version: 66.13
glider: 401
mission: 22
dive: 802
start: 8 10 117 7 3 50
data:
$ID,401
$MISSION,22
$DIVE,802
$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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,100817,065541,6059.7593,-17344.7402,8,0.8,13,7.1,0.4,18.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-40.4
$GPS2,100817,070243,6059.7744,-17344.7168,9,0.8,16,7.1,0.3,11.3,12,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.281784,0.251042
$KALMAN_X,75395.023438,-891.356079,-588.123230,-262537.312500,128.116577
$KALMAN_Y,-26616.019531,3148.799072,1218.885132,215689.218750,41.924194
$MHEAD_RNG_PITCHd_Wd,304.6,8964,-11.3,-10.000,-14.84,6894
$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,-459.9,229,1953,1886,4092,0.0,0.0,0,21,10.05,0.00,0.00,0.000,2049,0.093,0.000,1093,1951,1885,1885,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.31,50.43
$GC,24,-1.72,-459.9,1093,1951,1886,4094,0.7,0.0,1,51,7.28,1.48,-10.18,0.000,18692,0.044,1.271,1783,2472,3023,3023,4095,0,0,0,0,0,0,26.01,24.77,26.07,10.32,50.47
$GC,114,-1.72,-459.9,1782,2472,3025,4095,6.8,-14.7,13,122,0.00,1.33,0.00,0.000,1030,0.000,0.026,1783,1947,3025,3025,4094,0,0,0,0,0,0,26.00,25.96,26.01,10.56,50.94
$GC,160,-1.72,-459.9,1783,1947,3026,4094,14.3,-16.7,19,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1947,3026,3026,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.56,49.56
$GC,207,-1.72,-459.9,1783,1946,3028,4095,21.6,-15.1,25,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1946,3028,3028,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.55,48.97
$GC,251,-1.72,-459.9,1783,1946,3029,4094,27.8,-13.5,31,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1947,3029,3029,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.52,48.42
$GC,297,-1.72,-459.9,1783,1946,3030,4095,34.1,-13.9,37,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1946,3030,3030,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.50,47.99
$GC,341,-1.72,-459.9,1783,1945,3031,4094,39.9,-13.0,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1946,3031,3031,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.47,47.40
$GC,386,-1.72,-459.9,1783,1946,3032,4094,45.7,-13.1,49,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1946,3032,3032,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.45,46.45
$GC,431,-1.72,-459.9,1783,1946,3034,4095,51.7,-13.2,55,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1946,3034,3034,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.44,46.10
$GC,476,-1.72,-459.9,1783,1946,3034,4094,57.7,-13.2,61,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1946,3034,3034,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.43,45.07
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,499,-0.45,0.0,1783,2113,3036,4094,60.1,-13.4,63,535,4.28,0.00,26.50,1.266,10244,0.056,0.000,2185,2115,2484,2484,4094,0,0,0,0,0,0,26.20,25.41,24.42,10.42,45.23
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,538,1.72,459.9,2186,2114,2483,4094,63.0,0.0,67,584,7.20,1.38,26.23,1.245,10500,0.033,0.050,2879,2626,1948,1948,4094,0,0,0,0,0,0,25.58,25.53,24.01,10.30,44.92
$GC,633,1.72,459.9,2878,2626,1947,4094,54.4,13.1,79,643,0.00,1.33,0.00,0.000,1030,0.000,0.025,2879,2103,1947,1947,4094,0,0,0,0,0,0,25.54,25.50,25.55,10.18,43.77
$GC,681,1.72,459.9,2879,2102,1945,4094,48.4,13.0,85,690,0.00,1.40,0.00,0.000,516,0.000,0.049,2879,1571,1945,1945,4094,0,0,0,0,0,0,25.89,25.59,25.89,10.17,43.69
$GC,766,1.72,459.9,2879,1570,1943,4094,37.3,12.1,97,776,0.00,1.25,0.00,0.000,1030,0.000,0.025,2879,2083,1943,1943,4094,0,0,0,0,0,0,25.88,25.83,25.88,10.17,44.52
$GC,813,1.72,459.9,2879,2083,1941,4094,31.6,12.1,103,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2083,1941,1941,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.17,45.03
$GC,858,1.72,459.9,2879,2083,1940,4094,26.1,12.1,109,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2083,1940,1940,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.19,46.37
$GC,903,1.72,459.9,2878,2082,1939,4094,20.5,11.8,115,913,0.00,1.38,0.00,0.000,516,0.000,0.049,2879,1565,1939,1939,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.22,47.00
$GC,968,1.72,459.9,2878,1565,1937,4094,13.3,10.5,124,978,0.00,1.27,0.00,0.000,1030,0.000,0.026,2879,2092,1937,1937,4094,0,0,0,0,0,0,26.10,26.06,26.11,10.25,49.48
$GC,1015,1.72,459.9,2879,2091,1936,4094,8.4,10.4,130,1024,0.00,1.45,0.00,0.000,260,0.000,0.052,2879,2639,1936,1936,4094,0,0,0,0,0,0,26.34,26.03,26.36,10.27,49.52
$GC,1074,1.72,459.9,2879,2638,1934,4094,2.0,11.3,138,1083,0.00,1.35,0.00,0.000,1030,0.000,0.025,2879,2094,1934,1934,4094,0,0,0,0,0,0,26.18,26.19,26.20,10.27,50.00
$STATE,1091,end climb,FINISH_DEPTH_REACHED
$STATE,1091,begin subsurface finish
$FINISH1,0.0,1.023348,157
$GC,1098,0.24,157.1,2879,2091,1935,4094,0.0,10.9,140,1118,4.47,1.42,-3.25,0.000,20996,0.021,1.287,2428,1571,2306,2306,4094,0,0,0,0,0,0,26.20,24.90,26.24,10.28,50.51
$FINISH2,0.1
$STATE,1119,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,054407
$TT8_MAMPS,0.026215,0.255409
$HUMID,50.43
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.60
$XPDR_PINGS,1
$24V_AH,24.01,21.631
$10V_AH,10.18,25.228
$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,33.275,15.425,52.725,0.000,0.000,24.587,20.869,225.709,0.250,0.000,17.777,398.095,0.000,133.948,869.322,158.808,33.452,390.479,0.000,348.056,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1287.495,1266.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.088,385.804,305.219,452.374,590.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14277,142
$CAP_FILE_SIZE,32497,0
$CFSIZE,1024409600,980090880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100817,070243,6059.774,-17344.717,9,0.8,16,7.1,0.3,11.3,12,4.8