version: 66.13
glider: 401
mission: 22
dive: 805
start: 8 10 117 8 16 22
data:
$ID,401
$MISSION,22
$DIVE,805
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,100817,080804,6100.2974,-17344.7383,7,0.8,41,7.1,0.3,50.8,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-39.2
$GPS2,100817,081515,6100.2974,-17344.6875,7,0.8,15,7.1,0.0,0.0,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.280495,0.254596
$KALMAN_X,76166.671875,-832.181396,-475.245575,-263454.906250,155.652252
$KALMAN_Y,-26598.322266,3218.803711,1250.616577,216546.078125,-48.423950
$MHEAD_RNG_PITCHd_Wd,305.1,8155,-11.2,-10.000,-14.79,6956
$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,-464.2,230,1939,1902,4092,0.0,0.0,0,18,7.32,0.00,0.00,0.000,2049,0.097,0.000,857,1936,1902,1902,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.32,50.03
$GC,21,-1.72,-464.2,856,1935,1902,4094,0.8,0.0,1,46,9.85,1.52,-10.05,0.000,18692,0.049,1.265,1783,2485,3031,3031,4094,0,0,0,0,0,0,26.02,24.79,26.08,10.33,49.80
$GC,152,-1.72,-464.2,1783,2485,3034,4094,12.3,-15.0,22,159,0.00,1.33,0.00,0.000,1030,0.000,0.026,1784,1954,3033,3033,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.58,49.72
$GC,191,-1.72,-464.2,1783,1954,3035,4095,18.6,-15.6,28,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1954,3035,3035,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.57,49.40
$GC,229,-1.72,-464.2,1783,1954,3036,4095,23.7,-13.1,34,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1954,3036,3036,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.56,49.21
$GC,267,-1.72,-464.2,1783,1954,3037,4094,28.4,-12.8,40,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1955,3037,3037,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.53,48.46
$GC,305,-1.72,-464.2,1783,1954,3038,4095,33.0,-12.4,46,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1955,3038,3038,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.51,47.87
$GC,343,-1.72,-464.2,1783,1954,3038,4094,37.5,-11.8,52,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1955,3039,3039,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.49,47.99
$GC,381,-1.72,-464.2,1783,1954,3039,4095,41.9,-12.1,58,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1954,3040,3040,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.46,46.45
$GC,419,-1.72,-464.2,1783,1954,3040,4094,46.6,-12.4,64,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1954,3040,3040,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.44,45.78
$GC,457,-1.72,-464.2,1783,1954,3041,4095,51.3,-12.7,70,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1954,3041,3041,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.44,45.23
$GC,495,-1.72,-464.2,1783,1954,3042,4095,56.2,-13.6,76,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1955,3042,3042,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,44.76
$STATE,524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,524,begin apogee
$GC,531,-0.45,0.0,1784,2114,3043,4095,60.4,-13.1,81,567,4.28,0.00,26.83,1.291,10244,0.055,0.000,2186,2114,2484,2484,4095,0,0,0,0,0,0,26.27,25.44,24.45,10.42,44.48
$STATE,568,end apogee,CONTROL_FINISHED_OK
$STATE,568,begin climb
$GC,571,1.72,464.2,2185,2113,2483,4095,63.0,0.0,87,613,7.18,1.38,26.50,1.257,10500,0.033,0.050,2880,2629,1941,1941,4094,0,0,0,0,0,0,25.62,25.54,24.03,10.30,44.44
$GC,689,1.72,464.2,2879,2628,1940,4094,51.2,13.0,106,696,0.00,1.33,0.00,0.000,1030,0.000,0.024,2880,2103,1939,1939,4095,0,0,0,0,0,0,25.63,25.60,25.66,10.17,44.52
$GC,728,1.72,464.2,2880,2103,1938,4095,46.0,13.1,112,735,0.00,1.40,0.00,0.000,516,0.000,0.048,2880,1570,1938,1938,4095,0,0,0,0,0,0,25.93,25.64,25.94,10.16,43.81
$GC,815,1.72,464.2,2879,1569,1935,4095,34.8,12.7,126,822,0.00,1.20,0.00,0.000,1030,0.000,0.026,2880,2066,1935,1935,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.16,44.76
$GC,854,1.72,464.2,2880,2066,1934,4094,29.7,13.4,132,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2066,1934,1934,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.16,45.15
$GC,892,1.72,464.2,2880,2066,1933,4094,25.1,12.1,138,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2066,1933,1933,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.19,46.22
$GC,930,1.72,464.2,2880,2066,1932,4094,20.5,12.6,144,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2066,1932,1932,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.20,47.32
$GC,968,1.72,464.2,2880,2066,1931,4095,16.0,11.8,150,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2066,1931,1931,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.23,49.05
$GC,1006,1.72,464.2,2879,2066,1930,4094,11.8,10.8,156,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2066,1930,1930,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.24,50.23
$GC,1044,1.72,464.2,2879,2066,1929,4094,7.7,10.3,162,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2066,1929,1929,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.25,50.19
$GC,1082,1.72,464.2,2880,2066,1928,4094,3.7,10.7,168,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2066,1928,1928,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.26,51.14
$STATE,1099,end climb,FINISH_DEPTH_REACHED
$STATE,1099,begin subsurface finish
$FINISH1,1.5,1.024133,102
$GC,1107,0.15,102.2,2880,2111,1927,4094,1.5,10.9,171,1121,5.00,0.00,-3.67,0.000,20486,0.034,0.000,2390,2111,2368,2368,4094,0,0,0,0,0,0,26.18,25.14,26.22,10.27,50.86
$FINISH2,0.3
$STATE,1122,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1122,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,065751
$TT8_MAMPS,0.025466,0.160286
$HUMID,50.98
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,24.03,21.707
$10V_AH,10.37,25.290
$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,33.625,8.550,53.325,0.000,0.000,25.082,24.848,228.483,0.000,0.000,16.266,449.809,264.098,160.499,530.790,165.412,33.451,356.823,0.000,261.349,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1265.310,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,14330,173
$CAP_FILE_SIZE,34610,0
$CFSIZE,1024409600,979927040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100817,081515,6100.297,-17344.688,7,0.8,15,7.1,0.0,0.0,10,5.0