version: 66.13
glider: 401
mission: 22
dive: 721
start: 8 8 117 22 8 59
data:
$ID,401
$MISSION,22
$DIVE,721
$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,18
$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,450
$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,2050
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,26
$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
$GPS1,080817,220032,6041.4443,-17335.6934,14,0.8,39,7.1,0.2,156.4,10,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-43.0
$GPS2,080817,220749,6041.4375,-17335.7422,6,0.8,13,7.1,0.0,240.7,10,4.6
$SPEED_LIMITS,0.111,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.065205,0.389583
$KALMAN_X,67714.367188,-259.762177,152.678070,-247723.765625,-59.813438
$KALMAN_Y,-28009.339844,1334.786499,917.023987,185246.687500,-11.008728
$MHEAD_RNG_PITCHd_Wd,343.4,43556,-12.5,-11.111,-15.71,6286
$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,-1.79,-438.8,236,1925,1957,4092,0.0,0.0,0,18,7.35,0.00,0.00,0.000,2049,0.105,0.000,852,1926,1957,1957,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.33
$GC,21,-1.79,-438.8,851,1925,1957,4094,0.9,0.0,1,46,9.80,1.58,-9.52,0.000,19204,0.056,1.271,1759,2487,3002,3002,4094,0,0,0,0,0,0,25.97,24.74,26.03,10.27,50.86
$GC,54,-1.79,-438.8,1758,2487,3002,4094,0.2,1.3,6,60,0.00,1.33,0.00,0.000,1030,0.000,0.034,1759,1979,3002,3002,4095,0,0,0,0,0,0,25.94,25.90,25.97,10.49,51.26
$GC,93,-1.79,-438.8,1758,1979,3002,4095,3.5,-11.7,12,99,0.00,1.48,0.00,0.000,516,0.000,0.050,1759,1410,3003,3003,4094,0,0,0,0,0,0,26.22,25.91,26.23,10.49,50.66
$GC,113,-1.79,-438.8,1758,1409,3003,4094,6.7,-14.7,15,120,0.00,1.35,0.00,0.000,1030,0.000,0.027,1759,1965,3003,3003,4095,0,0,0,0,0,0,26.03,26.00,26.05,10.49,50.27
$GC,152,-1.79,-438.8,1758,1964,3004,4095,12.9,-15.5,21,158,0.00,1.48,0.00,0.000,516,0.000,0.049,1759,1404,3004,3004,4095,0,0,0,0,0,0,26.28,25.97,26.29,10.46,50.11
$GC,360,-1.79,-438.8,1759,1404,3009,4095,44.2,-14.8,55,366,0.00,1.35,0.00,0.000,1030,0.000,0.026,1759,1963,3010,3010,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.40,48.14
$GC,398,-1.79,-438.8,1759,1963,3011,4095,49.6,-13.2,61,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1963,3011,3011,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.39,47.40
$GC,436,-1.79,-438.8,1759,1963,3012,4094,54.7,-13.2,67,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1963,3012,3012,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.39,47.48
$GC,474,-1.79,-438.8,1758,1963,3013,4095,59.8,-13.5,73,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1964,3013,3013,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.38,47.71
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,491,-0.45,0.0,1759,2074,3013,4094,61.6,-14.2,75,527,4.55,0.00,25.55,1.297,10244,0.058,0.000,2186,2074,2484,2484,4094,0,0,0,0,0,0,26.20,25.41,24.39,10.38,47.08
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.79,438.8,2185,2074,2484,4094,64.5,0.0,81,570,7.43,0.00,24.75,1.268,11270,0.034,0.000,2894,2074,1972,1972,4094,0,0,0,0,0,0,25.65,25.80,24.00,10.27,46.53
$GC,603,1.79,438.8,2894,2074,1970,4094,58.4,12.0,92,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2074,1971,1971,4095,0,0,0,0,0,0,25.60,25.63,25.62,10.15,46.02
$GC,640,1.79,438.8,2893,2073,1970,4095,53.3,13.5,98,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2074,1970,1970,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.15,45.35
$GC,678,1.79,438.8,2893,2073,1969,4094,48.0,13.7,104,685,0.00,1.52,0.00,0.000,516,0.000,0.050,2894,1508,1969,1969,4095,0,0,0,0,0,0,25.88,25.57,25.89,10.14,45.86
$GC,741,1.79,438.8,2894,1508,1967,4095,39.6,13.1,114,747,0.00,1.25,0.00,0.000,1030,0.000,0.026,2894,2024,1967,1967,4094,0,0,0,0,0,0,25.80,25.78,25.82,10.14,45.94
$GC,779,1.79,438.8,2894,2023,1966,4094,34.8,12.2,120,786,0.00,1.50,0.00,0.000,260,0.000,0.050,2894,2577,1966,1966,4094,0,0,0,0,0,0,26.07,25.77,26.08,10.14,46.65
$GC,824,1.79,438.8,2894,2577,1964,4094,29.0,13.1,127,831,0.00,1.38,0.00,0.000,1030,0.000,0.028,2894,2040,1964,1964,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.14,47.00
$GC,863,1.79,438.8,2894,2039,1962,4094,23.9,13.0,133,869,0.00,1.38,0.00,0.000,516,0.000,0.054,2894,1515,1963,1963,4094,0,0,0,0,0,0,26.18,25.87,26.19,10.14,47.20
$GC,949,1.79,438.8,2894,1514,1960,4094,13.1,12.1,147,956,0.00,1.27,0.00,0.000,1030,0.000,0.026,2894,2042,1960,1960,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.15,48.11
$GC,988,1.79,438.8,2894,2042,1959,4094,8.5,11.9,153,995,0.00,1.45,0.00,0.000,260,0.000,0.051,2894,2580,1959,1959,4095,0,0,0,0,0,0,26.30,25.99,26.32,10.16,48.70
$STATE,1042,end climb,FINISH_DEPTH_REACHED
$STATE,1043,begin subsurface finish
$FINISH1,1.7,1.024070,107
$GC,1052,0.16,106.6,2894,2047,1957,4094,1.7,11.3,162,1065,5.30,0.00,-3.55,0.000,20486,0.054,0.000,2396,2047,2366,2366,4094,0,0,0,0,0,0,26.10,25.08,26.16,10.20,50.07
$FINISH2,0.2
$STATE,1066,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1066,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,205213
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.22
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.00,19.469
$10V_AH,10.34,23.262
$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,34.425,19.875,50.300,0.000,0.000,23.287,21.086,249.924,0.000,0.000,15.165,441.532,255.458,148.170,535.129,145.383,33.447,333.872,0.000,248.747,0.000,0.542,0.000
$DEVICE_MAMPS,104.805,1270.665,1297.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,10841,164
$CAP_FILE_SIZE,34389,0
$CFSIZE,1024409600,984055808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,537.37,0x236164,1,24
$GPS,080817,220749,6041.438,-17335.742,6,0.8,13,7.1,0.0,240.7,10,4.6