version: 66.13
glider: 401
mission: 22
dive: 799
start: 8 10 117 5 51 4
data:
$ID,401
$MISSION,22
$DIVE,799
$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,45
$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
$GPS1,100817,054149,6058.9077,-17344.5840,8,0.9,54,7.1,0.3,29.1,9,11.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-36.6
$GPS2,100817,054957,6058.9531,-17344.6387,8,0.9,13,7.1,0.0,286.3,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.241497,0.294323
$KALMAN_X,74791.937500,-910.659241,-670.093018,-261754.812500,67.709717
$KALMAN_Y,-26877.218750,3025.740723,1116.775269,214652.000000,73.912720
$MHEAD_RNG_PITCHd_Wd,313.5,10338,-11.2,-10.000,-14.72,7041
$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,9,-1.72,-469.9,230,1932,1750,4092,0.0,0.0,0,18,7.22,0.00,0.00,0.000,2049,0.098,0.000,844,1933,1750,1750,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.29,50.66
$GC,21,-1.72,-469.9,844,1932,1750,4094,0.7,0.0,1,51,9.95,1.52,-11.35,0.000,18692,0.048,1.268,1782,2478,3037,3037,4095,0,0,0,0,0,0,25.98,24.75,26.04,10.29,50.19
$GC,126,-1.72,-469.9,1781,2478,3039,4095,10.9,-16.0,18,132,0.00,1.30,0.00,0.000,1030,0.000,0.026,1782,1959,3038,3038,4095,0,0,0,0,0,0,26.00,25.96,26.02,10.57,49.56
$GC,164,-1.72,-469.9,1781,1959,3039,4095,16.8,-14.9,24,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1959,3040,3040,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.56,49.05
$GC,203,-1.75,-487.5,1781,1959,3040,4094,20.4,-9.4,30,210,0.00,1.42,-0.08,0.000,16644,0.000,1.259,1781,2483,3080,3080,4095,0,0,0,0,0,0,26.29,24.79,25.84,10.54,48.34
$GC,352,-1.75,-487.5,1781,2482,3082,4095,34.8,-9.7,54,359,0.00,1.30,0.00,0.000,1030,0.000,0.026,1781,1962,3082,3082,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.49,47.28
$GC,392,-1.75,-487.5,1781,1963,3083,4094,38.7,-9.7,60,398,0.00,1.40,0.00,0.000,516,0.000,0.052,1782,1419,3083,3083,4094,0,0,0,0,0,0,26.36,26.06,26.38,10.48,46.88
$GC,526,-1.75,-487.5,1781,1419,3086,4094,54.3,-13.2,82,533,0.00,1.40,0.00,0.000,1030,0.000,0.026,1782,2005,3086,3086,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.43,45.39
$GC,565,-1.75,-487.5,1781,2004,3087,4095,59.2,-13.1,88,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2005,3086,3086,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.43,45.31
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,583,-0.45,0.0,1782,2116,3087,4095,61.0,-12.8,90,619,4.30,0.00,28.90,1.281,10244,0.054,0.000,2186,2116,2484,2484,4095,0,0,0,0,0,0,26.20,25.33,24.34,10.42,45.15
$STATE,620,end apogee,CONTROL_FINISHED_OK
$STATE,620,begin climb
$GC,623,1.75,487.5,2186,2116,2484,4095,63.6,0.0,96,664,7.32,0.00,27.77,1.254,11270,0.033,0.000,2885,2116,1916,1916,4094,0,0,0,0,0,0,25.58,25.72,23.96,10.30,44.76
$GC,697,1.75,487.5,2884,2116,1916,4094,57.4,11.9,108,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2116,1915,1915,4094,0,0,0,0,0,0,25.58,25.60,25.59,10.17,44.01
$GC,734,1.75,487.5,2884,2116,1915,4094,52.5,12.8,114,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2116,1914,1914,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.16,43.81
$GC,772,1.75,487.5,2884,2116,1913,4094,47.8,12.2,120,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2116,1913,1913,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.15,44.72
$GC,810,1.75,487.5,2884,2116,1912,4094,43.0,12.4,126,817,0.00,1.45,0.00,0.000,516,0.000,0.047,2885,1575,1912,1912,4094,0,0,0,0,0,0,25.96,25.66,25.97,10.15,44.17
$GC,885,1.75,487.5,2884,1574,1910,4094,33.6,12.6,138,892,0.00,1.25,0.00,0.000,1030,0.000,0.026,2885,2085,1910,1910,4094,0,0,0,0,0,0,25.89,25.86,25.89,10.15,45.23
$GC,924,1.75,487.5,2885,2084,1908,4094,29.0,12.1,144,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2085,1908,1908,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.17,46.57
$GC,962,1.75,487.5,2884,2084,1908,4095,24.4,12.1,150,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2085,1907,1907,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.17,46.49
$GC,1000,1.75,487.5,2884,2084,1907,4094,20.2,11.6,156,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2085,1906,1906,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.19,47.55
$GC,1038,1.75,487.5,2884,2084,1905,4094,15.9,11.5,162,1045,0.00,1.35,0.00,0.000,516,0.000,0.048,2885,1575,1905,1905,4094,0,0,0,0,0,0,26.27,25.98,26.29,10.20,48.46
$GC,1071,1.75,487.5,2884,1574,1905,4094,12.5,10.5,167,1077,0.00,1.25,0.00,0.000,1030,0.000,0.026,2885,2089,1905,1905,4094,0,0,0,0,0,0,26.10,26.06,26.11,10.22,49.40
$GC,1110,1.75,487.5,2884,2089,1904,4094,8.6,10.3,173,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2089,1903,1903,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.24,50.23
$GC,1148,1.75,487.5,2884,2089,1903,4094,4.6,10.5,179,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2089,1902,1902,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.24,51.22
$STATE,1171,end climb,FINISH_DEPTH_REACHED
$STATE,1171,begin subsurface finish
$FINISH1,1.8,1.024111,104
$GC,1179,0.16,103.8,2884,2089,1902,4094,1.8,10.7,183,1192,5.35,0.00,-3.90,0.000,20486,0.066,0.000,2396,2093,2370,2370,4094,0,0,0,0,0,0,26.08,25.13,26.17,10.25,51.06
$FINISH2,0.2
$STATE,1193,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1193,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,043018
$TT8_MAMPS,0.025466,0.133322
$HUMID,52.04
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.96,21.554
$10V_AH,10.41,25.146
$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,34.150,13.875,56.675,0.000,0.000,25.063,24.124,284.120,0.000,0.000,14.930,479.102,292.603,160.865,604.232,161.156,33.451,363.027,0.000,278.256,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1267.605,1280.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14285,185
$CAP_FILE_SIZE,36039,0
$CFSIZE,1024409600,980221952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100817,054957,6058.953,-17344.639,8,0.9,13,7.1,0.0,286.3,10,5.0