version: 66.13
glider: 401
mission: 22
dive: 632
start: 8 7 117 7 14 19
data:
$ID,401
$MISSION,22
$DIVE,632
$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,24
$R_STBD_OVSHOOT,47
$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
$GPS1,070817,064904,6026.8867,-17333.6113,5,0.9,18,7.1,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-0.9
$GPS2,070817,064904,6026.8867,-17333.6113,5,0.9,18,7.1,0.0,0.0,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.146528,0.256576
$KALMAN_X,63404.160156,-1967.315186,-418.115570,-239125.656250,159.078308
$KALMAN_Y,46328.113281,3319.189941,1349.025635,81559.492188,-33.094238
$MHEAD_RNG_PITCHd_Wd,323.2,32673,-12.0,-8.333,-15.75,5442
$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,-1.55,-302.5,2390,1948,2369,4092,0.0,0.0,0,20,5.55,0.00,-3.65,0.000,20482,0.025,0.000,1845,1949,2773,2773,4095,0,0,0,0,0,0,26.29,28.83,26.33,10.36,50.78
$GC,23,-1.55,-302.5,1844,1949,2774,4095,0.1,0.0,1,32,0.00,1.10,-0.57,0.000,16644,0.000,1.279,1845,2352,2841,2841,4095,0,0,0,0,0,0,26.48,25.05,26.41,10.44,50.86
$GC,167,-1.55,-302.5,1844,2352,2843,4095,14.5,-12.2,22,177,0.00,1.00,0.00,0.000,1030,0.000,0.029,1845,1948,2844,2844,4094,0,0,0,0,0,0,26.23,26.19,26.25,10.47,50.47
$GC,214,-1.55,-302.5,1844,1948,2845,4094,20.1,-12.3,28,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1948,2845,2845,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.43,50.74
$GC,261,-1.55,-302.5,1844,1948,2845,4095,24.9,-10.4,34,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1948,2846,2846,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.40,48.93
$GC,307,-1.55,-302.5,1844,1948,2846,4094,29.8,-10.6,40,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1948,2847,2847,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,48.50
$GC,354,-1.59,-334.4,1844,1948,2847,4095,33.9,-7.7,46,364,0.00,1.12,-0.08,0.000,16900,0.000,1.290,1845,1523,2897,2897,4095,0,0,0,0,0,0,26.54,25.07,26.10,10.38,48.11
$GC,439,-1.59,-334.4,1844,1523,2898,4095,42.6,-10.5,58,449,0.00,0.95,0.00,0.000,1030,0.000,0.025,1844,1942,2898,2898,4094,0,0,0,0,0,0,26.21,26.19,26.22,10.37,46.85
$GC,485,-1.59,-334.4,1844,1942,2899,4094,47.3,-10.1,64,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1942,2899,2899,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.37,46.29
$GC,530,-1.59,-334.4,1844,1942,2900,4095,52.2,-10.9,70,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1942,2900,2900,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.36,45.82
$GC,575,-1.59,-334.4,1844,1942,2901,4094,57.4,-11.6,76,584,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1942,2901,2901,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,46.22
$STATE,605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,605,begin apogee
$GC,611,-0.45,0.0,1844,1942,2901,4094,60.7,-10.4,80,638,3.70,0.00,20.55,1.250,10244,0.059,0.000,2183,1944,2484,2484,4094,0,0,0,0,0,0,26.21,25.56,24.56,10.36,45.90
$STATE,639,end apogee,CONTROL_FINISHED_OK
$STATE,639,begin climb
$GC,642,1.59,334.4,2183,1943,2484,4094,62.8,0.0,83,677,6.93,0.00,19.55,1.229,11270,0.036,0.000,2834,1945,2094,2094,4094,0,0,0,0,0,0,25.76,25.94,24.20,10.26,45.82
$GC,715,1.59,334.4,2834,1947,2093,4094,57.8,10.3,92,724,0.00,1.10,0.00,0.000,260,0.000,0.037,2835,2358,2093,2093,4094,0,0,0,0,0,0,25.77,25.51,25.78,10.18,44.99
$GC,780,1.59,334.4,2834,2357,2091,4094,50.1,11.8,101,790,0.00,1.05,0.00,0.000,1030,0.000,0.031,2835,1954,2091,2091,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.17,45.31
$GC,826,1.59,334.4,2834,1953,2090,4094,45.1,11.1,107,835,0.00,1.12,0.00,0.000,516,0.000,0.056,2835,1524,2090,2090,4094,0,0,0,0,0,0,26.05,25.75,26.06,10.17,45.31
$GC,984,1.59,334.4,2834,1524,2086,4094,27.1,11.0,130,993,0.00,0.85,0.00,0.000,1030,0.000,0.026,2835,1917,2086,2086,4095,0,0,0,0,0,0,26.09,26.07,26.11,10.16,46.37
$GC,1031,1.59,334.4,2834,1917,2085,4095,22.2,10.5,136,1041,0.00,1.10,0.00,0.000,260,0.000,0.040,2835,2344,2085,2085,4094,0,0,0,0,0,0,26.30,26.04,26.31,10.16,47.51
$GC,1083,1.59,334.4,2834,2343,2084,4094,16.7,9.9,143,1093,0.00,1.12,0.00,0.000,1030,0.000,0.034,2835,1907,2083,2083,4094,0,0,0,0,0,0,26.12,26.07,26.13,10.17,47.32
$GC,1129,1.59,334.4,2834,1907,2083,4094,12.8,8.6,149,1139,0.00,1.17,0.00,0.000,260,0.000,0.038,2835,2350,2083,2083,4094,0,0,0,0,0,0,26.38,26.08,26.39,10.20,48.22
$GC,1235,1.59,334.4,2834,2350,2081,4094,3.1,9.3,164,1244,0.00,1.08,0.00,0.000,1030,0.000,0.034,2835,1929,2080,2080,4094,0,0,0,0,0,0,26.23,26.17,26.27,10.25,50.19
$STATE,1252,end climb,FINISH_DEPTH_REACHED
$STATE,1252,begin subsurface finish
$FINISH1,1.3,1.024159,100
$GC,1259,0.15,100.4,2835,1928,2080,4094,1.3,8.8,166,1270,4.65,1.12,-2.47,0.000,20996,0.039,1.293,2389,1510,2372,2372,4094,0,0,0,0,0,0,26.23,24.99,26.27,10.26,50.82
$FINISH2,0.1
$STATE,1271,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1271,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,070817,051409
$TT8_MAMPS,0.025466,0.238182
$HUMID,50.82
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.20,16.927
$10V_AH,10.19,20.687
$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,20.825,14.900,40.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,467.295,0.000,110.672,698.510,52.370,33.423,353.836,0.000,405.261,0.000,0.544,0.000
$DEVICE_MAMPS,58.905,1292.850,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.378,453.715,359.381,532.113,695.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,14249,167
$CAP_FILE_SIZE,29175,0
$CFSIZE,1024409600,988446720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070817,064904,6026.887,-17333.611,5,0.9,18,7.1,0.0,0.0,10,4.9