version: 66.13
glider: 401
mission: 22
dive: 830
start: 8 10 117 19 12 17
data:
$ID,401
$MISSION,22
$DIVE,830
$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,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,100817,185037,6102.5781,-17348.8164,3,0.8,17,7.0,0.0,10.0,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.7
$GPS2,100817,185037,6102.5781,-17348.8164,3,0.8,17,7.0,0.0,10.0,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.024141,0.383867
$KALMAN_X,74990.000000,-1076.931885,-479.996399,-265932.406250,18.608795
$KALMAN_Y,-31305.386719,2479.582520,500.811157,226985.687500,-19.080261
$MHEAD_RNG_PITCHd_Wd,356.6,41104,-11.0,-10.000,-14.57,7216
$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,-481.9,2396,1934,2357,4092,0.0,0.0,0,21,6.15,0.00,-4.05,0.000,20482,0.024,0.000,1790,1933,2808,2808,4094,0,0,0,0,0,0,26.21,28.83,26.22,10.37,52.55
$GC,24,-1.72,-481.9,1791,1933,2809,4094,0.0,0.0,1,34,0.00,0.00,-2.20,0.000,16390,0.000,0.000,1791,1934,3049,3049,4094,0,0,0,0,0,0,26.41,25.67,26.40,10.47,52.36
$GC,70,-1.72,-481.9,1791,1934,3050,4094,3.5,-12.3,7,79,0.00,1.33,0.00,0.000,516,0.000,0.054,1791,1423,3050,3050,4094,0,0,0,0,0,0,26.32,26.03,26.33,10.52,52.16
$GC,97,-1.72,-481.9,1790,1423,3051,4094,7.5,-14.8,10,107,0.00,1.27,0.00,0.000,1030,0.000,0.026,1790,1949,3051,3051,4094,0,0,0,0,0,0,26.15,26.11,26.17,10.53,52.20
$GC,145,-1.72,-481.9,1790,1949,3052,4094,15.0,-15.9,16,153,0.00,1.42,0.00,0.000,260,0.000,0.050,1791,2484,3051,3051,4095,0,0,0,0,0,0,26.39,26.08,26.39,10.53,51.61
$GC,183,-1.72,-481.9,1790,2483,3053,4095,21.3,-15.5,21,192,0.00,1.25,0.00,0.000,1030,0.000,0.028,1791,1980,3052,3052,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.52,51.18
$GC,230,-1.72,-481.9,1790,1980,3054,4095,27.3,-12.6,27,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1980,3054,3054,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.50,51.06
$GC,277,-1.72,-481.9,1790,1980,3055,4095,33.2,-12.4,33,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1980,3056,3056,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,50.27
$GC,324,-1.72,-481.9,1790,1981,3056,4095,38.9,-12.2,39,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1981,3056,3056,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,49.60
$GC,371,-1.72,-481.9,1790,1980,3057,4095,44.7,-12.1,45,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1980,3058,3058,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.42,47.83
$GC,415,-1.72,-481.9,1790,1980,3058,4095,50.5,-12.4,51,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1980,3059,3059,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,47.83
$GC,460,-1.72,-481.9,1790,1980,3060,4095,56.1,-12.5,57,470,0.00,1.45,0.00,0.000,516,0.000,0.051,1791,1415,3060,3060,4095,0,0,0,0,0,0,26.55,26.25,26.57,10.39,47.24
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,499,-0.45,0.0,1790,2139,3060,4095,60.3,-12.7,61,535,4.22,0.00,27.70,1.294,10244,0.055,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.28,25.42,24.43,10.39,46.96
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,539,1.72,481.9,2185,2139,2484,4094,63.2,0.0,65,584,7.25,0.00,27.55,1.257,11270,0.034,0.000,2878,2139,1922,1922,4094,0,0,0,0,0,0,25.67,25.82,24.01,10.28,45.98
$GC,622,1.72,481.9,2876,2139,1921,4094,56.5,12.4,75,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2140,1921,1921,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.15,44.72
$GC,669,1.72,481.9,2877,2139,1920,4094,50.4,13.0,81,677,0.00,1.42,0.00,0.000,516,0.000,0.045,2878,1610,1919,1919,4094,0,0,0,0,0,0,25.84,25.56,25.86,10.14,44.80
$GC,740,1.72,481.9,2877,1609,1918,4094,40.9,13.0,91,750,0.00,1.25,0.00,0.000,1030,0.000,0.028,2878,2114,1917,1917,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.13,45.66
$GC,786,1.72,481.9,2877,2113,1916,4094,35.0,12.9,97,795,0.00,1.52,0.00,0.000,260,0.000,0.055,2878,2676,1916,1916,4095,0,0,0,0,0,0,26.10,25.79,26.10,10.13,46.18
$GC,833,1.72,481.9,2877,2676,1915,4095,29.1,13.2,103,842,0.00,1.42,0.00,0.000,1030,0.000,0.026,2878,2107,1915,1915,4094,0,0,0,0,0,0,25.94,25.93,25.97,10.14,46.37
$GC,880,1.72,481.9,2877,2107,1914,4094,23.2,12.4,109,890,0.00,1.30,0.00,0.000,516,0.000,0.050,2878,1609,1913,1913,4094,0,0,0,0,0,0,26.22,25.91,26.23,10.15,46.81
$GC,993,1.72,481.9,2877,1609,1911,4094,11.2,10.3,125,1002,0.00,1.10,0.00,0.000,1030,0.000,0.026,2878,2070,1911,1911,4095,0,0,0,0,0,0,26.12,26.10,26.14,10.21,50.23
$GC,1041,1.72,481.9,2877,2069,1910,4095,6.3,10.1,131,1050,0.00,1.62,0.00,0.000,260,0.000,0.054,2878,2675,1909,1909,4094,0,0,0,0,0,0,26.36,26.06,26.38,10.24,50.78
$STATE,1077,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,2.0,1.023948,115
$GC,1087,0.17,115.2,2878,2132,1908,4094,2.0,10.6,136,1105,4.88,0.00,-3.55,0.000,20742,0.030,0.000,2395,2126,2346,2346,4095,0,0,0,0,0,0,26.19,25.59,26.22,10.24,51.45
$FINISH2,0.6
$STATE,1106,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1106,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,172106
$TT8_MAMPS,0.026215,0.243425
$HUMID,51.41
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.01,22.443
$10V_AH,10.20,25.961
$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,22.500,20.025,55.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,398.708,1.371,127.869,572.842,62.946,33.428,367.722,0.000,336.686,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,55.080,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.814,374.940,296.654,439.919,569.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14274,138
$CAP_FILE_SIZE,28799,0
$CFSIZE,1024409600,978714624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,185037,6102.578,-17348.816,3,0.8,17,7.0,0.0,10.0,10,5.0