version: 66.13
glider: 401
mission: 22
dive: 806
start: 8 10 117 8 37 12
data:
$ID,401
$MISSION,22
$DIVE,806
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,100817,081515,6100.2974,-17344.6875,7,0.8,15,7.1,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.3
$GPS2,100817,081515,6100.2974,-17344.6875,7,0.8,15,7.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.285664,0.269661
$KALMAN_X,76332.867188,-775.951660,-396.586456,-263757.031250,121.821991
$KALMAN_Y,-26695.474609,3158.897705,1164.231201,216805.375000,-10.240479
$MHEAD_RNG_PITCHd_Wd,306.2,8155,-10.7,-10.000,-14.28,7594
$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,-1.70,-487.5,2389,1953,2369,4092,0.0,0.0,0,21,5.95,0.00,-3.95,0.000,20482,0.024,0.000,1798,1953,2814,2814,4094,0,0,0,0,0,0,26.22,28.83,26.27,10.38,51.77
$GC,24,-1.70,-487.5,1797,1953,2814,4094,0.0,0.0,1,34,0.00,1.45,-2.05,0.000,16644,0.000,1.271,1797,2473,3055,3055,4094,0,0,0,0,0,0,26.43,24.95,26.41,10.48,51.61
$GC,155,-1.70,-487.5,1797,2473,3058,4094,17.4,-15.0,20,165,0.00,1.33,0.00,0.000,1030,0.000,0.028,1798,1946,3058,3058,4094,0,0,0,0,0,0,26.20,26.15,26.22,10.53,50.94
$GC,201,-1.70,-487.5,1797,1946,3059,4094,23.4,-12.6,26,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1946,3060,3060,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.53,51.14
$GC,246,-1.70,-487.5,1797,1946,3061,4095,29.1,-12.4,32,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1946,3060,3060,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.50,50.66
$GC,291,-1.70,-487.5,1797,1945,3061,4095,34.3,-11.5,38,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1946,3061,3061,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.48,49.52
$GC,336,-1.70,-487.5,1797,1946,3062,4095,39.3,-11.0,44,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1946,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.45,49.01
$GC,381,-1.70,-487.5,1797,1946,3063,4094,44.4,-11.2,50,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1946,3063,3063,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.43,47.91
$GC,426,-1.70,-487.5,1797,1946,3064,4095,49.9,-12.2,56,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1946,3064,3064,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,47.28
$GC,472,-1.70,-487.5,1796,1946,3065,4095,55.6,-12.9,62,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1946,3065,3065,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.41,46.49
$STATE,508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,508,begin apogee
$GC,515,-0.45,0.0,1797,2107,3066,4095,60.3,-11.8,67,551,4.12,0.00,27.92,1.290,10244,0.055,0.000,2184,2107,2484,2484,4094,0,0,0,0,0,0,26.29,25.44,24.46,10.40,45.90
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,552,begin climb
$GC,555,1.70,487.5,2184,2107,2484,4094,62.9,0.0,71,599,7.18,1.40,27.75,1.258,10500,0.034,0.051,2876,2631,1915,1915,4094,0,0,0,0,0,0,25.62,25.56,24.02,10.28,45.51
$GC,649,1.70,487.5,2875,2631,1914,4094,54.3,12.9,83,658,0.00,1.35,0.00,0.000,1030,0.000,0.025,2876,2100,1914,1914,4094,0,0,0,0,0,0,25.53,25.51,25.55,10.15,44.40
$GC,696,1.70,487.5,2875,2099,1912,4094,48.3,12.9,89,706,0.00,1.38,0.00,0.000,516,0.000,0.049,2876,1577,1912,1912,4094,0,0,0,0,0,0,25.88,25.58,25.89,10.14,44.80
$GC,777,1.70,487.5,2875,1577,1910,4094,38.3,12.3,100,786,0.00,1.20,0.00,0.000,1030,0.000,0.026,2876,2070,1910,1910,4094,0,0,0,0,0,0,25.85,25.82,25.85,10.13,45.19
$GC,824,1.70,487.5,2875,2070,1909,4094,32.5,12.4,106,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2070,1908,1908,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.14,45.94
$GC,871,1.70,487.5,2876,2070,1907,4094,26.8,11.9,112,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2070,1907,1907,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.15,46.22
$GC,918,1.70,487.5,2876,2069,1906,4094,21.6,11.3,118,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2070,1906,1906,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.18,47.24
$GC,964,1.70,487.5,2876,2070,1905,4094,16.3,11.7,124,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2070,1905,1905,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.21,49.17
$GC,1011,1.70,487.5,2876,2069,1904,4094,11.2,10.7,130,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2070,1903,1903,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.22,49.84
$GC,1058,1.71,496.6,2876,2070,1902,4094,6.5,9.9,136,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2070,1902,1902,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.24,50.35
$STATE,1102,end climb,FINISH_DEPTH_REACHED
$STATE,1102,begin subsurface finish
$FINISH1,1.7,1.024129,103
$GC,1110,0.15,102.5,2876,2071,1901,4094,1.7,10.1,142,1128,4.90,0.00,-4.05,0.000,20486,0.028,0.000,2389,2072,2368,2368,4094,0,0,0,0,0,0,26.18,25.63,26.22,10.25,51.14
$FINISH2,0.2
$STATE,1129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,065751
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.92
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.02,21.728
$10V_AH,10.21,25.322
$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,22.150,8.875,55.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,402.356,0.000,121.619,602.922,59.906,33.429,363.047,0.000,349.510,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1270.665,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.123,391.218,309.555,459.140,600.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14321,144
$CAP_FILE_SIZE,26599,0
$CFSIZE,1024409600,979894272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,081515,6100.297,-17344.688,7,0.8,15,7.1,0.0,0.0,10,5.0