version: 66.13
glider: 401
mission: 22
dive: 684
start: 8 8 117 7 25 19
data:
$ID,401
$MISSION,22
$DIVE,684
$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,24
$R_STBD_OVSHOOT,50
$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
$GPS1,080817,063649,6034.9971,-17336.9551,8,0.8,24,7.1,0.4,50.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-5.1
$GPS2,080817,063649,6034.9971,-17336.9551,8,0.8,24,7.1,0.4,50.9,11,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.136487,0.609057
$KALMAN_X,62105.250000,-1043.262085,-27.844893,-242306.203125,133.414352
$KALMAN_Y,-24844.166016,361.613373,202.092316,171857.875000,-524.936768
$MHEAD_RNG_PITCHd_Wd,340.3,17390,-5.7,-11.111,-10.09,19384
$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,-1.18,-438.8,2397,1945,2356,4092,0.0,0.0,0,21,4.43,0.00,-5.75,0.000,20482,0.026,0.000,1963,1945,3000,3000,4094,0,0,0,0,0,0,26.17,28.83,26.20,10.37,54.09
$GC,24,-1.18,-438.8,1963,1945,3000,4094,0.0,0.0,1,32,0.00,1.08,0.00,0.000,260,0.000,0.034,1963,2356,3000,3000,4095,0,0,0,0,0,0,26.37,26.12,26.39,10.50,53.93
$GC,227,-1.18,-438.8,1962,2356,3002,4095,7.8,-7.9,31,236,0.00,1.02,0.00,0.000,1030,0.000,0.029,1963,1943,3001,3001,4095,0,0,0,0,0,0,26.29,26.26,26.32,10.53,52.91
$GC,274,-1.18,-438.8,1962,1943,3002,4095,11.5,-7.7,37,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1943,3002,3002,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.53,52.63
$GC,321,-1.18,-438.8,1963,1943,3003,4094,14.9,-7.2,43,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1943,3003,3003,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.52,52.28
$GC,368,-1.18,-438.8,1963,1943,3004,4095,18.1,-6.7,49,376,0.00,1.08,0.00,0.000,260,0.000,0.040,1963,2353,3004,3004,4095,0,0,0,0,0,0,26.58,26.30,26.59,10.51,51.69
$GC,419,-1.18,-438.8,1962,2353,3004,4095,21.3,-6.0,56,429,0.00,0.95,0.00,0.000,1030,0.000,0.028,1963,1968,3004,3004,4094,0,0,0,0,0,0,26.39,26.33,26.40,10.50,51.14
$GC,466,-1.18,-438.8,1962,1968,3004,4094,24.2,-6.4,62,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1968,3004,3004,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.48,50.78
$GC,511,-1.18,-438.8,1962,1968,3005,4095,27.2,-6.5,68,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1968,3005,3005,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.46,49.60
$GC,557,-1.18,-438.8,1962,1968,3006,4095,30.3,-7.0,74,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1968,3006,3006,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.44,48.74
$GC,602,-1.18,-438.8,1962,1968,3006,4095,33.4,-6.8,80,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1968,3007,3007,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.43,47.91
$GC,648,-1.18,-438.8,1962,1968,3007,4095,36.5,-6.8,86,657,0.00,1.12,0.00,0.000,516,0.000,0.051,1963,1521,3007,3007,4094,0,0,0,0,0,0,26.67,26.37,26.68,10.42,48.38
$GC,694,-1.18,-438.8,1963,1521,3007,4094,39.8,-7.2,92,704,0.00,1.00,0.00,0.000,1030,0.000,0.025,1963,1963,3007,3007,4095,0,0,0,0,0,0,26.48,26.47,26.50,10.42,47.99
$GC,741,-1.18,-438.8,1962,1963,3008,4095,43.0,-6.7,98,750,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1964,3008,3008,4095,0,0,0,0,0,0,26.70,26.71,26.70,10.41,47.83
$GC,786,-1.18,-438.8,1962,1963,3008,4095,46.1,-6.7,104,795,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1963,3009,3009,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.40,46.73
$GC,832,-1.18,-438.8,1963,1963,3009,4094,48.9,-6.1,110,840,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1963,3009,3009,4095,0,0,0,0,0,0,26.72,26.73,26.73,10.40,47.12
$GC,876,-1.18,-438.8,1962,1963,3009,4095,51.5,-6.0,116,885,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1963,3010,3010,4095,0,0,0,0,0,0,26.72,26.74,26.74,10.39,46.57
$GC,922,-1.18,-438.8,1962,1963,3010,4095,54.5,-6.8,122,930,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1963,3010,3010,4094,0,0,0,0,0,0,26.74,26.75,26.74,10.38,46.73
$GC,968,-1.18,-438.8,1962,1963,3011,4094,57.5,-7.0,128,976,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1963,3011,3011,4094,0,0,0,0,0,0,26.74,26.76,26.76,10.38,46.73
$STATE,983,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,983,begin apogee
$GC,989,-0.45,0.0,1963,1967,3011,4095,58.8,-6.4,130,1025,2.33,0.00,25.27,1.239,10244,0.047,0.000,2186,1967,2484,2484,4095,0,0,0,0,0,0,26.48,25.41,24.72,10.38,46.53
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1028,1.18,438.8,2185,1967,2484,4095,60.8,0.0,134,1064,5.43,0.00,25.05,1.224,11270,0.038,0.000,2699,1967,1972,1972,4094,0,0,0,0,0,0,25.87,26.07,24.22,10.27,46.18
$GC,1103,2.51,1329.5,2698,1967,1971,4094,57.9,6.4,143,1164,4.43,0.00,49.10,1.186,10502,0.024,0.000,3126,1967,934,934,4094,0,0,0,0,0,0,25.58,24.51,23.91,10.16,45.66
$GC,1202,2.51,1329.5,3126,1967,933,4094,43.4,11.2,155,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1968,934,934,4094,0,0,0,0,0,0,25.53,25.55,25.54,9.94,45.23
$GC,1249,2.71,1458.4,3126,1967,932,4094,38.5,10.4,161,1268,0.55,1.05,8.38,0.819,10500,0.029,0.038,3189,2358,786,786,4094,0,0,0,0,0,0,25.55,25.05,24.50,9.95,45.47
$GC,1298,2.71,1458.4,3189,2357,786,4094,32.6,11.7,167,1307,0.00,1.05,0.00,0.000,1030,0.000,0.029,3189,1950,785,785,4094,0,0,0,0,0,0,25.59,25.54,25.60,9.92,46.37
$GC,1346,2.72,1469.8,3188,1950,784,4094,27.5,11.1,173,1355,0.00,0.00,2.50,0.210,8198,0.000,0.000,3189,1951,771,771,4094,0,0,0,0,0,0,25.90,25.29,24.76,9.91,46.61
$GC,1393,3.03,1673.1,3189,1950,770,4094,22.6,10.0,179,1412,0.95,1.12,12.15,0.754,10500,0.028,0.039,3291,2364,533,533,4094,0,0,0,0,0,0,25.81,25.48,24.76,9.92,46.45
$GC,1450,3.26,1826.6,3291,2363,532,4094,16.6,10.3,186,1470,0.73,1.00,9.60,0.664,11270,0.025,0.029,3373,1969,354,354,4094,0,0,0,0,0,0,25.73,25.70,24.82,9.91,48.30
$GC,1508,3.71,2128.5,3373,1968,352,4094,10.8,9.5,193,1527,1.38,0.00,14.82,0.663,10246,0.024,0.000,3515,1969,51,51,4094,0,0,0,0,0,0,25.76,25.41,24.81,9.90,49.52
$GC,1565,3.97,2298.2,3515,1969,48,4094,4.7,10.2,200,1574,0.75,0.00,0.00,0.000,2054,0.027,0.000,3596,1968,48,48,4094,0,0,0,0,0,0,25.70,25.73,25.71,9.86,50.90
$STATE,1589,end climb,SURFACE_DEPTH_REACHED
$STATE,1589,begin surface coast
$FINISH,0.1,1.011876
$STATE,1612,end surface coast,CONTROL_FINISHED_OK
$STATE,1612,begin surface
$SM_CCo,1717,0.00,0.000,0,0,46,2094.13
$SM_GC,0.42,35.42,0.00,0.00,0.021,0.000,0.000,231,1962,46,-6.59,0.50,2094.13,0,0,0,0,0,0,25.75,26.01,25.83
$IRIDIUM_FIX,5952.82,-17420.78,080817,051455
$TT8_MAMPS,0.025466,0.238182
$HUMID,51.29
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.91,18.545
$10V_AH,10.21,22.404
$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,56.375,11.600,146.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,560.659,60.313,222.414,860.803,78.300,33.418,569.126,0.000,497.517,0.000,0.542,0.000
$DEVICE_MAMPS,47.430,51.255,1239.300,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,139.512,559.599,442.980,655.350,856.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,21224,206
$CAP_FILE_SIZE,42260,0
$CFSIZE,1024409600,985858048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,075502,6035.825,-17335.928,4,0.8,30,7.1,0.3,84.7,10,5.0