version: 66.13
glider: 401
mission: 22
dive: 676
start: 8 8 117 4 4 57
data:
$ID,401
$MISSION,22
$DIVE,676
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,080817,035431,6033.3179,-17339.0312,4,0.8,14,7.1,0.5,1.9,11,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-49.8
$GPS2,080817,040347,6033.4204,-17338.9160,6,0.9,15,7.1,0.5,41.9,10,4.6
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039988,26.919764
$KALMAN_X,60616.078125,-1460.019409,-460.366669,-241828.984375,99.095154
$KALMAN_Y,23762.982422,1112.704956,-329.044434,120070.015625,46.005478
$MHEAD_RNG_PITCHd_Wd,352.8,20223,-0.7,-11.111,-0.24,57591
$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,-0.72,-438.8,237,1935,2128,4092,0.0,0.0,0,21,10.38,0.00,0.00,0.000,2049,0.111,0.000,1094,1935,2128,2128,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.41,48.58
$GC,23,-0.72,-438.8,1094,1935,2128,4094,1.0,0.0,1,51,11.05,1.12,-7.68,0.000,18692,0.060,1.261,2101,2345,3001,3001,4095,0,0,0,0,0,0,26.06,24.87,26.09,10.41,48.62
$GC,246,-0.72,-438.8,2101,2345,3005,4095,17.0,-9.5,33,255,0.00,0.95,0.00,0.000,1030,0.000,0.029,2102,1958,3005,3005,4094,0,0,0,0,0,0,26.15,26.15,26.20,10.59,48.03
$GC,292,-0.72,-438.8,2101,1958,3005,4094,21.1,-8.9,39,302,0.00,1.10,0.00,0.000,516,0.000,0.053,2102,1525,3005,3005,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.58,47.36
$GC,318,-0.72,-438.8,2101,1524,3006,4095,23.4,-8.7,42,328,0.00,0.85,0.00,0.000,1030,0.000,0.023,2102,1931,3006,3006,4095,0,0,0,0,0,0,26.31,26.25,26.29,10.56,46.53
$GC,365,-0.72,-438.8,2101,1931,3007,4095,27.9,-9.8,48,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1931,3007,3007,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.53,45.55
$GC,410,-0.72,-438.8,2101,1932,3008,4094,32.4,-10.1,54,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1933,3007,3007,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.51,45.11
$GC,455,-0.72,-438.8,2101,1933,3009,4095,37.1,-10.2,60,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1933,3009,3009,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.49,43.93
$GC,501,-0.72,-438.8,2101,1932,3009,4095,42.0,-10.6,66,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1933,3009,3009,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.48,43.10
$GC,546,-0.72,-438.8,2101,1932,3010,4095,46.8,-10.7,72,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1933,3010,3010,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.46,42.91
$GC,590,-0.72,-438.8,2101,1933,3011,4095,51.3,-10.0,78,600,0.00,1.02,0.00,0.000,260,0.000,0.037,2102,2335,3013,3013,4094,0,0,0,0,0,0,26.59,26.32,26.60,10.46,42.99
$GC,610,-0.72,-438.8,2101,2334,3012,4094,53.2,-9.6,80,620,0.00,1.05,0.00,0.000,1030,0.000,0.030,2102,1913,3012,3012,4095,0,0,0,0,0,0,26.37,26.34,26.39,10.45,43.03
$GC,658,-0.72,-438.8,2101,1913,3013,4095,57.9,-10.2,86,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1913,3013,3013,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.44,43.03
$STATE,674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,674,begin apogee
$GC,680,-0.45,0.0,2101,1913,3013,4094,60.1,-10.5,88,716,0.62,0.00,25.33,1.245,10244,0.033,0.000,2171,1913,2486,2486,4094,0,0,0,0,0,0,26.39,25.29,24.58,10.44,42.87
$STATE,717,end apogee,CONTROL_FINISHED_OK
$STATE,717,begin climb
$GC,719,0.72,438.8,2170,1913,2486,4094,63.5,0.0,92,755,4.07,0.00,25.27,1.239,11270,0.041,0.000,2552,1913,1972,1972,4094,0,0,0,0,0,0,25.76,25.96,24.14,10.33,42.24
$GC,794,3.39,2219.9,2551,1913,1971,4094,60.4,7.9,101,898,9.10,1.17,89.00,1.112,11012,0.024,0.037,3417,2336,51,51,4094,0,0,0,0,0,0,25.54,24.66,23.91,10.21,42.79
$GC,962,3.57,2335.0,3415,2335,49,4094,28.3,10.9,122,972,0.57,1.12,0.00,0.000,3078,0.042,0.028,3472,1902,47,47,4094,0,0,0,0,0,0,25.32,25.32,25.34,9.81,42.16
$GC,1009,3.57,2335.0,3472,1901,46,4094,18.4,21.5,128,1018,0.00,1.15,0.00,0.000,260,0.000,0.032,3472,2335,44,44,4094,0,0,0,0,0,0,25.74,25.48,25.75,9.83,43.62
$STATE,1086,end climb,FINISH_DEPTH_REACHED
$STATE,1087,begin subsurface finish
$FINISH1,0.8,1.023830,123
$GC,1095,0.19,123.4,3472,1952,38,4093,0.8,22.6,139,1131,11.00,0.00,-18.70,0.000,20486,0.021,0.000,2415,1952,2347,2347,4094,0,0,0,0,0,0,25.77,24.84,25.78,9.89,45.82
$FINISH2,0.2
$STATE,1132,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1132,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,035635
$TT8_MAMPS,0.025466,0.244174
$HUMID,49.64
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,23.91,18.257
$10V_AH,10.23,22.189
$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,46.800,10.575,139.600,0.000,0.000,49.277,41.070,264.323,0.000,0.000,17.129,381.436,44.405,171.498,971.542,142.333,33.452,454.019,0.000,351.090,0.000,0.544,0.000
$DEVICE_MAMPS,110.925,1260.720,1245.420,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.788,388.469,307.536,455.586,595.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,14433,143
$CAP_FILE_SIZE,33141,0
$CFSIZE,1024409600,986267648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,040347,6033.420,-17338.916,6,0.9,15,7.1,0.5,41.9,10,4.6