version: 66.13
glider: 401
mission: 22
dive: 801
start: 8 10 117 6 34 22
data:
$ID,401
$MISSION,22
$DIVE,801
$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,24
$R_STBD_OVSHOOT,61
$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,0.11
$_SM_ANGLEo,-3.3
$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,-0.241380,0.307266
$KALMAN_X,75159.125000,-872.293579,-581.389221,-262255.406250,115.439636
$KALMAN_Y,-27348.550781,2994.745361,1067.219238,215232.750000,-34.324829
$MHEAD_RNG_PITCHd_Wd,314.7,10338,-10.7,-10.000,-14.36,7496
$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,-487.5,2394,1996,2365,4092,0.0,0.0,0,17,6.10,0.00,-0.82,0.000,20482,0.026,0.000,1796,1998,2457,2457,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.37,51.57
$GC,21,-1.71,-487.5,1796,1996,2457,4094,0.1,0.0,1,33,0.00,0.00,-5.45,0.000,16390,0.000,0.000,1796,1998,3057,3057,4094,0,0,0,0,0,0,26.34,25.13,26.36,10.39,51.45
$GC,65,-1.71,-487.5,1795,1998,3058,4094,3.5,-11.4,8,71,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3058,3058,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.53,51.96
$GC,103,-1.71,-487.5,1796,1998,3059,4095,9.1,-15.1,14,108,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3059,3059,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.53,51.45
$GC,140,-1.71,-487.5,1796,1998,3060,4095,14.9,-15.6,20,146,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3060,3060,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.53,51.41
$GC,178,-1.71,-487.5,1796,1998,3061,4095,20.3,-14.4,26,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3061,3061,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.52,50.51
$GC,216,-1.71,-487.5,1796,1998,3061,4094,25.1,-12.4,32,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.51,50.90
$GC,254,-1.71,-487.5,1795,1998,3063,4095,29.9,-12.3,38,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3063,3063,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.49,50.00
$GC,292,-1.71,-487.5,1795,1997,3064,4095,34.5,-12.0,44,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3064,3064,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.47,49.33
$GC,330,-1.71,-487.5,1795,1998,3064,4094,39.0,-11.6,50,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3064,3064,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.45,49.05
$GC,368,-1.71,-487.5,1795,1998,3066,4095,43.5,-11.7,56,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3066,3066,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.43,48.14
$GC,406,-1.71,-487.5,1795,1998,3066,4095,48.0,-11.8,62,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3066,3066,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.42,47.40
$GC,444,-1.71,-487.5,1795,1998,3067,4094,52.5,-11.8,68,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,1998,3067,3067,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.40,47.91
$GC,482,-1.71,-487.5,1795,1998,3068,4095,57.2,-12.2,74,488,0.00,1.52,0.00,0.000,516,0.000,0.051,1796,1409,3068,3068,4095,0,0,0,0,0,0,26.55,26.24,26.55,10.40,46.92
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,514,-0.45,0.0,1796,2071,3069,4094,60.6,-12.5,78,551,4.15,0.05,27.92,1.277,10246,0.055,0.154,2186,2109,2484,2484,4095,0,0,0,0,0,0,26.27,25.41,24.43,10.39,46.37
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,552,begin climb
$GC,555,1.71,487.5,2186,2108,2484,4095,63.2,0.0,84,598,7.15,1.40,27.67,1.251,10500,0.034,0.047,2872,2635,1917,1917,4094,0,0,0,0,0,0,25.66,24.70,24.00,10.27,45.90
$GC,668,1.71,487.5,2870,2634,1914,4094,52.1,12.8,102,674,0.00,1.35,0.00,0.000,1030,0.000,0.025,2872,2103,1914,1914,4094,0,0,0,0,0,0,25.59,25.56,25.61,10.14,44.99
$GC,707,1.71,487.5,2871,2102,1913,4094,47.1,12.6,108,713,0.00,1.40,0.00,0.000,516,0.000,0.050,2872,1572,1913,1913,4094,0,0,0,0,0,0,25.90,25.60,25.91,10.13,45.74
$GC,799,1.71,487.5,2871,1572,1911,4094,35.7,12.1,123,806,0.00,1.23,0.00,0.000,1030,0.000,0.026,2872,2076,1910,1910,4094,0,0,0,0,0,0,25.87,25.85,25.90,10.13,45.86
$GC,838,1.71,487.5,2871,2075,1910,4094,31.1,11.8,129,845,0.00,1.50,0.00,0.000,260,0.000,0.053,2872,2631,1910,1910,4095,0,0,0,0,0,0,26.14,25.84,26.15,10.13,46.81
$GC,889,1.71,487.5,2871,2631,1908,4095,25.1,11.5,137,895,0.00,1.35,0.00,0.000,1030,0.000,0.026,2871,2093,1908,1908,4094,0,0,0,0,0,0,26.00,25.96,26.01,10.15,47.51
$GC,928,1.71,487.5,2871,2093,1907,4094,20.7,11.5,143,934,0.00,1.35,0.00,0.000,516,0.000,0.050,2872,1572,1907,1907,4094,0,0,0,0,0,0,26.25,25.94,26.25,10.17,48.42
$GC,1021,1.73,503.3,2871,1572,1905,4094,11.1,9.8,158,1028,0.00,1.12,2.30,0.131,9222,0.000,0.025,2872,2048,1895,1895,4093,0,0,0,0,0,0,26.13,26.10,25.24,10.22,51.10
$GC,1061,1.74,509.8,2872,2047,1894,4093,7.2,9.9,164,1069,0.00,1.58,2.15,0.079,8452,0.000,0.050,2872,2637,1888,1888,4094,0,0,0,0,0,0,26.35,26.00,25.29,10.23,51.26
$STATE,1110,end climb,SURFACE_DEPTH_REACHED
$STATE,1110,begin surface coast
$FINISH,0.0,1.006627
$STATE,1129,end surface coast,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$SM_CCo,1229,0.00,0.000,0,0,1886,514.30
$SM_GC,0.83,27.17,1.77,0.00,0.022,0.028,0.000,229,1954,1886,-6.59,1.28,514.30,0,0,0,0,0,0,26.10,26.13,26.17
$IRIDIUM_FIX,6149.06,-17422.35,100817,043018
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.87
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.00,21.595
$10V_AH,10.44,25.191
$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,44.575,18.250,60.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,462.126,337.341,174.437,254.653,64.237,33.417,363.326,0.000,262.633,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,153.765,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,14342,175
$CAP_FILE_SIZE,32886,0
$CFSIZE,1024409600,980123648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,065541,6059.759,-17344.740,8,0.8,13,7.1,0.4,18.3,11,5.0