version: 66.13
glider: 401
mission: 22
dive: 675
start: 8 8 117 3 34 41
data:
$ID,401
$MISSION,22
$DIVE,675
$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,300
$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,31
$R_STBD_OVSHOOT,61
$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
$GPS1,080817,025522,6032.5239,-17339.2441,10,0.8,14,7.1,0.0,33.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-3.0
$GPS2,080817,025522,6032.5239,-17339.2441,10,0.8,14,7.1,0.0,33.2,10,5.0
$SPEED_LIMITS,0.111,0.325
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.005332,0.324914
$KALMAN_X,60403.804688,-1488.845947,-492.235291,-241860.812500,-31.525665
$KALMAN_Y,23115.724609,909.581543,-548.467285,119541.203125,-1008.207886
$MHEAD_RNG_PITCHd_Wd,353.8,21886,-16.0,-11.111,-18.88,3989
$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,-1.90,-292.5,2336,1954,2483,4092,0.0,0.0,0,23,5.90,0.00,-3.08,0.000,20486,0.024,0.000,1744,1954,2830,2830,4094,0,0,0,0,0,0,26.42,25.84,26.46,10.53,45.62
$GC,26,-1.90,-292.5,1743,1954,2829,4094,-0.0,-1.0,2,33,0.00,1.00,0.00,0.000,260,0.000,0.034,1744,2346,2830,2830,4095,0,0,0,0,0,0,26.50,26.25,26.51,10.61,45.58
$GC,118,-1.90,-292.5,1743,2346,2831,4095,6.7,-14.1,17,125,0.00,0.98,0.00,0.000,1030,0.000,0.028,1744,1943,2831,2831,4095,0,0,0,0,0,0,26.36,26.32,26.37,10.60,45.15
$GC,157,-1.90,-292.5,1743,1943,2832,4095,12.6,-15.1,23,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1944,2832,2832,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.60,45.31
$GC,195,-1.90,-292.5,1743,1943,2833,4094,17.7,-13.3,29,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1943,2834,2834,4094,0,0,0,0,0,0,26.60,26.63,26.62,10.59,44.72
$GC,232,-1.90,-292.5,1743,1943,2834,4094,22.5,-12.9,35,239,0.00,1.02,0.00,0.000,516,0.000,0.048,1744,1529,2834,2834,4094,0,0,0,0,0,0,26.63,26.34,26.63,10.56,44.52
$GC,331,-1.90,-292.5,1743,1528,2837,4094,35.0,-12.7,51,337,0.00,0.90,0.00,0.000,1030,0.000,0.023,1744,1940,2837,2837,4094,0,0,0,0,0,0,26.47,26.45,26.48,10.50,43.54
$GC,369,-1.90,-292.5,1743,1940,2838,4094,40.1,-13.5,57,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1940,2837,2837,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.48,42.59
$GC,407,-1.90,-292.5,1743,1940,2838,4094,45.2,-13.2,63,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1940,2839,2839,4095,0,0,0,0,0,0,26.67,26.70,26.70,10.47,42.47
$GC,445,-1.90,-292.5,1743,1940,2840,4095,50.1,-12.7,69,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1940,2840,2840,4094,0,0,0,0,0,0,26.70,26.71,26.70,10.46,42.12
$GC,482,-1.90,-292.5,1743,1940,2841,4094,55.4,-14.6,75,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,1940,2841,2841,4095,0,0,0,0,0,0,26.70,26.72,26.72,10.44,41.84
$STATE,512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,512,begin apogee
$GC,517,-0.45,0.0,1743,1940,2841,4094,60.0,-14.8,80,542,4.75,0.00,17.55,1.187,10244,0.063,0.000,2186,1941,2484,2484,4094,0,0,0,0,0,0,26.41,25.85,24.86,10.44,41.73
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,546,1.90,292.5,2185,1941,2483,4094,62.5,0.0,84,577,7.72,0.00,16.95,1.173,11270,0.034,0.000,2930,1945,2142,2142,4094,0,0,0,0,0,0,26.06,26.23,24.51,10.37,41.49
$GC,609,1.90,292.5,2930,1945,2141,4094,57.0,12.0,94,616,0.00,1.08,0.00,0.000,516,0.000,0.050,2930,1533,2141,2141,4095,0,0,0,0,0,0,25.98,25.71,26.00,10.28,41.29
$GC,665,1.90,292.5,2930,1532,2140,4095,49.4,13.1,103,672,0.00,0.90,0.00,0.000,1030,0.000,0.023,2930,1944,2140,2140,4094,0,0,0,0,0,0,25.95,25.94,25.95,10.26,41.84
$GC,704,1.90,292.5,2930,1944,2138,4094,44.2,13.7,109,711,0.00,1.05,0.00,0.000,260,0.000,0.038,2930,2349,2138,2138,4094,0,0,0,0,0,0,26.18,25.91,26.19,10.26,42.43
$GC,802,1.90,292.5,2930,2349,2135,4094,30.2,14.4,125,809,0.00,0.98,0.00,0.000,1030,0.000,0.031,2930,1963,2136,2136,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.25,43.77
$GC,841,1.90,292.5,2930,1963,2134,4094,25.0,12.8,131,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1963,2134,2134,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.25,43.38
$GC,879,1.90,292.5,2930,1963,2133,4094,20.4,11.9,137,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1963,2133,2133,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.27,43.93
$GC,916,1.90,292.5,2929,1963,2132,4094,15.7,12.8,143,923,0.00,1.12,0.00,0.000,516,0.000,0.054,2930,1524,2132,2132,4094,0,0,0,0,0,0,26.41,26.10,26.41,10.29,45.15
$GC,967,1.90,292.5,2930,1524,2130,4094,9.0,13.0,151,973,0.00,1.10,0.00,0.000,1030,0.000,0.024,2930,2001,2130,2130,4094,0,0,0,0,0,0,26.25,26.23,26.27,10.32,47.16
$GC,1005,1.90,292.5,2930,2000,2129,4094,4.4,11.6,157,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2001,2129,2129,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.33,48.18
$STATE,1029,end climb,SURFACE_DEPTH_REACHED
$STATE,1029,begin surface coast
$FINISH,0.1,1.023941
$STATE,1042,end surface coast,CONTROL_FINISHED_OK
$STATE,1042,begin surface
$SM_CCo,1141,0.00,0.000,0,0,2128,306.52
$SM_GC,0.93,27.80,0.12,0.00,0.022,0.079,0.000,237,1935,2128,-6.55,1.37,306.52,0,0,0,0,0,0,26.29,26.26,26.32
$IRIDIUM_FIX,5952.82,-17420.78,080817,013259
$TT8_MAMPS,0.025466,0.110852
$HUMID,50.43
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,24.51,18.191
$10V_AH,10.52,22.150
$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,46.175,11.200,34.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.210,327.161,148.644,237.343,51.033,33.417,322.305,0.000,245.603,0.000,0.545,0.000
$DEVICE_MAMPS,62.730,78.795,1186.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,10876,163
$CAP_FILE_SIZE,29864,0
$CFSIZE,1024409600,986333184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,035431,6033.318,-17339.031,4,0.8,14,7.1,0.5,1.9,11,4.7