version: 66.13
glider: 401
mission: 22
dive: 800
start: 8 10 117 6 13 6
data:
$ID,401
$MISSION,22
$DIVE,800
$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,36
$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
$GPS1,100817,054957,6058.9531,-17344.6387,8,0.9,13,7.1,0.0,286.3,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.0
$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,-0.238490,0.307643
$KALMAN_X,74923.789062,-872.810852,-598.801392,-262002.890625,51.209595
$KALMAN_Y,-27011.398438,2975.396729,1055.106323,214928.125000,81.901733
$MHEAD_RNG_PITCHd_Wd,315.1,10338,-10.8,-10.000,-14.41,7428
$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,-487.5,2396,1942,2370,4092,0.0,0.0,0,28,6.10,0.00,-6.15,0.000,20486,0.026,0.000,1796,1942,3051,3051,4095,0,0,0,0,0,0,26.21,25.69,26.24,10.38,52.55
$GC,32,-1.71,-487.5,1796,1942,3051,4095,0.1,-0.7,2,41,0.00,1.45,0.00,0.000,260,0.000,0.044,1796,2486,3050,3050,4095,0,0,0,0,0,0,26.27,26.01,26.29,10.52,51.96
$GC,129,-1.71,-487.5,1795,2486,3053,4095,12.5,-15.8,16,139,0.00,1.33,0.00,0.000,1030,0.000,0.028,1795,1958,3053,3053,4095,0,0,0,0,0,0,26.17,26.13,26.17,10.53,52.04
$GC,176,-1.71,-487.5,1795,1958,3055,4095,19.3,-14.9,22,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1958,3055,3055,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.52,51.81
$GC,222,-1.71,-487.5,1795,1958,3056,4094,25.4,-12.8,28,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1958,3056,3056,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.50,50.98
$GC,267,-1.71,-487.5,1796,1958,3056,4095,31.2,-12.6,34,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1958,3057,3057,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.48,50.55
$GC,312,-1.71,-487.5,1795,1958,3058,4094,36.6,-12.2,40,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1958,3058,3058,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.46,49.37
$GC,357,-1.71,-487.5,1795,1958,3059,4095,41.8,-10.9,46,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1958,3059,3059,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,48.30
$GC,402,-1.71,-487.5,1795,1958,3060,4095,47.0,-11.8,52,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1958,3060,3060,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.43,48.22
$GC,447,-1.71,-487.5,1795,1958,3061,4095,52.3,-11.9,58,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1958,3061,3061,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.41,47.16
$GC,492,-1.71,-487.5,1795,1958,3062,4095,57.8,-12.0,64,502,0.00,1.38,0.00,0.000,516,0.000,0.052,1796,1420,3062,3062,4095,0,0,0,0,0,0,26.58,26.27,26.59,10.40,46.65
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,510,begin apogee
$GC,518,-0.45,0.0,1795,2101,3062,4095,60.3,-12.5,66,554,4.18,0.00,27.75,1.293,10244,0.055,0.000,2186,2101,2484,2484,4094,0,0,0,0,0,0,26.29,25.44,24.45,10.40,46.37
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,558,1.71,487.5,2186,2101,2484,4094,63.1,0.0,70,602,7.20,1.45,27.75,1.258,10500,0.034,0.052,2878,2641,1917,1917,4094,0,0,0,0,0,0,25.61,25.56,24.03,10.28,45.47
$GC,652,1.71,487.5,2878,2641,1916,4094,54.7,13.2,82,661,0.00,1.38,0.00,0.000,1030,0.000,0.024,2879,2101,1915,1915,4094,0,0,0,0,0,0,25.52,25.51,25.53,10.15,45.15
$GC,699,1.71,487.5,2878,2101,1914,4094,48.8,12.7,88,709,0.00,1.40,0.00,0.000,516,0.000,0.049,2879,1571,1914,1914,4094,0,0,0,0,0,0,25.87,25.58,25.89,10.14,44.95
$GC,791,1.71,487.5,2878,1571,1911,4094,37.2,12.3,101,801,0.00,1.27,0.00,0.000,1030,0.000,0.027,2879,2089,1911,1911,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.14,45.62
$GC,839,1.71,487.5,2878,2089,1910,4094,31.6,12.1,107,848,0.00,1.48,0.00,0.000,260,0.000,0.054,2879,2636,1910,1910,4094,0,0,0,0,0,0,26.14,25.80,26.15,10.14,46.37
$GC,891,1.71,487.5,2878,2636,1908,4094,25.0,12.3,114,901,0.00,1.38,0.00,0.000,1030,0.000,0.028,2879,2089,1908,1908,4094,0,0,0,0,0,0,26.00,25.96,26.01,10.17,47.16
$GC,937,1.71,487.5,2878,2088,1907,4094,19.6,11.1,120,947,0.00,1.35,0.00,0.000,516,0.000,0.051,2879,1571,1908,1908,4094,0,0,0,0,0,0,26.25,25.95,26.26,10.19,48.30
$GC,1029,1.75,510.1,2878,1570,1905,4094,10.7,9.7,133,1039,0.00,1.17,2.70,0.231,9222,0.000,0.026,2879,2059,1886,1886,4094,0,0,0,0,0,0,26.13,26.10,25.25,10.22,50.43
$GC,1078,1.79,540.8,2878,2059,1885,4094,6.1,9.6,139,1089,0.10,1.52,3.33,0.314,10500,0.080,0.050,2893,2646,1851,1851,4095,0,0,0,0,0,0,26.18,25.77,25.32,10.23,50.74
$STATE,1116,end climb,FINISH_DEPTH_REACHED
$STATE,1116,begin subsurface finish
$FINISH1,1.4,1.024121,103
$GC,1125,0.15,103.0,2893,2104,1850,4094,1.4,11.0,144,1144,5.05,1.45,-4.40,0.000,20996,0.024,1.276,2395,1564,2365,2365,4094,0,0,0,0,0,0,26.12,24.88,26.18,10.24,50.94
$FINISH2,0.3
$STATE,1145,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1145,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,043018
$TT8_MAMPS,0.025466,0.236684
$HUMID,51.61
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.03,21.575
$10V_AH,10.20,25.179
$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,22.625,21.450,61.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,405.926,0.000,127.396,610.211,59.316,33.433,373.142,0.000,355.807,0.000,0.542,0.000
$DEVICE_MAMPS,79.560,1276.020,1292.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.206,396.607,313.896,465.364,608.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,14353,146
$CAP_FILE_SIZE,28726,0
$CFSIZE,1024409600,980189184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,054957,6058.953,-17344.639,8,0.9,13,7.1,0.0,286.3,10,5.0