version: 66.13
glider: 401
mission: 22
dive: 722
start: 8 8 117 22 28 55
data:
$ID,401
$MISSION,22
$DIVE,722
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,080817,220749,6041.4375,-17335.7422,6,0.8,13,7.1,0.0,240.7,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.4
$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,-0.076620,0.377344
$KALMAN_X,67755.960938,-250.278229,139.322403,-247770.890625,-44.219048
$KALMAN_Y,-28196.359375,1276.006104,836.374756,185592.093750,-7.890259
$MHEAD_RNG_PITCHd_Wd,341.4,43556,-12.9,-11.111,-16.10,5917
$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,-1.83,-436.3,2396,1940,2366,4092,0.0,0.0,0,21,6.50,0.00,-3.50,0.000,20482,0.025,0.000,1755,1940,2748,2748,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.32,52.91
$GC,24,-1.83,-436.3,1754,1940,2748,4094,0.1,0.0,1,34,0.00,1.52,-2.22,0.000,16644,0.000,1.278,1754,2483,2997,2997,4094,0,0,0,0,0,0,26.39,24.91,26.37,10.39,52.52
$GC,175,-1.83,-436.3,1754,2482,3000,4094,19.0,-14.9,23,184,0.00,1.33,0.00,0.000,1030,0.000,0.029,1754,1961,3000,3000,4094,0,0,0,0,0,0,26.16,26.12,26.19,10.41,51.61
$GC,221,-1.83,-436.3,1754,1961,3000,4094,26.0,-15.6,29,230,0.00,1.42,0.00,0.000,516,0.000,0.052,1754,1410,3002,3002,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.40,50.55
$GC,247,-1.83,-436.3,1754,1410,3002,4095,30.1,-15.8,32,257,0.00,1.27,0.00,0.000,1030,0.000,0.027,1754,1936,3003,3003,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.39,50.94
$GC,293,-1.83,-436.3,1753,1936,3004,4094,37.2,-15.6,38,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1936,3004,3004,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,49.33
$GC,338,-1.83,-436.3,1754,1936,3005,4095,44.2,-15.3,44,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1936,3005,3005,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.38,48.93
$GC,382,-1.83,-436.3,1754,1936,3007,4094,50.7,-15.0,50,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1936,3007,3007,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.38,48.58
$GC,427,-1.83,-436.3,1754,1936,3007,4094,57.1,-14.3,56,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1937,3008,3008,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.37,48.93
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,458,-0.45,0.0,1753,2065,3008,4094,60.8,-14.5,59,494,4.62,0.00,25.55,1.292,10244,0.059,0.000,2185,2066,2484,2484,4094,0,0,0,0,0,0,26.23,25.44,24.44,10.37,48.42
$STATE,495,end apogee,CONTROL_FINISHED_OK
$STATE,495,begin climb
$GC,498,1.83,436.3,2185,2066,2484,4094,64.3,0.0,63,535,7.62,1.48,25.25,1.267,10756,0.034,0.047,2909,1508,1975,1975,4095,0,0,0,0,0,0,25.60,25.56,24.01,10.25,47.95
$GC,552,1.90,486.0,2909,1507,1975,4095,61.0,10.2,69,563,0.15,1.33,4.57,0.760,11270,0.043,0.025,2931,2042,1917,1917,4095,0,0,0,0,0,0,25.30,25.28,24.14,10.13,47.00
$GC,602,1.90,486.0,2930,2041,1915,4095,54.8,13.6,75,610,0.00,1.45,0.00,0.000,260,0.000,0.051,2931,2572,1915,1915,4094,0,0,0,0,0,0,25.70,25.43,25.72,10.12,46.33
$GC,681,1.90,486.0,2930,2571,1913,4094,43.1,14.2,86,690,0.00,1.33,0.00,0.000,1030,0.000,0.028,2931,2057,1913,1913,4094,0,0,0,0,0,0,25.72,25.69,25.75,10.11,46.69
$GC,728,1.90,486.0,2930,2056,1911,4094,36.6,13.0,92,737,0.00,1.45,0.00,0.000,516,0.000,0.054,2931,1508,1911,1911,4094,0,0,0,0,0,0,26.02,25.72,26.03,10.12,47.36
$GC,800,1.90,486.0,2930,1508,1909,4094,26.7,13.5,102,809,0.00,1.30,0.00,0.000,1030,0.000,0.027,2931,2042,1908,1908,4094,0,0,0,0,0,0,25.90,25.89,25.92,10.11,47.48
$GC,847,1.90,486.0,2930,2041,1907,4094,20.5,13.3,108,855,0.00,1.45,0.00,0.000,260,0.000,0.052,2931,2576,1907,1907,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.11,47.83
$GC,878,1.90,486.0,2930,2575,1906,4094,15.6,14.6,112,888,0.00,1.38,0.00,0.000,1030,0.000,0.028,2931,2037,1906,1906,4094,0,0,0,0,0,0,26.00,25.97,26.03,10.12,48.26
$GC,924,1.90,486.0,2930,2037,1905,4094,9.2,14.3,118,934,0.00,1.38,0.00,0.000,516,0.000,0.054,2931,1512,1905,1905,4094,0,0,0,0,0,0,26.26,25.94,26.27,10.13,48.14
$GC,963,1.90,486.0,2930,1512,1903,4094,3.8,13.4,123,973,0.00,1.35,0.00,0.000,1030,0.000,0.028,2931,2066,1903,1903,4094,0,0,0,0,0,0,26.09,26.05,26.10,10.15,48.74
$STATE,981,end climb,FINISH_DEPTH_REACHED
$STATE,981,begin subsurface finish
$FINISH1,1.4,1.024037,109
$GC,988,0.16,108.9,2931,2066,1902,4094,1.4,12.5,125,1006,5.47,1.45,-4.03,0.000,20740,0.029,1.286,2395,2577,2365,2365,4095,0,0,0,0,0,0,26.08,24.82,26.13,10.17,49.68
$FINISH2,0.2
$STATE,1008,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1008,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,080817,205213
$TT8_MAMPS,0.025466,0.249417
$HUMID,50.55
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,24.01,19.490
$10V_AH,10.17,23.291
$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,24.375,21.375,55.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,371.254,0.000,114.795,529.307,52.719,33.429,335.917,0.000,310.774,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1285.965,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.328,344.968,273.236,404.609,527.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,14321,127
$CAP_FILE_SIZE,27241,0
$CFSIZE,1024409600,984023040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080817,220749,6041.438,-17335.742,6,0.8,13,7.1,0.0,240.7,10,4.6