version: 66.13
glider: 401
mission: 22
dive: 679
start: 8 8 117 5 20 56
data:
$ID,401
$MISSION,22
$DIVE,679
$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,23
$R_STBD_OVSHOOT,70
$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
$GPS1,080817,050933,6034.2598,-17338.2715,4,0.9,26,7.1,0.5,58.2,10,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-18.1
$GPS2,080817,051946,6034.3477,-17338.0684,7,0.9,17,7.1,0.0,54.7,10,5.0
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.017281,0.385564
$KALMAN_X,61224.203125,-1331.273193,-317.616760,-241913.250000,183.105713
$KALMAN_Y,-18615.109375,-1392.544922,-1855.331055,168088.265625,-2314.275879
$MHEAD_RNG_PITCHd_Wd,350.3,18520,-12.9,-11.111,-16.06,5950
$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,-1.83,-438.8,230,1947,38,4092,0.0,0.0,0,18,7.55,0.00,0.00,0.000,2049,0.054,0.000,923,1948,39,39,4094,0,0,0,0,0,0,26.22,28.83,28.83,9.99,49.80
$GC,21,-1.83,-438.8,922,1947,38,4094,0.1,0.0,1,62,8.90,1.05,-25.00,0.000,18692,0.054,1.261,1745,2344,3001,3001,4094,0,0,0,0,0,0,25.94,24.84,26.01,9.99,49.72
$GC,292,-1.83,-438.8,1745,2345,3003,4094,14.2,-16.2,46,299,0.00,1.00,0.00,0.000,1030,0.000,0.028,1745,1937,3003,3003,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.60,48.93
$GC,331,-1.83,-438.8,1745,1937,3004,4095,19.9,-14.3,52,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3005,3005,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.59,48.50
$GC,368,-1.83,-438.8,1744,1937,3005,4094,25.1,-13.5,58,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3006,3006,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.56,48.18
$GC,406,-1.83,-438.8,1745,1937,3006,4095,30.3,-13.6,64,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3007,3007,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.53,47.71
$GC,444,-1.83,-438.8,1745,1937,3007,4095,35.5,-14.3,70,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3007,3007,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.51,46.41
$GC,481,-1.83,-438.8,1745,1937,3008,4094,41.0,-14.4,76,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3008,3008,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.49,45.66
$GC,519,-1.83,-438.8,1744,1938,3010,4095,46.6,-14.6,82,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3009,3009,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.48,45.23
$GC,557,-1.83,-438.8,1745,1937,3010,4094,52.4,-16.1,88,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3010,3010,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.47,44.64
$GC,595,-1.83,-438.8,1745,1937,3012,4094,58.3,-15.2,94,600,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,1937,3012,3012,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.46,44.44
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,607,begin apogee
$GC,613,-0.45,0.0,1745,1937,3012,4095,60.2,-15.1,96,648,4.75,0.00,25.25,1.240,10244,0.058,0.000,2186,1936,2484,2484,4094,0,0,0,0,0,0,26.28,25.53,24.56,10.46,44.25
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,652,1.83,438.8,2186,1936,2484,4094,63.6,0.0,102,689,7.60,1.05,24.88,1.225,10500,0.033,0.035,2909,2338,1972,1972,4094,0,0,0,0,0,0,25.71,25.67,24.15,10.35,44.68
$GC,733,1.83,438.8,2908,2338,1971,4094,56.0,13.6,115,740,0.00,0.98,0.00,0.000,1030,0.000,0.031,2909,1960,1970,1970,4094,0,0,0,0,0,0,25.54,25.51,25.57,10.23,43.62
$GC,772,1.83,438.8,2908,1960,1969,4094,51.0,12.7,121,778,0.00,1.15,0.00,0.000,516,0.000,0.053,2909,1521,1969,1969,4094,0,0,0,0,0,0,25.89,25.60,25.89,10.22,43.62
$GC,828,1.83,438.8,2908,1521,1968,4094,43.6,12.9,130,835,0.00,0.90,0.00,0.000,1030,0.000,0.024,2909,1929,1967,1967,4095,0,0,0,0,0,0,25.86,25.84,25.86,10.21,44.60
$GC,867,1.83,438.8,2908,1928,1967,4095,38.7,13.0,136,873,0.00,1.10,0.00,0.000,260,0.000,0.039,2909,2349,1967,1967,4094,0,0,0,0,0,0,26.10,25.83,26.11,10.20,44.92
$GC,941,1.83,438.8,2908,2348,1964,4094,28.8,13.5,148,948,0.00,1.00,0.00,0.000,1030,0.000,0.031,2909,1954,1964,1964,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.20,45.39
$GC,980,1.83,438.8,2908,1954,1963,4094,23.6,13.8,154,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1954,1963,1963,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.20,45.31
$GC,1018,1.97,531.4,2908,1954,1962,4094,19.5,9.5,160,1031,0.40,1.08,6.12,0.597,10756,0.038,0.054,2954,1519,1863,1863,4094,0,0,0,0,0,0,26.08,25.66,25.16,10.22,46.41
$STATE,1193,end climb,FINISH_DEPTH_REACHED
$STATE,1193,begin subsurface finish
$FINISH1,2.0,1.023946,115
$GC,1202,0.17,115.3,2953,1955,1859,4094,2.0,9.6,189,1216,5.97,1.20,-3.72,0.000,20996,0.060,1.284,2403,1520,2356,2356,4094,0,0,0,0,0,0,26.12,24.95,26.16,10.27,50.94
$FINISH2,0.5
$STATE,1217,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1217,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,051133
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.61
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,24.15,18.390
$10V_AH,10.42,22.254
$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,35.175,11.500,56.250,0.000,0.000,45.180,34.487,330.296,0.000,0.000,18.638,491.628,354.418,159.663,702.474,144.511,33.444,360.223,0.000,286.790,0.000,0.544,0.000
$DEVICE_MAMPS,60.435,1284.435,1240.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,127.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,14248,191
$CAP_FILE_SIZE,35817,0
$CFSIZE,1024409600,986120192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,051946,6034.348,-17338.068,7,0.9,17,7.1,0.0,54.7,10,5.0