version: 66.13
glider: 401
mission: 22
dive: 627
start: 8 7 117 4 46 54
data:
$ID,401
$MISSION,22
$DIVE,627
$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,24
$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,600
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,33
$R_STBD_OVSHOOT,55
$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
$GPS1,070817,040208,6025.2710,-17334.1406,5,0.8,20,7.1,0.2,19.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.0
$GPS2,070817,040208,6025.2710,-17334.1406,5,0.8,20,7.1,0.2,19.0,10,5.0
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.058778,0.272103
$KALMAN_X,62511.472656,-2232.245605,-721.325073,-238166.734375,28.170349
$KALMAN_Y,45831.835938,3113.520020,1345.156738,79282.601562,52.676392
$MHEAD_RNG_PITCHd_Wd,340.7,35575,-13.1,-8.333,-16.67,4725
$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,-1.58,-261.9,2412,1943,2320,4092,0.0,0.0,0,20,5.95,0.00,-3.85,0.000,20482,0.024,0.000,1831,1943,2752,2752,4094,0,0,0,0,0,0,26.16,28.83,26.20,10.36,50.82
$GC,23,-1.58,-261.9,1830,1943,2752,4094,0.1,0.0,1,33,0.00,1.12,-0.30,0.000,16644,0.000,1.264,1831,2350,2790,2790,4095,0,0,0,0,0,0,26.34,24.94,26.20,10.45,50.86
$GC,108,-1.58,-261.9,1830,2350,2791,4095,6.7,-11.8,13,117,0.00,1.00,0.00,0.000,1030,0.000,0.029,1831,1949,2791,2791,4095,0,0,0,0,0,0,26.01,25.99,26.06,10.47,51.06
$GC,155,-1.58,-261.9,1830,1949,2792,4095,12.4,-12.9,19,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1949,2793,2793,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.46,50.35
$GC,199,-1.58,-261.9,1830,1949,2794,4095,18.1,-12.4,25,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,1949,2794,2794,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.46,50.35
$GC,244,-1.58,-261.9,1830,1949,2795,4094,23.5,-11.7,31,253,0.00,1.05,0.00,0.000,260,0.000,0.040,1831,2348,2795,2795,4094,0,0,0,0,0,0,26.38,26.10,26.39,10.44,49.68
$GC,328,-1.58,-261.9,1830,2349,2796,4094,32.4,-9.9,43,338,0.00,1.00,0.00,0.000,1030,0.000,0.030,1831,1945,2797,2797,4095,0,0,0,0,0,0,26.21,26.17,26.23,10.40,48.42
$GC,375,-1.58,-261.9,1830,1945,2797,4095,37.0,-10.2,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,1945,2797,2797,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.39,47.95
$GC,420,-1.58,-261.9,1830,1944,2798,4095,41.8,-9.9,55,430,0.00,1.05,0.00,0.000,516,0.000,0.051,1831,1528,2798,2798,4095,0,0,0,0,0,0,26.48,26.19,26.49,10.38,47.08
$GC,572,-1.58,-261.9,1830,1528,2801,4095,58.4,-11.2,77,582,0.00,0.88,0.00,0.000,1030,0.000,0.025,1830,1927,2801,2801,4094,0,0,0,0,0,0,26.38,26.34,26.37,10.35,45.94
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,595,-0.45,0.0,1830,1927,2802,4094,60.9,-11.7,79,622,3.88,0.00,16.10,1.222,10244,0.061,0.000,2184,1927,2483,2483,4094,0,0,0,0,0,0,26.26,25.46,24.73,10.35,46.33
$STATE,623,end apogee,CONTROL_FINISHED_OK
$STATE,623,begin climb
$GC,625,1.58,261.9,2184,1927,2483,4094,63.3,0.0,82,653,6.82,0.00,15.68,1.206,11270,0.036,0.000,2829,1932,2178,2178,4094,0,0,0,0,0,0,25.93,26.12,24.41,10.29,45.74
$GC,691,1.58,261.9,2828,1931,2177,4094,59.5,9.3,90,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1931,2177,2177,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.21,45.66
$GC,736,1.58,261.9,2828,1931,2176,4094,54.3,11.8,96,745,0.00,1.12,0.00,0.000,260,0.000,0.041,2829,2353,2176,2176,4094,0,0,0,0,0,0,26.02,25.75,26.03,10.21,45.15
$GC,775,1.58,261.9,2828,2352,2175,4094,50.3,9.9,101,784,0.00,1.10,0.00,0.000,1030,0.000,0.033,2829,1929,2175,2175,4094,0,0,0,0,0,0,25.91,25.84,25.89,10.20,45.27
$GC,822,1.58,261.9,2828,1928,2174,4094,45.5,10.7,107,831,0.00,1.08,0.00,0.000,516,0.000,0.057,2829,1516,2174,2174,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.20,45.78
$GC,978,1.58,261.9,2828,1516,2171,4094,30.2,8.5,130,988,0.00,0.88,0.00,0.000,1030,0.000,0.025,2829,1929,2171,2171,4094,0,0,0,0,0,0,26.16,26.15,26.17,10.19,46.22
$GC,1024,1.63,294.5,2828,1928,2170,4094,26.7,7.6,136,1035,0.10,1.00,3.25,0.400,10500,0.078,0.034,2844,2339,2139,2139,4094,0,0,0,0,0,0,26.17,25.73,25.16,10.20,46.81
$GC,1202,1.68,330.5,2843,2338,2136,4094,12.9,7.5,162,1213,0.12,1.02,3.53,0.378,11270,0.045,0.034,2866,1935,2098,2098,4094,0,0,0,0,0,0,26.23,26.20,25.37,10.25,49.64
$GC,1252,1.73,358.5,2866,1935,2097,4094,9.4,7.7,168,1262,0.00,1.05,3.25,0.321,8708,0.000,0.055,2867,1515,2065,2065,4094,0,0,0,0,0,0,26.46,25.87,25.41,10.26,50.27
$GC,1291,1.73,358.5,2865,1515,2064,4094,5.4,10.0,173,1301,0.00,0.95,0.00,0.000,1030,0.000,0.025,2866,1945,2064,2064,4094,0,0,0,0,0,0,26.27,26.27,26.28,10.26,50.55
$STATE,1328,end climb,SURFACE_DEPTH_REACHED
$STATE,1328,begin surface coast
$FINISH,0.1,1.007194
$STATE,1350,end surface coast,CONTROL_FINISHED_OK
$STATE,1350,begin surface
$SM_CCo,1447,0.00,0.000,0,0,2062,363.19
$SM_GC,1.01,27.42,0.00,0.00,0.022,0.000,0.000,230,1949,2062,-6.59,-0.05,363.19,0,0,0,0,0,0,26.19,26.50,26.26
$IRIDIUM_FIX,5952.82,-17420.78,070817,035235
$TT8_MAMPS,0.025466,0.199234
$HUMID,50.90
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.41,16.773
$10V_AH,10.27,20.501
$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,44.300,15.225,41.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,505.215,61.068,129.764,759.240,54.124,33.413,375.797,0.000,271.321,0.000,0.542,0.000
$DEVICE_MAMPS,78.030,1263.780,1221.705,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.167,491.822,0.000,576.844,753.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,17813,181
$CAP_FILE_SIZE,32554,0
$CFSIZE,1024409600,988676096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,051204,6026.043,-17333.947,6,1.0,28,7.1,0.0,41.5,9,5.0