version: 66.13
glider: 401
mission: 22
dive: 685
start: 8 8 117 8 4 5
data:
$ID,401
$MISSION,22
$DIVE,685
$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,27
$R_STBD_OVSHOOT,45
$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
$GPS1,080817,075502,6035.8252,-17335.9277,4,0.8,30,7.1,0.3,84.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-25.1
$GPS2,080817,080253,6035.8252,-17335.8320,6,0.7,14,7.1,0.3,304.7,11,5.0
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.245399,0.208247
$KALMAN_X,62994.050781,-931.435059,82.957909,-242369.828125,205.502289
$KALMAN_Y,-24419.636719,515.926697,363.702454,172624.046875,102.612854
$MHEAD_RNG_PITCHd_Wd,303.2,16009,-16.2,-11.111,-19.05,3902
$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,-286.1,231,1965,44,4091,0.0,0.0,0,18,7.93,0.00,0.00,0.000,2049,0.072,0.000,932,1967,44,44,4094,0,0,0,0,0,0,26.20,28.83,28.83,9.96,50.59
$GC,21,-1.90,-286.1,932,1966,44,4094,0.3,0.0,1,57,8.55,1.10,-23.73,0.000,18692,0.051,1.261,1723,2367,2824,2824,4095,0,0,0,0,0,0,25.94,24.78,26.01,9.96,50.43
$GC,71,-2.13,-438.8,1723,2368,2824,4095,-0.1,0.6,9,80,0.43,1.05,-1.65,0.000,21510,0.035,0.031,1677,1954,3000,3000,4094,0,0,0,0,0,0,25.98,25.96,26.03,10.55,51.45
$GC,112,-2.13,-438.8,1675,1953,3000,4094,0.1,-0.1,15,119,0.00,1.08,0.00,0.000,260,0.000,0.037,1676,2362,3001,3001,4094,0,0,0,0,0,0,26.22,25.96,26.23,10.59,51.10
$GC,217,-2.13,-438.8,1676,2362,3001,4094,-0.1,0.1,32,223,0.00,1.12,0.00,0.000,1030,0.000,0.034,1676,1926,3001,3001,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.59,50.19
$GC,256,-2.13,-438.8,1675,1925,3000,4095,-0.1,-0.0,38,262,0.00,1.12,0.00,0.000,260,0.000,0.031,1676,2362,3000,3000,4095,0,0,0,0,0,0,26.36,26.10,26.37,10.59,49.96
$GC,270,-2.13,-438.8,1675,2361,3000,4095,-0.0,-0.2,40,277,0.00,1.12,0.00,0.000,1030,0.000,0.034,1676,1918,2999,2999,4095,0,0,0,0,0,0,26.15,26.11,26.17,10.59,50.07
$GC,309,-2.13,-438.8,1675,1918,3000,4095,-0.0,-0.5,46,316,0.00,1.15,0.00,0.000,260,0.000,0.032,1677,2364,3000,3000,4095,0,0,0,0,0,0,26.40,26.14,26.41,10.59,49.80
$GC,545,-2.13,-438.8,1675,2365,3006,4095,29.6,-15.5,85,552,0.00,1.05,0.00,0.000,1030,0.000,0.028,1676,1934,3006,3006,4095,0,0,0,0,0,0,26.33,26.29,26.34,10.54,48.54
$GC,584,-2.13,-438.8,1675,1934,3007,4095,35.3,-14.7,91,591,0.00,1.12,0.00,0.000,260,0.000,0.039,1676,2364,3007,3007,4095,0,0,0,0,0,0,26.55,26.27,26.57,10.51,47.95
$GC,617,-2.13,-438.8,1675,2363,3008,4095,40.4,-15.3,96,623,0.00,1.05,0.00,0.000,1030,0.000,0.028,1676,1935,3008,3008,4094,0,0,0,0,0,0,26.36,26.32,26.37,10.50,47.48
$GC,655,-2.13,-438.8,1675,1935,3009,4094,46.7,-16.0,102,661,0.00,0.00,0.00,0.000,6,0.000,0.000,1676,1935,3009,3009,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.48,46.33
$GC,693,-2.13,-438.8,1675,1935,3010,4095,52.5,-15.2,108,699,0.00,0.00,0.00,0.000,6,0.000,0.000,1676,1935,3010,3010,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.46,46.18
$GC,731,-2.13,-438.8,1675,1935,3011,4095,58.5,-15.9,114,737,0.00,0.00,0.00,0.000,6,0.000,0.000,1676,1935,3011,3011,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.45,45.07
$STATE,741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,741,begin apogee
$GC,747,-0.45,0.0,1676,1935,3011,4094,60.7,-17.1,116,783,5.55,0.00,25.38,1.258,10244,0.062,0.000,2185,1934,2483,2483,4095,0,0,0,0,0,0,26.32,25.54,24.58,10.45,44.95
$STATE,784,end apogee,CONTROL_FINISHED_OK
$STATE,784,begin climb
$GC,787,2.13,438.8,2185,1934,2483,4095,63.8,0.0,122,829,8.60,1.12,24.92,1.234,10500,0.031,0.035,3003,2362,1972,1972,4094,0,0,0,0,0,0,25.73,25.69,24.14,10.34,44.48
$GC,905,2.13,438.8,3002,2361,1969,4094,47.0,19.4,141,912,0.00,1.05,0.00,0.000,1030,0.000,0.031,3003,1956,1969,1969,4095,0,0,0,0,0,0,25.67,25.63,25.69,10.21,44.01
$GC,944,2.13,438.8,3002,1956,1967,4095,39.6,18.2,147,950,0.00,1.15,0.00,0.000,516,0.000,0.055,3003,1518,1967,1967,4094,0,0,0,0,0,0,25.97,25.68,25.98,10.20,44.29
$GC,1024,2.13,438.8,3002,1517,1964,4094,25.7,17.9,160,1031,0.00,1.05,0.00,0.000,1030,0.000,0.024,3003,1966,1964,1964,4094,0,0,0,0,0,0,25.93,25.91,25.95,10.21,45.11
$GC,1063,2.13,438.8,3002,1965,1962,4094,19.2,16.4,166,1070,0.00,1.05,0.00,0.000,260,0.000,0.042,3003,2365,1963,1963,4094,0,0,0,0,0,0,26.18,25.90,26.19,10.22,46.61
$STATE,1171,end climb,FINISH_DEPTH_REACHED
$STATE,1172,begin subsurface finish
$FINISH1,1.8,1.024052,108
$GC,1180,0.16,107.9,3003,1936,1958,4094,1.8,14.7,184,1194,6.30,0.00,-3.33,0.000,20486,0.033,0.000,2396,1936,2366,2366,4094,0,0,0,0,0,0,26.08,25.10,26.09,10.29,49.88
$FINISH2,0.3
$STATE,1194,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1195,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,063153
$TT8_MAMPS,0.025466,0.159537
$HUMID,50.43
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,24.14,18.583
$10V_AH,10.39,22.422
$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,37.350,17.500,50.300,0.000,0.000,24.270,18.719,282.466,0.000,0.000,16.058,487.213,302.209,156.167,594.213,147.530,33.475,353.928,0.000,279.706,0.000,0.543,0.000
$DEVICE_MAMPS,71.910,1261.485,1258.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,14257,186
$CAP_FILE_SIZE,36362,0
$CFSIZE,1024409600,985825280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,080253,6035.825,-17335.832,6,0.7,14,7.1,0.3,304.7,11,5.0