version: 66.13
glider: 401
mission: 22
dive: 809
start: 8 10 117 9 48 31
data:
$ID,401
$MISSION,22
$DIVE,809
$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,27
$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
$GPS1,100817,092547,6100.6675,-17344.8828,7,0.8,16,7.1,0.0,213.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.8
$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,-0.255208,0.286654
$KALMAN_X,76933.296875,-723.052673,-312.556610,-264679.218750,86.148346
$KALMAN_Y,-26854.289062,3140.066406,1099.716797,217733.046875,-52.163086
$MHEAD_RNG_PITCHd_Wd,311.2,7492,-11.0,-10.000,-14.60,7179
$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,-1.72,-479.3,2391,1944,2365,4092,0.0,0.0,0,18,6.07,0.00,-1.17,0.000,20482,0.024,0.000,1790,1945,2497,2497,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.38,51.37
$GC,22,-1.72,-479.3,1790,1945,2498,4094,0.0,0.0,1,34,0.00,1.50,-5.00,0.000,16644,0.000,1.268,1790,2477,3049,3049,4094,0,0,0,0,0,0,26.33,24.87,26.34,10.41,51.33
$GC,90,-1.72,-479.3,1789,2477,3050,4094,5.3,-12.2,12,97,0.00,1.33,0.00,0.000,1030,0.000,0.028,1790,1954,3050,3050,4094,0,0,0,0,0,0,26.07,26.03,26.09,10.54,50.86
$GC,129,-1.72,-479.3,1790,1954,3051,4094,11.3,-16.1,18,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3052,3052,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.54,51.53
$GC,167,-1.72,-479.3,1789,1954,3052,4094,17.4,-15.6,24,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3052,3052,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.54,50.94
$GC,205,-1.72,-479.3,1789,1954,3053,4094,22.7,-13.8,30,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1955,3053,3053,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.53,50.23
$GC,243,-1.72,-479.3,1789,1954,3054,4095,27.5,-13.2,36,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3054,3054,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.52,50.39
$GC,281,-1.72,-479.3,1789,1954,3055,4094,32.2,-12.4,42,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3055,3055,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.48,50.07
$GC,319,-1.72,-479.3,1789,1954,3056,4095,36.6,-11.9,48,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3056,3056,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.47,48.70
$GC,357,-1.72,-479.3,1789,1954,3057,4095,41.1,-12.0,54,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1955,3057,3057,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.44,48.26
$GC,395,-1.72,-479.3,1789,1954,3058,4095,45.5,-12.0,60,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3058,3058,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.43,48.26
$GC,433,-1.72,-479.3,1789,1954,3059,4094,50.1,-12.3,66,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3059,3059,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.42,47.12
$GC,471,-1.72,-479.3,1789,1954,3060,4094,54.7,-12.5,72,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3060,3060,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,47.04
$GC,509,-1.72,-479.3,1789,1955,3060,4095,59.4,-12.8,78,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1954,3060,3060,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.40,46.10
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,527,-0.45,0.0,1790,2114,3061,4095,61.1,-12.2,80,563,4.18,0.00,27.55,1.276,10244,0.054,0.000,2185,2114,2484,2484,4094,0,0,0,0,0,0,26.27,25.43,24.46,10.40,46.22
$STATE,564,end apogee,CONTROL_FINISHED_OK
$STATE,564,begin climb
$GC,567,1.72,479.3,2184,2113,2484,4094,63.5,0.0,86,609,7.20,1.38,27.27,1.252,10500,0.033,0.051,2880,2629,1925,1925,4094,0,0,0,0,0,0,25.60,25.55,24.02,10.28,45.55
$GC,667,1.72,479.3,2879,2628,1923,4094,53.9,12.9,102,674,0.00,1.35,0.03,0.004,9222,0.000,0.025,2880,2098,1924,1924,4094,0,0,0,0,0,0,25.56,25.53,25.58,10.14,44.88
$GC,706,1.72,479.3,2879,2097,1922,4094,48.5,12.9,108,713,0.00,1.38,0.00,0.000,516,0.000,0.049,2880,1575,1922,1922,4094,0,0,0,0,0,0,25.87,25.58,25.89,10.14,44.68
$GC,799,1.72,479.3,2879,1575,1919,4094,36.4,12.7,123,806,0.00,1.23,0.00,0.000,1030,0.000,0.026,2880,2076,1919,1919,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.13,45.55
$GC,838,1.72,479.3,2879,2076,1919,4094,31.6,12.1,129,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2076,1918,1918,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.14,46.25
$GC,876,1.72,479.3,2879,2076,1917,4094,26.9,12.2,135,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2077,1917,1917,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.15,46.77
$GC,914,1.72,479.3,2879,2076,1916,4094,22.5,11.3,141,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2077,1916,1916,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.17,47.59
$GC,952,1.72,479.3,2879,2076,1915,4095,17.9,12.0,147,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2076,1915,1915,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.20,48.26
$GC,990,1.72,479.3,2879,2076,1914,4094,13.8,10.6,153,997,0.00,1.33,0.00,0.000,516,0.000,0.048,2880,1575,1914,1914,4094,0,0,0,0,0,0,26.30,26.01,26.32,10.21,50.19
$GC,1053,1.72,479.3,2879,1574,1913,4094,7.2,10.2,163,1059,0.00,1.23,0.00,0.000,1030,0.000,0.026,2880,2084,1912,1912,4094,0,0,0,0,0,0,26.13,26.12,26.17,10.23,51.92
$GC,1092,1.72,479.3,2879,2083,1911,4094,3.1,10.4,169,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2084,1911,1911,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.25,51.57
$STATE,1103,end climb,FINISH_DEPTH_REACHED
$STATE,1103,begin subsurface finish
$FINISH1,1.6,1.024135,102
$GC,1110,0.15,102.1,2879,2083,1911,4094,1.6,10.4,171,1123,5.22,0.00,-3.90,0.000,20486,0.057,0.000,2392,2085,2369,2369,4095,0,0,0,0,0,0,26.14,25.13,26.20,10.25,51.89
$FINISH2,0.2
$STATE,1124,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1125,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,081018
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.44
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.02,21.804
$10V_AH,10.45,25.383
$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,22.675,11.425,54.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,446.618,259.959,158.612,252.237,64.771,33.427,352.382,0.000,259.633,0.000,0.543,0.000
$DEVICE_MAMPS,57.375,1268.370,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14342,173
$CAP_FILE_SIZE,31694,0
$CFSIZE,1024409600,979746816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,092547,6100.667,-17344.883,7,0.8,16,7.1,0.0,213.8,9,4.8