version: 66.13
glider: 401
mission: 22
dive: 826
start: 8 10 117 17 26 51
data:
$ID,401
$MISSION,22
$DIVE,826
$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,32
$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
$GPS1,100817,171538,6101.7798,-17348.8418,4,1.1,49,7.0,0.4,283.8,8,3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-27.5
$GPS2,100817,172544,6101.7915,-17348.9258,3,0.8,16,7.0,0.0,72.1,11,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.067240,0.619661
$KALMAN_X,75311.250000,-1106.649902,-581.746582,-266224.906250,-0.974487
$KALMAN_Y,-30468.779297,2522.890381,473.118164,224649.187500,5.484772
$MHEAD_RNG_PITCHd_Wd,359.2,42563,-4.0,-10.000,-9.11,24071
$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,-1.10,-487.5,230,1947,1644,4092,0.0,0.0,0,20,9.20,0.00,0.00,0.000,2049,0.076,0.000,1045,1941,1644,1644,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.27,51.14
$GC,23,-1.10,-487.5,1045,1941,1644,4094,0.6,0.0,1,50,9.95,0.00,-12.60,0.000,18950,0.047,0.000,1977,1945,3057,3057,4095,0,0,0,0,0,0,26.00,25.00,26.03,10.28,50.19
$GC,89,-1.10,-487.5,1976,1945,3057,4095,-0.1,0.1,9,98,0.00,1.38,0.00,0.000,516,0.000,0.050,1977,1412,3057,3057,4095,0,0,0,0,0,0,26.24,25.95,26.25,10.58,50.78
$GC,147,-1.10,-487.5,1976,1412,3058,4095,2.9,-10.0,17,157,0.00,1.27,0.00,0.000,1030,0.000,0.024,1977,1962,3058,3058,4094,0,0,0,0,0,0,26.12,26.10,26.17,10.59,49.60
$GC,195,-1.10,-487.5,1976,1962,3058,4094,6.8,-8.2,23,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3058,3058,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.58,50.00
$GC,240,-1.10,-487.5,1976,1962,3059,4094,10.5,-8.0,29,248,0.00,1.30,0.00,0.000,260,0.000,0.044,1977,2458,3059,3059,4095,0,0,0,0,0,0,26.39,26.10,26.40,10.59,48.77
$GC,292,-1.10,-487.5,1976,2458,3060,4095,14.3,-7.4,36,301,0.00,1.23,0.00,0.000,1030,0.000,0.026,1977,1962,3060,3060,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.58,48.70
$GC,338,-1.10,-487.5,1976,1962,3060,4095,17.7,-7.4,42,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3060,3060,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.58,48.38
$GC,385,-1.10,-487.5,1976,1962,3061,4095,21.1,-7.3,48,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3061,3061,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.57,47.95
$GC,432,-1.10,-487.5,1977,1962,3061,4094,24.1,-6.2,54,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3061,3061,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.55,48.07
$GC,479,-1.10,-487.5,1976,1962,3062,4095,26.9,-6.0,60,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3062,3062,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.53,47.08
$GC,527,-1.10,-487.5,1976,1962,3062,4094,29.6,-5.9,66,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3062,3062,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.51,46.69
$GC,574,-1.10,-487.5,1976,1962,3062,4095,32.3,-5.5,72,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3063,3063,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.49,46.33
$GC,621,-1.10,-487.5,1976,1962,3063,4094,34.9,-5.6,78,628,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1961,3063,3063,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.47,45.82
$GC,665,-1.10,-487.5,1976,1962,3064,4094,37.5,-5.7,84,674,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.45,45.03
$GC,711,-1.10,-487.5,1976,1962,3064,4094,40.1,-5.8,90,720,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3064,3064,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.44,44.60
$GC,756,-1.10,-487.5,1975,1962,3064,4094,42.7,-5.7,96,765,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3064,3064,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.43,44.88
$GC,802,-1.10,-487.5,1976,1962,3065,4094,45.3,-5.7,102,811,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3065,3065,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.41,43.85
$GC,848,-1.10,-487.5,1976,1962,3066,4095,47.9,-5.7,108,857,0.00,1.33,0.00,0.000,260,0.000,0.042,1977,2463,3066,3066,4094,0,0,0,0,0,0,26.66,26.36,26.67,10.42,44.25
$GC,887,-1.10,-487.5,1976,2462,3066,4094,50.2,-5.9,113,896,0.00,1.20,0.00,0.000,1030,0.000,0.026,1977,1972,3066,3066,4095,0,0,0,0,0,0,26.42,26.41,26.47,10.40,43.97
$GC,935,-1.10,-487.5,1976,1972,3066,4095,52.9,-5.9,119,942,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1972,3066,3066,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.40,44.84
$STATE,970,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,970,begin apogee
$GC,977,-0.45,0.0,1977,2136,3067,4095,55.2,-5.8,124,1012,2.12,0.00,27.67,1.212,10244,0.044,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.41,25.58,24.62,10.40,44.60
$STATE,1013,end apogee,CONTROL_FINISHED_OK
$STATE,1013,begin climb
$GC,1016,1.10,487.5,2185,2136,2483,4094,56.7,0.0,128,1052,5.12,0.00,27.55,1.191,11270,0.038,0.000,2674,2136,1914,1914,4094,0,0,0,0,0,0,25.78,25.97,24.15,10.28,43.89
$GC,1091,2.31,1296.1,2674,2136,1914,4094,53.3,6.6,137,1145,4.00,1.48,44.45,1.142,10756,0.022,0.044,3066,1603,974,974,4094,0,0,0,0,0,0,25.53,24.79,23.94,10.15,44.40
$GC,1201,2.71,1566.4,3065,1603,972,4094,40.1,8.8,151,1229,1.23,1.17,15.88,0.952,11270,0.023,0.024,3192,2084,662,662,4094,0,0,0,0,0,0,25.44,25.40,24.22,9.95,43.66
$GC,1268,3.35,1989.5,3191,2084,660,4094,34.2,8.2,159,1303,2.05,0.00,24.02,0.923,10246,0.023,0.000,3400,2084,165,165,4094,0,0,0,0,0,0,25.46,24.73,24.20,9.88,44.25
$GC,1342,4.18,2542.7,3399,2083,164,4094,26.9,7.6,168,1361,2.62,0.00,6.90,0.675,10246,0.024,0.000,3660,2084,51,51,4094,0,0,0,0,0,0,25.43,24.96,24.44,9.81,44.64
$GC,1399,4.18,2542.7,3660,2083,48,4094,17.3,21.7,175,1408,0.00,1.27,0.00,0.000,516,0.000,0.047,3660,1612,48,48,4094,0,0,0,0,0,0,25.73,25.44,25.74,9.82,45.78
$GC,1425,4.18,2542.7,3660,1611,45,4094,10.6,23.8,178,1434,0.00,1.12,0.00,0.000,1030,0.000,0.027,3660,2066,44,44,4094,0,0,0,0,0,0,25.59,25.58,25.62,9.84,47.67
$STATE,1470,end climb,FINISH_DEPTH_REACHED
$STATE,1470,begin subsurface finish
$FINISH1,1.0,1.023924,117
$GC,1478,0.18,116.8,3660,2157,41,4094,1.0,21.5,184,1516,13.05,1.40,-19.23,0.000,20740,0.021,1.275,2398,2640,2352,2352,4095,0,0,0,0,0,0,25.72,24.53,25.77,9.87,49.01
$FINISH2,0.1
$STATE,1517,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1517,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,171758
$TT8_MAMPS,0.025466,0.244174
$HUMID,51.77
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,23.94,22.331
$10V_AH,10.20,25.862
$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,49.350,14.650,146.475,0.000,0.000,49.655,37.177,296.423,0.000,0.000,17.822,507.823,44.741,212.278,1176.301,199.371,33.453,572.643,0.000,454.267,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1275.255,1211.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,126.728,510.757,404.109,598.758,779.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,17876,188
$CAP_FILE_SIZE,45700,0
$CFSIZE,1024409600,978878464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,172544,6101.792,-17348.926,3,0.8,16,7.0,0.0,72.1,11,4.9