version: 66.13
glider: 401
mission: 22
dive: 794
start: 8 10 117 3 46 50
data:
$ID,401
$MISSION,22
$DIVE,794
$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,20
$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,500
$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,25
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2105
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,28
$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
$GPS1,100817,032511,6057.0259,-17343.6895,7,0.7,14,7.1,0.0,309.2,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.7
$GPS2,100817,032511,6057.0259,-17343.6895,7,0.7,14,7.1,0.0,309.2,12,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.118490,0.374258
$KALMAN_X,74617.890625,-770.152039,-619.503357,-260880.656250,-88.164917
$KALMAN_Y,-27662.064453,2680.673828,765.984009,212595.015625,67.332642
$MHEAD_RNG_PITCHd_Wd,335.3,13939,-10.7,-10.000,-14.29,7581
$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,-1.70,-487.5,2392,1952,2367,4092,0.0,0.0,0,21,6.00,0.00,-4.38,0.000,20482,0.023,0.000,1799,1953,2855,2855,4095,0,0,0,0,0,0,26.22,28.83,26.24,10.37,52.16
$GC,24,-1.70,-487.5,1799,1952,2855,4095,0.1,0.0,1,33,0.00,1.48,-1.83,0.000,16644,0.000,1.269,1799,2494,3056,3056,4095,0,0,0,0,0,0,26.41,24.93,26.40,10.47,51.81
$GC,83,-1.70,-487.5,1798,2494,3057,4095,5.6,-13.3,9,92,0.00,1.38,0.00,0.000,1030,0.000,0.028,1799,1951,3057,3057,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.52,52.12
$GC,130,-1.70,-487.5,1798,1950,3059,4095,12.7,-15.6,15,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3059,3059,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.53,51.81
$GC,177,-1.70,-487.5,1798,1951,3060,4095,19.1,-13.7,21,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1951,3060,3060,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.50,50.90
$GC,223,-1.70,-487.5,1798,1951,3061,4094,25.0,-12.6,27,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3062,3062,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.47,51.14
$GC,270,-1.70,-487.5,1798,1951,3062,4095,30.7,-12.4,33,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3062,3062,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.45,49.76
$GC,317,-1.70,-487.5,1798,1951,3062,4094,36.1,-11.3,39,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3063,3063,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,48.54
$GC,363,-1.70,-487.5,1798,1951,3064,4095,40.8,-11.1,45,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3065,3065,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,48.22
$GC,410,-1.70,-487.5,1798,1951,3065,4095,46.4,-12.3,51,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3065,3065,4095,0,0,0,0,0,0,26.54,26.56,26.55,10.41,47.55
$GC,457,-1.70,-487.5,1798,1951,3066,4095,52.0,-11.9,57,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3066,3066,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.40,46.88
$GC,504,-1.70,-487.5,1798,1951,3067,4095,57.4,-11.7,63,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1951,3067,3067,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.39,46.61
$STATE,527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,527,begin apogee
$GC,534,-0.45,0.0,1799,2116,3068,4095,60.6,-11.9,66,570,4.12,0.00,28.08,1.295,10244,0.054,0.000,2186,2116,2484,2484,4094,0,0,0,0,0,0,26.29,25.44,24.44,10.38,46.18
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,574,1.70,487.5,2185,2115,2483,4094,63.4,0.0,70,618,7.18,0.00,27.80,1.261,11270,0.033,0.000,2873,2116,1916,1916,4094,0,0,0,0,0,0,25.67,25.82,24.01,10.27,45.74
$GC,656,1.70,487.5,2873,2115,1915,4094,56.9,12.2,80,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2115,1915,1915,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.14,44.95
$GC,700,1.70,487.5,2873,2115,1914,4094,50.8,13.4,86,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2116,1913,1913,4095,0,0,0,0,0,0,25.82,25.84,25.84,10.13,44.76
$GC,746,1.70,487.5,2872,2115,1912,4095,45.0,12.6,92,755,0.00,1.48,0.00,0.000,516,0.000,0.047,2873,1568,1912,1912,4094,0,0,0,0,0,0,25.94,25.64,25.96,10.12,45.19
$GC,824,1.70,487.5,2873,1567,1910,4094,35.4,12.4,103,833,0.00,1.23,0.00,0.000,1030,0.000,0.026,2873,2070,1910,1910,4094,0,0,0,0,0,0,25.89,25.85,25.90,10.13,46.18
$GC,870,1.70,487.5,2873,2070,1909,4094,29.8,11.8,109,879,0.00,1.52,0.00,0.000,260,0.000,0.054,2873,2635,1908,1908,4094,0,0,0,0,0,0,26.15,25.84,26.16,10.13,46.18
$GC,922,1.70,487.5,2873,2634,1907,4094,23.6,11.6,116,932,0.00,1.40,0.00,0.000,1030,0.000,0.027,2873,2078,1907,1907,4094,0,0,0,0,0,0,26.02,25.97,26.02,10.15,47.16
$GC,968,1.70,487.5,2872,2078,1906,4094,18.1,11.8,122,977,0.00,1.33,0.00,0.000,516,0.000,0.050,2873,1568,1906,1906,4094,0,0,0,0,0,0,26.27,25.96,26.28,10.16,48.03
$GC,1033,1.70,487.5,2873,1568,1904,4094,10.9,11.1,131,1042,0.00,1.23,0.00,0.000,1030,0.000,0.026,2873,2078,1904,1904,4094,0,0,0,0,0,0,26.09,26.09,26.13,10.19,49.72
$GC,1079,1.75,522.1,2873,2077,1903,4094,6.3,9.5,137,1089,0.00,1.48,3.12,0.293,8452,0.000,0.052,2873,2642,1873,1873,4094,0,0,0,0,0,0,26.36,25.77,25.30,10.21,50.59
$STATE,1125,end climb,FINISH_DEPTH_REACHED
$STATE,1125,begin subsurface finish
$FINISH1,1.2,1.024091,105
$GC,1134,0.16,105.1,2873,2097,1872,4094,1.2,11.1,143,1153,4.95,0.00,-4.20,0.000,20486,0.040,0.000,2391,2097,2369,2369,4095,0,0,0,0,0,0,26.16,25.61,26.20,10.22,50.82
$FINISH2,0.4
$STATE,1154,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1154,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,020704
$TT8_MAMPS,0.025466,0.238182
$HUMID,51.73
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.01,21.415
$10V_AH,10.20,25.032
$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,22.250,14.625,59.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.291,0.389,130.868,603.942,63.377,33.433,380.333,0.000,352.153,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1269.135,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.590,393.873,311.829,462.162,601.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,14382,145
$CAP_FILE_SIZE,29323,0
$CFSIZE,1024409600,980484096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,032511,6057.026,-17343.689,7,0.7,14,7.1,0.0,309.2,12,4.8