version: 66.13
glider: 401
mission: 22
dive: 691
start: 8 8 117 10 26 15
data:
$ID,401
$MISSION,22
$DIVE,691
$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,38
$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
$GPS1,080817,101754,6036.4209,-17335.3770,5,0.8,40,7.1,0.3,260.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-34.2
$GPS2,080817,102505,6036.3999,-17335.3945,6,0.8,16,7.1,0.0,218.4,9,4.9
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W8N
$TGT_LATLONG,6044.340,-17338.881
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.135894,0.406684
$KALMAN_X,64179.187500,-660.523682,256.986389,-243571.359375,63.611191
$KALMAN_Y,-25533.804688,666.645447,495.221069,174538.843750,-68.492798
$MHEAD_RNG_PITCHd_Wd,334.4,15040,-11.1,-11.111,-14.53,7650
$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,-1.67,-438.8,231,1933,1845,4092,0.0,0.0,0,18,7.50,0.00,0.00,0.000,2049,0.094,0.000,868,1933,1845,1845,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.32,50.78
$GC,21,-1.67,-438.8,867,1933,1845,4094,0.7,0.0,1,46,9.90,1.17,-10.35,0.000,18692,0.044,1.265,1798,2365,3002,3002,4094,0,0,0,0,0,0,26.02,24.82,26.08,10.32,50.59
$GC,264,-1.67,-438.8,1798,2365,3006,4094,28.5,-13.0,41,271,0.00,1.00,0.00,0.000,1030,0.000,0.028,1799,1958,3008,3008,4095,0,0,0,0,0,0,26.22,26.18,26.24,10.52,49.29
$GC,303,-1.67,-438.8,1798,1958,3008,4095,33.7,-13.9,47,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1958,3008,3008,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.49,48.70
$GC,341,-1.67,-438.8,1798,1958,3009,4094,38.7,-13.6,53,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1958,3009,3009,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.48,48.26
$GC,378,-1.67,-438.8,1798,1958,3009,4094,43.5,-12.4,59,385,0.00,1.08,0.00,0.000,516,0.000,0.048,1799,1528,3010,3010,4094,0,0,0,0,0,0,26.50,26.21,26.51,10.46,47.16
$GC,411,-1.67,-438.8,1798,1527,3010,4094,47.7,-13.0,64,417,0.00,0.93,0.00,0.000,1030,0.000,0.024,1799,1938,3011,3011,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.45,46.49
$GC,449,-1.67,-438.8,1798,1938,3012,4095,52.4,-12.0,70,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1938,3012,3012,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.44,45.86
$GC,487,-1.67,-438.8,1798,1938,3013,4095,57.2,-12.8,76,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1938,3013,3013,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,45.47
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,510,begin apogee
$GC,516,-0.45,0.0,1798,1938,3013,4094,60.6,-13.4,80,552,4.12,0.00,25.45,1.251,10244,0.057,0.000,2185,1938,2484,2484,4094,0,0,0,0,0,0,26.27,25.23,24.53,10.43,45.15
$STATE,553,end apogee,CONTROL_FINISHED_OK
$STATE,553,begin climb
$GC,556,1.67,438.8,2185,1938,2485,4094,62.8,0.0,86,592,7.12,0.00,25.12,1.228,11270,0.034,0.000,2864,1943,1972,1972,4094,0,0,0,0,0,0,25.74,25.89,24.10,10.32,44.80
$GC,624,1.67,438.8,2863,1942,1971,4094,57.1,11.8,97,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1943,1971,1971,4095,0,0,0,0,0,0,25.66,25.67,25.67,10.20,44.52
$GC,662,1.67,438.8,2864,1942,1970,4095,52.7,11.8,103,668,0.00,1.12,0.00,0.000,260,0.000,0.038,2864,2363,1970,1970,4094,0,0,0,0,0,0,25.82,25.56,25.83,10.19,44.05
$GC,724,1.67,438.8,2863,2362,1968,4094,45.0,12.7,113,731,0.00,1.08,0.00,0.000,1030,0.000,0.030,2864,1946,1968,1968,4094,0,0,0,0,0,0,25.77,25.74,25.80,10.18,44.80
$GC,763,1.67,438.8,2863,1946,1967,4094,40.4,11.9,119,770,0.00,1.10,0.00,0.000,516,0.000,0.054,2864,1524,1967,1967,4095,0,0,0,0,0,0,26.07,25.77,26.07,10.18,45.11
$GC,814,1.67,438.8,2864,1524,1966,4095,34.6,11.1,127,821,0.00,0.95,0.00,0.000,1030,0.000,0.024,2864,1948,1966,1966,4094,0,0,0,0,0,0,25.96,25.95,25.98,10.18,45.27
$GC,853,1.69,449.3,2863,1947,1964,4094,30.4,11.0,133,861,0.00,1.05,2.12,0.084,8452,0.000,0.038,2864,2353,1958,1958,4094,0,0,0,0,0,0,26.20,25.83,24.96,10.18,45.62
$GC,917,1.72,473.7,2864,2352,1958,4094,23.4,10.8,143,924,0.00,1.02,3.05,0.342,9222,0.000,0.031,2864,1949,1931,1931,4094,0,0,0,0,0,0,26.04,26.01,25.08,10.20,47.04
$GC,957,1.77,507.3,2863,1948,1930,4094,19.0,10.7,149,965,0.20,1.10,3.55,0.397,10756,0.047,0.054,2891,1521,1892,1892,4094,0,0,0,0,0,0,26.08,25.90,25.14,10.21,47.75
$GC,1027,1.77,507.3,2891,1521,1890,4094,11.1,11.4,160,1034,0.00,0.90,0.00,0.000,1030,0.000,0.024,2891,1926,1890,1890,4094,0,0,0,0,0,0,26.14,26.12,26.15,10.24,50.78
$GC,1066,1.91,600.0,2891,1928,1889,4094,7.1,9.9,166,1080,0.38,1.08,6.38,0.522,10500,0.041,0.033,2935,2358,1782,1782,4095,0,0,0,0,0,0,26.14,25.73,25.29,10.24,50.55
$STATE,1122,end climb,FINISH_DEPTH_REACHED
$STATE,1122,begin subsurface finish
$FINISH1,1.5,1.024148,101
$GC,1130,0.15,101.2,2935,1949,1781,4094,1.5,10.3,175,1144,5.65,0.00,-4.70,0.000,20742,0.034,0.000,2388,1949,2374,2374,4095,0,0,0,0,0,0,26.13,25.10,26.16,10.24,51.02
$FINISH2,0.5
$STATE,1145,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1145,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,090913
$TT8_MAMPS,0.025466,0.158788
$HUMID,51.37
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,24.10,18.734
$10V_AH,10.39,22.560
$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,34.875,14.650,65.675,0.000,0.000,25.789,20.177,243.868,0.000,0.000,18.052,471.614,283.665,152.585,551.412,138.788,33.449,345.093,0.000,266.985,0.000,0.544,0.000
$DEVICE_MAMPS,94.095,1264.545,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14268,177
$CAP_FILE_SIZE,35718,0
$CFSIZE,1024409600,985530368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080817,102505,6036.400,-17335.395,6,0.8,16,7.1,0.0,218.4,9,4.9