version: 66.13
glider: 401
mission: 22
dive: 795
start: 8 10 117 4 8 14
data:
$ID,401
$MISSION,22
$DIVE,795
$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,50
$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,0.11
$_SM_ANGLEo,-2.3
$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,-0.104922,0.346276
$KALMAN_X,74758.031250,-793.444275,-626.225037,-260990.250000,-28.238464
$KALMAN_Y,-28073.927734,2696.921143,784.220459,212971.015625,-69.999268
$MHEAD_RNG_PITCHd_Wd,336.0,13939,-12.0,-10.000,-15.45,6232
$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,-1.71,-414.9,2390,1931,2369,4092,0.0,0.0,0,17,6.05,0.00,-0.73,0.000,20482,0.025,0.000,1792,1932,2450,2450,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.36,51.92
$GC,21,-1.71,-414.9,1792,1931,2450,4094,0.0,0.0,1,28,0.00,0.00,-4.75,0.000,16646,0.000,0.000,1792,1932,2974,2974,4094,0,0,0,0,0,0,26.32,25.11,26.34,10.38,52.24
$GC,60,-1.82,-487.5,1792,1932,2975,4094,0.9,-3.5,7,67,0.12,0.00,-0.55,0.000,20486,0.063,0.000,1769,1932,3058,3058,4094,0,0,0,0,0,0,26.17,25.58,26.17,10.50,52.20
$GC,99,-1.82,-487.5,1768,1931,3060,4094,5.9,-13.7,13,106,0.00,1.50,0.00,0.000,260,0.000,0.048,1769,2484,3059,3059,4094,0,0,0,0,0,0,26.28,25.98,26.29,10.52,52.08
$GC,162,-1.82,-487.5,1768,2483,3061,4094,16.1,-15.4,23,168,0.00,1.27,0.00,0.000,1030,0.000,0.028,1769,1978,3061,3061,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.51,52.08
$GC,201,-1.82,-487.5,1768,1978,3063,4095,22.0,-15.6,29,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1977,3062,3062,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.49,51.33
$GC,239,-1.82,-487.5,1768,1977,3064,4094,27.4,-14.6,35,245,0.00,1.45,0.00,0.000,516,0.000,0.051,1769,1414,3063,3063,4095,0,0,0,0,0,0,26.40,26.09,26.41,10.47,50.98
$GC,283,-1.82,-487.5,1768,1414,3063,4095,33.9,-14.5,42,290,0.00,1.27,0.00,0.000,1030,0.000,0.025,1769,1947,3064,3064,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.45,49.72
$GC,322,-1.82,-487.5,1768,1946,3065,4095,39.4,-13.7,48,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1947,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.44,50.19
$GC,360,-1.82,-487.5,1768,1947,3066,4095,44.5,-13.7,54,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1947,3066,3066,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.42,49.01
$GC,398,-1.82,-487.5,1768,1946,3068,4094,49.9,-13.9,60,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1947,3067,3067,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.41,48.11
$GC,436,-1.82,-487.5,1768,1947,3068,4095,55.0,-13.0,66,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1947,3068,3068,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.39,47.48
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,478,-0.45,0.0,1768,2109,3069,4095,60.0,-13.2,72,514,4.43,0.00,28.05,1.277,10244,0.055,0.000,2185,2110,2484,2484,4094,0,0,0,0,0,0,26.23,25.39,24.40,10.39,47.71
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,518,1.82,487.5,2185,2110,2484,4094,62.6,0.0,78,560,7.60,0.00,27.83,1.252,11270,0.034,0.000,2904,2110,1915,1915,4094,0,0,0,0,0,0,25.60,25.77,23.98,10.27,46.61
$GC,592,1.82,487.5,2904,2110,1914,4094,56.0,13.4,90,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2110,1914,1914,4095,0,0,0,0,0,0,25.59,25.60,25.60,10.14,45.31
$GC,630,1.82,487.5,2904,2110,1913,4095,50.7,14.7,96,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2111,1913,1913,4094,0,0,0,0,0,0,25.77,25.77,25.77,10.13,45.39
$GC,668,1.82,487.5,2904,2109,1912,4094,45.3,14.4,102,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2110,1912,1912,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.13,45.23
$GC,706,1.82,487.5,2903,2110,1911,4094,40.2,12.9,108,713,0.00,1.45,0.00,0.000,516,0.000,0.048,2905,1570,1911,1911,4094,0,0,0,0,0,0,25.96,25.67,25.98,10.13,45.82
$GC,775,1.82,487.5,2904,1570,1908,4094,31.0,13.3,119,782,0.00,1.27,0.00,0.000,1030,0.000,0.027,2904,2088,1908,1908,4094,0,0,0,0,0,0,25.87,25.84,25.89,10.14,47.12
$GC,814,1.82,487.5,2904,2088,1907,4094,26.0,13.1,125,820,0.00,1.48,0.00,0.000,260,0.000,0.054,2905,2633,1907,1907,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.15,47.83
$GC,865,1.82,487.5,2904,2632,1906,4094,19.5,12.9,133,871,0.00,1.35,0.00,0.000,1030,0.000,0.026,2904,2095,1905,1905,4094,0,0,0,0,0,0,26.00,25.97,26.02,10.16,48.22
$GC,903,1.82,487.5,2904,2095,1905,4094,15.0,11.3,139,910,0.00,1.38,0.00,0.000,516,0.000,0.051,2904,1568,1905,1905,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.18,49.13
$GC,978,1.82,487.5,2904,1568,1903,4094,6.6,10.7,151,985,0.00,1.20,0.00,0.000,1030,0.000,0.027,2905,2064,1902,1902,4094,0,0,0,0,0,0,26.09,26.07,26.13,10.20,51.41
$GC,1017,1.82,487.5,2904,2063,1901,4094,2.3,11.0,157,1024,0.00,1.55,0.00,0.000,260,0.000,0.056,2905,2648,1901,1901,4094,0,0,0,0,0,0,26.34,26.03,26.36,10.23,51.22
$STATE,1028,end climb,SURFACE_DEPTH_REACHED
$STATE,1029,begin surface coast
$FINISH,0.3,1.024098
$STATE,1042,end surface coast,CONTROL_FINISHED_OK
$STATE,1042,begin surface
$SM_CCo,1142,0.00,0.000,0,0,1900,502.28
$SM_GC,1.18,27.38,1.80,0.00,0.021,0.030,0.000,239,1951,1900,-6.55,1.41,502.28,0,0,0,0,0,0,26.15,26.10,26.19
$IRIDIUM_FIX,6149.06,-17422.35,100817,020704
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.08
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.98,21.435
$10V_AH,10.44,25.043
$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,45.575,17.675,55.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,432.136,307.780,168.633,234.690,61.505,33.419,348.329,0.000,242.791,0.000,0.543,0.000
$DEVICE_MAMPS,63.495,55.845,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,10852,161
$CAP_FILE_SIZE,32140,0
$CFSIZE,1024409600,980434944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,042808,6057.971,-17344.244,9,0.8,16,7.1,0.2,3.7,11,4.9