version: 66.13
glider: 401
mission: 22
dive: 824
start: 8 10 117 16 23 31
data:
$ID,401
$MISSION,22
$DIVE,824
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,100817,160053,6100.9907,-17348.7617,3,0.7,14,7.0,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-4.4
$GPS2,100817,160053,6100.9907,-17348.7617,3,0.7,14,7.0,0.0,0.0,11,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.131198,0.480521
$KALMAN_X,75701.640625,-1066.947998,-560.103027,-266523.406250,-112.428284
$KALMAN_Y,-30676.677734,2457.080322,383.005707,223554.062500,-123.854645
$MHEAD_RNG_PITCHd_Wd,8.3,44025,-7.1,-10.000,-11.35,13631
$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,-1.37,-487.5,2398,1952,2361,4092,0.0,0.0,0,21,5.03,0.00,-4.70,0.000,20482,0.027,0.000,1905,1953,2884,2884,4095,0,0,0,0,0,0,26.23,28.83,26.25,10.38,52.00
$GC,24,-1.37,-487.5,1905,1953,2884,4095,0.0,0.0,1,34,0.00,1.48,-1.52,0.000,16900,0.000,1.285,1905,1414,3059,3059,4094,0,0,0,0,0,0,26.44,24.92,26.40,10.49,52.16
$GC,58,-1.37,-487.5,1905,1414,3059,4094,2.7,-7.3,5,67,0.00,1.30,0.00,0.000,1030,0.000,0.024,1905,1967,3060,3060,4095,0,0,0,0,0,0,26.12,26.10,26.13,10.53,51.85
$GC,104,-1.37,-487.5,1905,1967,3060,4095,7.4,-10.2,11,113,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1967,3060,3060,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.54,51.73
$GC,149,-1.37,-487.5,1904,1966,3062,4095,12.1,-10.5,17,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1966,3062,3062,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.54,51.57
$GC,194,-1.37,-487.5,1905,1966,3062,4095,16.5,-9.3,23,203,0.00,1.35,0.00,0.000,260,0.000,0.047,1905,2477,3062,3062,4095,0,0,0,0,0,0,26.42,26.12,26.44,10.54,51.26
$GC,240,-1.37,-487.5,1905,2477,3063,4095,20.6,-9.3,29,248,0.00,1.33,0.00,0.000,1030,0.000,0.028,1905,1951,3062,3062,4095,0,0,0,0,0,0,26.23,26.20,26.24,10.54,50.86
$GC,285,-1.37,-487.5,1905,1950,3064,4095,24.6,-8.5,35,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.52,51.18
$GC,331,-1.37,-487.5,1905,1950,3064,4095,28.0,-7.3,41,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.49,49.80
$GC,376,-1.37,-487.5,1905,1950,3065,4095,31.4,-7.7,47,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3065,3065,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.47,49.44
$GC,422,-1.37,-487.5,1905,1950,3065,4095,35.0,-7.8,53,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1951,3066,3066,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.45,48.54
$GC,467,-1.37,-487.5,1905,1950,3066,4095,38.4,-7.5,59,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3067,3067,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.43,48.30
$GC,512,-1.37,-487.5,1904,1950,3067,4095,41.9,-7.8,65,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3067,3067,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.42,46.81
$GC,558,-1.37,-487.5,1905,1950,3067,4095,45.4,-7.8,71,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3068,3068,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.40,46.45
$GC,603,-1.37,-487.5,1905,1950,3067,4095,49.0,-8.0,77,613,0.00,1.38,0.00,0.000,260,0.000,0.044,1905,2471,3068,3068,4094,0,0,0,0,0,0,26.62,26.32,26.63,10.40,46.06
$GC,643,-1.37,-487.5,1904,2471,3069,4094,52.2,-7.9,82,652,0.00,1.30,0.00,0.000,1030,0.000,0.027,1905,1950,3069,3069,4094,0,0,0,0,0,0,26.39,26.39,26.43,10.39,45.90
$GC,691,-1.37,-487.5,1905,1950,3069,4094,55.9,-8.1,88,700,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3070,3070,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.38,45.78
$GC,738,-1.37,-487.5,1905,1950,3070,4094,59.8,-8.4,94,747,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,1950,3070,3070,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.38,45.62
$STATE,754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,754,begin apogee
$GC,761,-0.45,0.0,1905,2138,3070,4094,61.6,-8.3,96,796,2.95,0.00,28.08,1.283,10244,0.049,0.000,2186,2137,2483,2483,4094,0,0,0,0,0,0,26.37,25.51,24.53,10.38,45.78
$STATE,797,end apogee,CONTROL_FINISHED_OK
$STATE,797,begin climb
$GC,800,1.37,487.5,2185,2137,2483,4094,63.4,0.0,100,837,6.07,0.00,27.73,1.255,11270,0.036,0.000,2769,2138,1916,1916,4095,0,0,0,0,0,0,25.73,25.89,24.05,10.25,45.23
$GC,875,1.78,757.6,2767,2137,1915,4095,59.3,8.0,109,903,1.23,1.45,16.12,1.138,10756,0.028,0.045,2893,1605,1602,1602,4095,0,0,0,0,0,0,25.48,24.77,24.09,10.13,44.92
$GC,953,1.78,757.6,2892,1605,1601,4095,51.3,10.2,119,962,0.00,1.23,0.00,0.000,1030,0.000,0.026,2893,2098,1601,1601,4094,0,0,0,0,0,0,25.53,25.51,25.54,10.06,44.60
$GC,1000,1.78,757.6,2892,2098,1600,4094,46.6,10.3,125,1010,0.00,1.58,0.00,0.000,260,0.000,0.056,2892,2673,1600,1600,4094,0,0,0,0,0,0,25.89,25.58,25.89,10.05,45.31
$GC,1033,1.78,757.6,2892,2672,1599,4094,42.9,10.8,129,1043,0.00,1.48,0.00,0.000,1030,0.000,0.027,2892,2093,1599,1599,4094,0,0,0,0,0,0,25.76,25.72,25.78,10.05,45.15
$GC,1079,1.78,757.6,2892,2091,1598,4094,38.2,10.2,135,1089,0.00,1.27,0.00,0.000,516,0.000,0.050,2892,1605,1598,1598,4094,0,0,0,0,0,0,26.05,25.75,26.06,10.04,45.47
$GC,1165,2.04,932.7,2892,1605,1596,4094,30.2,8.7,147,1184,0.82,1.15,10.68,0.823,11270,0.027,0.025,2982,2085,1395,1395,4094,0,0,0,0,0,0,25.98,25.94,24.81,10.04,45.94
$GC,1223,2.04,932.7,2981,2084,1394,4094,24.5,10.5,154,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2085,1394,1394,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.03,46.69
$GC,1270,2.13,989.3,2981,2084,1393,4094,19.8,9.6,160,1280,0.15,0.00,4.60,0.522,10246,0.063,0.000,3001,2085,1330,1330,4094,0,0,0,0,0,0,25.93,25.70,24.97,10.06,48.66
$GC,1319,2.14,1000.5,3000,2084,1329,4094,14.9,9.9,166,1327,0.00,0.00,2.40,0.160,8198,0.000,0.000,3001,2085,1317,1317,4094,0,0,0,0,0,0,26.17,25.55,25.06,10.07,49.76
$GC,1365,2.14,1000.5,3000,2084,1316,4094,10.2,10.1,172,1374,0.00,1.27,0.00,0.000,516,0.000,0.049,3001,1605,1316,1316,4094,0,0,0,0,0,0,26.22,25.91,26.22,10.09,50.90
$GC,1418,2.32,1116.8,3000,1605,1314,4094,5.1,9.1,179,1436,0.57,1.12,7.45,0.541,11270,0.028,0.024,3071,2077,1181,1181,4094,0,0,0,0,0,0,26.07,26.04,25.20,10.11,51.26
$STATE,1450,end climb,FINISH_DEPTH_REACHED
$STATE,1450,begin subsurface finish
$FINISH1,1.6,1.023984,113
$GC,1458,0.17,112.6,3070,2167,1180,4094,1.6,10.3,183,1487,6.85,1.33,-10.05,0.000,20740,0.022,1.274,2396,2653,2358,2358,4094,0,0,0,0,0,0,26.01,24.75,26.05,10.09,51.69
$FINISH2,0.1
$STATE,1488,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1488,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,143012
$TT8_MAMPS,0.026215,0.26215
$HUMID,51.92
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,24.05,22.241
$10V_AH,10.17,25.799
$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,23.675,21.075,97.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,510.711,0.000,175.773,774.908,83.896,33.427,503.918,0.000,447.093,0.000,0.544,0.000
$DEVICE_MAMPS,63.495,1285.200,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,126.406,505.302,399.859,592.250,772.024,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,17794,186
$CAP_FILE_SIZE,40771,0
$CFSIZE,1024409600,978976768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,160053,6100.991,-17348.762,3,0.7,14,7.0,0.0,0.0,11,4.9