version: 66.13
glider: 401
mission: 22
dive: 808
start: 8 10 117 9 26 54
data:
$ID,401
$MISSION,22
$DIVE,808
$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,34
$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
$GPS1,100817,091858,6100.6982,-17344.9062,9,0.8,14,7.1,0.0,0.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-42.0
$GPS2,100817,092547,6100.6675,-17344.8828,7,0.8,16,7.1,0.0,213.8,9,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.255768,0.298516
$KALMAN_X,76782.656250,-773.880981,-377.600922,-264407.968750,113.523224
$KALMAN_Y,-26734.337891,3217.429932,1201.851196,217420.984375,-101.512329
$MHEAD_RNG_PITCHd_Wd,312.3,7492,-10.6,-10.000,-14.27,7606
$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,-487.5,238,1953,1930,4092,0.0,0.0,0,20,9.18,0.00,0.00,0.000,2049,0.105,0.000,1008,1952,1930,1930,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.33,51.33
$GC,23,-1.70,-487.5,1007,1952,1930,4094,0.8,0.0,1,51,8.32,1.45,-10.07,0.000,18692,0.045,1.266,1790,2472,3053,3053,4094,0,0,0,0,0,0,26.02,24.78,26.08,10.33,51.45
$GC,121,-1.70,-487.5,1790,2472,3055,4094,7.9,-14.2,14,131,0.00,1.33,0.00,0.000,1030,0.000,0.027,1790,1945,3056,3056,4095,0,0,0,0,0,0,26.03,26.00,26.05,10.58,50.47
$GC,169,-1.70,-487.5,1790,1945,3057,4095,15.2,-15.4,20,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3057,3057,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.57,49.76
$GC,213,-1.70,-487.5,1790,1944,3058,4094,21.3,-12.8,26,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3058,3058,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.56,49.33
$GC,258,-1.70,-487.5,1789,1945,3059,4095,26.9,-12.6,32,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3059,3059,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.53,48.54
$GC,302,-1.70,-487.5,1790,1944,3059,4095,32.4,-12.2,38,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3060,3060,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.50,48.03
$GC,347,-1.70,-487.5,1790,1945,3061,4094,37.7,-12.0,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3061,3061,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.47,47.24
$GC,393,-1.70,-487.5,1789,1945,3062,4095,43.2,-12.2,50,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3062,3062,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.45,46.14
$GC,438,-1.70,-487.5,1790,1945,3063,4095,48.8,-12.5,56,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.44,45.58
$GC,483,-1.70,-487.5,1790,1945,3064,4095,54.5,-13.0,62,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1945,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.43,44.84
$STATE,526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,526,begin apogee
$GC,533,-0.45,0.0,1790,2113,3065,4095,60.4,-12.6,68,569,4.20,0.00,27.95,1.291,10244,0.054,0.000,2184,2113,2484,2484,4095,0,0,0,0,0,0,26.25,25.39,24.40,10.42,44.48
$STATE,570,end apogee,CONTROL_FINISHED_OK
$STATE,570,begin climb
$GC,573,1.70,487.5,2183,2113,2484,4095,63.3,0.0,72,617,7.20,0.00,27.90,1.261,11270,0.034,0.000,2872,2113,1914,1914,4094,0,0,0,0,0,0,25.64,25.78,23.96,10.30,44.25
$GC,655,1.70,487.5,2871,2112,1914,4094,57.0,12.0,82,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2113,1914,1914,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.17,43.38
$GC,702,1.70,487.5,2871,2113,1912,4094,51.2,12.3,88,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2113,1912,1912,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.15,43.50
$GC,749,1.70,487.5,2871,2113,1911,4094,45.3,12.3,94,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2113,1911,1911,4094,0,0,0,0,0,0,25.96,25.97,25.96,10.15,43.69
$GC,795,1.70,487.5,2871,2113,1909,4094,39.5,12.3,100,805,0.00,1.45,0.00,0.000,516,0.000,0.047,2872,1570,1909,1909,4095,0,0,0,0,0,0,26.05,25.75,26.06,10.14,44.60
$GC,876,1.70,487.5,2872,1569,1907,4095,29.8,12.0,111,885,0.00,1.25,0.00,0.000,1030,0.000,0.027,2872,2084,1907,1907,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.15,45.07
$GC,923,1.70,487.5,2871,2083,1906,4094,24.3,11.5,117,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2084,1905,1905,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.17,46.33
$GC,970,1.70,487.5,2872,2083,1905,4094,18.9,11.6,123,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2084,1905,1905,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.19,47.55
$GC,1016,1.70,487.5,2872,2083,1903,4094,13.8,10.5,129,1026,0.00,1.38,0.00,0.000,516,0.000,0.050,2872,1564,1903,1903,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.22,48.85
$GC,1064,1.75,524.1,2872,1564,1901,4095,9.3,9.5,135,1074,0.00,1.23,3.12,0.301,9222,0.000,0.025,2872,2076,1872,1872,4094,0,0,0,0,0,0,26.15,26.12,25.27,10.24,50.78
$GC,1112,1.83,578.3,2871,2076,1871,4094,4.8,9.3,141,1123,0.30,1.50,4.47,0.418,10500,0.044,0.050,2907,2640,1808,1808,4094,0,0,0,0,0,0,26.13,25.99,25.32,10.24,50.15
$STATE,1138,end climb,FINISH_DEPTH_REACHED
$STATE,1138,begin subsurface finish
$FINISH1,1.6,1.024134,102
$GC,1147,0.15,102.2,2907,2093,1807,4094,1.6,10.7,144,1165,5.18,0.00,-4.68,0.000,20486,0.021,0.000,2391,2086,2365,2365,4094,0,0,0,0,0,0,26.12,25.58,26.17,10.24,50.66
$FINISH2,0.2
$STATE,1166,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1166,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,081018
$TT8_MAMPS,0.025466,0.249417
$HUMID,51.57
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.96,21.784
$10V_AH,10.19,25.372
$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,34.375,11.350,63.450,0.000,0.000,22.701,17.271,220.588,0.000,0.000,17.763,420.756,0.000,139.020,872.024,162.876,33.453,402.814,0.000,356.180,0.000,0.542,0.000
$DEVICE_MAMPS,104.805,1266.075,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.093,396.665,313.843,465.491,606.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,14308,146
$CAP_FILE_SIZE,33752,0
$CFSIZE,1024409600,979779584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100817,092547,6100.667,-17344.883,7,0.8,16,7.1,0.0,213.8,9,4.8