109
$GC,1131,0.16,108.6,2875,2097,1964,4094,1.4,9.5,146,1149,4.90,0.00,-3.50,0.000,20742,0.030,0.000,2392,2097,2363,2363,4095,0,0,0,0,0,0,26.15,25.63,26.20,10.19,49.44
$FINISH2,0.2
$STATE,1150,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1150,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,220239
$TT8_MAMPS,0.026215,0.237433
$HUMID,50.51
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.98,19.544
$10V_AH,10.17,23.340
$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,33.650,11.375,50.550,0.000,0.000,22.429,22.793,232.712,0.000,0.000,27.080,420.910,0.000,126.177,907.792,146.057,33.446,374.511,0.000,362.495,0.000,0.542,0.000
$DEVICE_MAMPS,90.270,1275.255,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.806,402.001,318.399,471.822,612.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,14307,148
$CAP_FILE_SIZE,31782,0
$CFSIZE,1024409600,983924736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,231505,6041.960,-17336.475,6,0.8,25,7.1,0.0,343.5,10,4.9