version: 66.13
glider: 401
mission: 22
dive: 804
start: 8 10 117 7 46 15
data:
$ID,401
$MISSION,22
$DIVE,804
$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,35
$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
$GPS1,100817,070243,6059.7744,-17344.7168,9,0.8,16,7.1,0.3,11.3,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.9
$GPS2,100817,070243,6059.7744,-17344.7168,9,0.8,16,7.1,0.3,11.3,12,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.284128,0.262747
$KALMAN_X,75817.867188,-829.576477,-483.105408,-263129.531250,161.462463
$KALMAN_Y,-26978.287109,3112.211914,1150.156616,216181.453125,-22.774780
$MHEAD_RNG_PITCHd_Wd,305.7,8964,-10.9,-10.000,-14.49,7324
$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,-1.72,-487.5,2393,1939,2369,4092,0.0,0.0,0,21,6.10,0.00,-3.75,0.000,20482,0.025,0.000,1791,1940,2787,2787,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.38,52.32
$GC,24,-1.72,-487.5,1790,1939,2787,4094,0.1,0.0,1,33,0.00,0.00,-2.45,0.000,16390,0.000,0.000,1791,1940,3053,3053,4095,0,0,0,0,0,0,26.41,25.69,26.41,10.46,52.79
$GC,69,-1.72,-487.5,1790,1939,3054,4095,0.9,-3.0,7,79,0.00,1.42,0.00,0.000,260,0.000,0.044,1790,2476,3054,3054,4094,0,0,0,0,0,0,26.35,26.06,26.36,10.52,52.32
$GC,167,-1.72,-487.5,1790,2476,3057,4094,15.6,-15.6,21,177,0.00,1.33,0.00,0.000,1030,0.000,0.027,1790,1951,3057,3057,4094,0,0,0,0,0,0,26.21,26.20,26.23,10.53,51.81
$GC,214,-1.72,-487.5,1790,1950,3058,4094,22.3,-14.2,27,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1951,3058,3058,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.52,51.45
$GC,259,-1.72,-487.5,1790,1950,3060,4094,28.3,-13.4,33,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1951,3060,3060,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.50,51.26
$GC,304,-1.72,-487.5,1790,1950,3060,4094,34.0,-12.4,39,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1950,3060,3060,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.47,50.35
$GC,350,-1.72,-487.5,1790,1951,3061,4094,39.4,-12.3,45,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1950,3062,3062,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.45,49.84
$GC,395,-1.72,-487.5,1790,1950,3062,4095,45.1,-12.2,51,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1951,3062,3062,4094,0,0,0,0,0,0,26.55,26.55,26.55,10.43,48.42
$GC,440,-1.72,-487.5,1789,1950,3064,4094,50.6,-12.5,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1951,3064,3064,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,47.36
$GC,485,-1.72,-487.5,1790,1950,3064,4095,56.3,-12.9,63,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1950,3064,3064,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.41,47.63
$STATE,515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,515,begin apogee
$GC,522,-0.45,0.0,1790,2118,3066,4094,60.5,-12.7,67,558,4.20,0.00,27.90,1.291,10244,0.055,0.000,2184,2117,2484,2484,4094,0,0,0,0,0,0,26.31,25.45,24.45,10.40,46.53
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,561,1.72,487.5,2184,2117,2484,4094,63.3,0.0,71,605,7.28,0.00,27.40,1.258,11270,0.034,0.000,2877,2118,1923,1923,4094,0,0,0,0,0,0,25.68,25.83,24.01,10.28,46.33
$GC,643,1.72,487.5,2876,2117,1922,4094,56.6,12.5,81,653,0.00,0.00,2.25,0.164,8198,0.000,0.000,2877,2118,1916,1916,4094,0,0,0,0,0,0,25.67,24.99,24.28,10.15,44.80
$GC,691,1.72,487.5,2877,2117,1915,4094,50.6,13.1,87,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2118,1915,1915,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.14,44.80
$GC,738,1.72,487.5,2876,2117,1913,4094,44.5,13.1,93,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2118,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.13,44.80
$GC,784,1.72,487.5,2876,2117,1912,4094,38.4,12.9,99,794,0.00,1.48,0.00,0.000,516,0.000,0.048,2877,1566,1911,1911,4095,0,0,0,0,0,0,26.06,25.76,26.07,10.13,45.19
$GC,864,1.72,487.5,2877,1566,1910,4095,28.6,12.1,110,874,0.00,1.25,0.00,0.000,1030,0.000,0.026,2877,2081,1910,1910,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.15,45.90
$GC,912,1.72,487.5,2877,2081,1908,4094,23.1,11.8,116,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2081,1908,1908,4094,0,0,0,0,0,0,26.22,26.25,26.25,10.17,47.04
$GC,959,1.72,487.5,2876,2081,1907,4094,17.6,11.3,122,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2081,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.20,48.89
$GC,1005,1.72,487.5,2877,2081,1906,4094,12.6,10.5,128,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2081,1906,1906,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.22,50.11
$GC,1050,1.72,487.5,2877,2081,1905,4094,7.8,10.3,134,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2081,1905,1905,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.24,50.55
$GC,1094,1.72,487.5,2877,2081,1904,4094,3.2,10.2,140,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2081,1903,1903,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.24,50.66
$STATE,1111,end climb,SURFACE_DEPTH_REACHED
$STATE,1111,begin surface coast
$FINISH,0.1,1.024144
$STATE,1132,end surface coast,CONTROL_FINISHED_OK
$STATE,1132,begin surface
$SM_CCo,1231,0.00,0.000,0,0,1902,500.56
$SM_GC,0.98,27.23,0.35,0.00,0.022,0.050,0.000,230,1940,1902,-6.59,1.09,500.56,0,0,0,0,0,0,26.10,26.17,26.19
$IRIDIUM_FIX,6149.06,-17422.35,100817,054407
$TT8_MAMPS,0.025466,0.235935
$HUMID,51.77
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.01,21.671
$10V_AH,10.21,25.272
$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,44.800,6.550,57.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,410.851,60.960,149.069,605.225,67.138,33.418,392.146,0.000,353.752,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,50.490,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.743,393.925,311.683,462.242,601.716,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,14337,145
$CAP_FILE_SIZE,29313,0
$CFSIZE,1024409600,979992576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,080804,6100.297,-17344.738,7,0.8,41,7.1,0.3,50.8,10,4.6