version: 66.13
glider: 401
mission: 22
dive: 798
start: 8 10 117 5 17 12
data:
$ID,401
$MISSION,22
$DIVE,798
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,100817,043500,6058.0142,-17344.3047,7,0.8,16,7.1,0.5,344.7,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-3.5
$GPS2,100817,043500,6058.0142,-17344.3047,7,0.8,16,7.1,0.5,344.7,11,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.191198,0.343086
$KALMAN_X,74780.296875,-863.875549,-635.409729,-261515.593750,52.325562
$KALMAN_Y,-27715.292969,2846.250977,935.818420,214141.750000,-32.728455
$MHEAD_RNG_PITCHd_Wd,323.8,12040,-10.7,-10.000,-14.28,7590
$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,-487.5,2387,1948,2369,4092,0.0,0.0,0,20,5.93,0.00,-3.28,0.000,20482,0.025,0.000,1800,1948,2730,2730,4095,0,0,0,0,0,0,26.21,28.83,26.25,10.37,52.12
$GC,23,-1.70,-487.5,1799,1948,2731,4095,0.0,0.0,1,33,0.00,1.40,-3.00,0.000,16900,0.000,1.279,1800,1411,3055,3055,4095,0,0,0,0,0,0,26.42,24.93,26.43,10.44,52.32
$GC,71,-1.70,-487.5,1799,1411,3056,4095,2.0,-7.4,7,80,0.00,1.30,0.00,0.000,1030,0.000,0.026,1800,1954,3057,3057,4095,0,0,0,0,0,0,26.17,26.13,26.17,10.52,52.04
$GC,118,-1.70,-487.5,1799,1954,3058,4095,8.6,-15.3,13,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1954,3058,3058,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.53,52.71
$GC,165,-1.70,-487.5,1799,1954,3059,4095,15.8,-15.2,19,174,0.00,1.40,0.00,0.000,260,0.000,0.049,1800,2481,3059,3059,4094,0,0,0,0,0,0,26.43,26.12,26.44,10.52,51.69
$GC,204,-1.70,-487.5,1799,2481,3060,4094,21.5,-13.7,24,214,0.00,1.33,0.00,0.000,1030,0.000,0.028,1799,1954,3060,3060,4095,0,0,0,0,0,0,26.21,26.24,26.25,10.51,51.53
$GC,251,-1.70,-487.5,1799,1954,3061,4095,27.5,-12.9,30,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1954,3062,3062,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.49,50.98
$GC,297,-1.70,-487.5,1799,1954,3062,4095,33.1,-11.9,36,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1954,3062,3062,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.46,50.19
$GC,342,-1.70,-487.5,1799,1954,3063,4095,38.5,-11.7,42,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1954,3064,3064,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.45,49.60
$GC,387,-1.70,-487.5,1799,1954,3064,4094,43.5,-11.2,48,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1954,3064,3064,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.43,48.77
$GC,431,-1.70,-487.5,1799,1954,3065,4095,47.5,-8.2,54,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1954,3065,3065,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.42,48.50
$GC,476,-1.70,-487.5,1799,1954,3066,4094,51.6,-9.2,60,485,0.00,1.40,0.00,0.000,260,0.000,0.040,1800,2484,3066,3066,4095,0,0,0,0,0,0,26.58,26.28,26.59,10.40,47.79
$STATE,566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,566,begin apogee
$GC,574,-0.45,0.0,1799,2091,3067,4095,60.0,-9.4,73,610,4.07,0.00,27.95,1.281,10244,0.051,0.000,2184,2085,2484,2484,4094,0,0,0,0,0,0,26.34,25.46,24.48,10.39,46.49
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,614,1.70,487.5,2184,2085,2483,4094,63.2,0.0,77,657,7.12,0.00,27.65,1.264,11270,0.032,0.000,2870,2086,1919,1919,4095,0,0,0,0,0,0,25.70,25.85,24.01,10.27,45.94
$GC,695,1.70,487.5,2870,2085,1919,4095,58.4,10.3,87,705,0.00,1.33,0.00,0.000,516,0.000,0.048,2871,1589,1919,1919,4094,0,0,0,0,0,0,25.67,25.39,25.68,10.14,44.60
$GC,841,1.70,488.0,2870,1589,1915,4094,43.6,10.0,108,851,0.00,1.02,0.00,0.000,1030,0.000,0.024,2871,2035,1915,1915,4094,0,0,0,0,0,0,25.89,25.86,25.92,10.12,45.90
$GC,889,1.77,535.8,2870,2035,1914,4094,39.0,9.4,114,900,0.10,1.20,4.38,0.617,10756,0.072,0.050,2890,1582,1858,1858,4094,0,0,0,0,0,0,25.95,25.72,24.80,10.12,45.90
$GC,1023,1.77,535.8,2889,1582,1855,4094,25.4,10.0,133,1032,0.00,0.80,0.00,0.000,1030,0.000,0.026,2889,1958,1855,1855,4094,0,0,0,0,0,0,26.08,26.06,26.09,10.14,47.79
$GC,1069,1.83,572.8,2889,1957,1854,4094,20.7,9.5,139,1080,0.12,1.80,3.58,0.418,10500,0.073,0.048,2907,2636,1815,1815,4094,0,0,0,0,0,0,26.10,25.66,25.11,10.16,48.42
$GC,1091,1.83,572.8,2906,2636,1815,4094,18.4,10.4,141,1100,0.00,1.83,0.00,0.000,1030,0.000,0.030,2907,1923,1815,1815,4094,0,0,0,0,0,0,26.04,26.01,26.10,10.15,48.58
$GC,1137,1.85,588.3,2906,1923,1814,4094,13.9,9.8,147,1146,0.00,0.82,2.67,0.235,8708,0.000,0.053,2907,1588,1795,1795,4094,0,0,0,0,0,0,26.32,25.71,25.19,10.17,49.96
$GC,1217,1.91,625.1,2906,1587,1794,4094,6.2,9.5,158,1228,0.15,0.70,3.50,0.340,11270,0.044,0.027,2929,1927,1753,1753,4094,0,0,0,0,0,0,26.13,26.17,25.32,10.20,51.85
$STATE,1264,end climb,SURFACE_DEPTH_REACHED
$STATE,1264,begin surface coast
$FINISH,0.2,1.024093
$STATE,1288,end surface coast,CONTROL_FINISHED_OK
$STATE,1289,begin surface
$SM_CCo,1386,0.00,0.000,0,0,1751,630.21
$SM_GC,0.78,27.67,0.00,0.00,0.021,0.000,0.000,230,1931,1751,-6.59,-0.82,630.21,0,0,0,0,0,0,26.07,26.41,26.17
$IRIDIUM_FIX,6149.06,-17422.35,100817,031934
$TT8_MAMPS,0.025466,0.249417
$HUMID,51.89
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.01,21.513
$10V_AH,10.19,25.128
$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,45.175,17.575,69.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,478.168,59.596,147.187,692.665,70.846,33.419,394.386,0.000,403.630,0.000,0.543,0.000
$DEVICE_MAMPS,73.440,1279.080,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.507,453.637,359.107,532.316,691.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,17760,167
$CAP_FILE_SIZE,33480,0
$CFSIZE,1024409600,980254720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,054149,6058.908,-17344.584,8,0.9,54,7.1,0.3,29.1,9,11.2