version: 66.13
glider: 401
mission: 22
dive: 828
start: 8 10 117 18 18 37
data:
$ID,401
$MISSION,22
$DIVE,828
$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,28
$R_STBD_OVSHOOT,51
$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
$GPS1,100817,172544,6101.7915,-17348.9258,3,0.8,16,7.0,0.0,72.1,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-5.2
$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,0.104362,0.698151
$KALMAN_X,75120.851562,-1100.239746,-535.838745,-266088.531250,-54.897095
$KALMAN_Y,-31346.693359,2427.388672,418.383484,225705.640625,-177.505371
$MHEAD_RNG_PITCHd_Wd,1.5,42563,-2.3,-10.000,-8.06,33077
$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,-0.94,-487.5,2403,1974,2353,4092,0.0,0.0,0,20,3.67,0.00,-5.38,0.000,20482,0.026,0.000,2034,1975,2950,2950,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.36,54.29
$GC,23,-0.94,-487.5,2033,1975,2949,4094,0.1,0.0,1,33,0.00,0.00,-0.90,0.000,16390,0.000,0.000,2033,1975,3056,3056,4094,0,0,0,0,0,0,26.33,25.58,26.28,10.50,53.54
$GC,69,-0.94,-487.5,2033,1975,3057,4094,3.8,-10.2,7,79,0.00,1.48,0.00,0.000,516,0.000,0.053,2033,1414,3057,3057,4095,0,0,0,0,0,0,26.22,25.91,26.23,10.52,54.37
$GC,115,-0.94,-487.5,2033,1414,3058,4095,8.2,-9.3,13,125,0.00,1.20,0.00,0.000,1030,0.000,0.026,2033,1949,3058,3058,4095,0,0,0,0,0,0,26.10,26.08,26.15,10.52,53.85
$GC,162,-0.94,-487.5,2033,1949,3059,4095,12.3,-8.8,19,171,0.00,1.33,0.00,0.000,260,0.000,0.044,2033,2450,3059,3059,4095,0,0,0,0,0,0,26.32,26.03,26.33,10.53,53.34
$GC,222,-0.94,-487.5,2033,2450,3060,4095,17.7,-9.2,27,231,0.00,1.17,0.00,0.000,1030,0.000,0.028,2033,1980,3060,3060,4095,0,0,0,0,0,0,26.15,26.09,26.17,10.53,52.00
$GC,270,-0.94,-487.5,2032,1980,3061,4095,22.0,-9.1,33,279,0.00,1.48,0.00,0.000,516,0.000,0.056,2033,1415,3061,3061,4094,0,0,0,0,0,0,26.41,26.08,26.41,10.52,51.73
$GC,303,-0.94,-487.5,2032,1415,3061,4094,25.1,-8.8,37,312,0.00,1.25,0.00,0.000,1030,0.000,0.025,2033,1956,3061,3061,4094,0,0,0,0,0,0,26.23,26.21,26.22,10.50,51.33
$GC,349,-0.94,-487.5,2032,1956,3062,4094,29.3,-9.1,43,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1956,3062,3062,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.49,50.51
$GC,395,-0.94,-487.5,2033,1955,3063,4094,33.3,-9.2,49,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1957,3063,3063,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.46,49.92
$GC,440,-0.94,-487.5,2033,1956,3064,4095,37.5,-9.1,55,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1957,3064,3064,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.44,49.60
$GC,486,-0.94,-487.5,2033,1957,3064,4095,41.8,-9.6,61,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1957,3064,3064,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.42,47.59
$GC,532,-0.94,-487.5,2032,1958,3066,4094,46.2,-9.7,67,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1958,3066,3066,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.41,46.65
$GC,577,-0.94,-487.5,2032,1958,3066,4094,50.8,-10.1,73,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1958,3066,3066,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.40,46.29
$GC,622,-0.94,-487.5,2033,1958,3067,4094,55.3,-10.1,79,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1958,3067,3067,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.39,46.10
$GC,668,-0.94,-487.5,2033,1958,3068,4094,59.8,-10.0,85,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1958,3068,3068,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.39,46.41
$STATE,684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,684,begin apogee
$GC,691,-0.45,0.0,2033,2137,3068,4095,61.8,-10.0,87,726,1.38,0.00,28.08,1.290,10244,0.031,0.000,2176,2138,2484,2484,4095,0,0,0,0,0,0,26.38,25.45,24.44,10.38,45.47
$STATE,727,end apogee,CONTROL_FINISHED_OK
$STATE,727,begin climb
$GC,730,0.94,487.5,2175,2137,2483,4095,65.4,0.0,91,766,4.75,0.00,27.83,1.280,11270,0.038,0.000,2624,2138,1915,1915,4095,0,0,0,0,0,0,25.67,25.84,23.99,10.27,45.86
$GC,805,1.43,810.2,2624,2138,1915,4095,62.0,9.0,100,831,1.58,0.00,19.08,1.185,10246,0.031,0.000,2777,2138,1540,1540,4094,0,0,0,0,0,0,25.44,24.91,24.01,10.13,44.84
$GC,869,1.43,810.2,2776,2138,1539,4094,54.9,12.9,108,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2138,1538,1538,4094,0,0,0,0,0,0,25.61,25.63,25.63,10.05,45.31
$GC,916,1.43,810.2,2777,2138,1537,4094,48.4,13.8,114,925,0.00,1.45,0.00,0.000,516,0.000,0.047,2777,1601,1537,1537,4094,0,0,0,0,0,0,25.79,25.49,25.81,10.04,45.58
$GC,1096,1.43,810.2,2777,1601,1531,4094,23.3,13.4,140,1105,0.00,1.20,0.00,0.000,1030,0.000,0.026,2777,2102,1530,1530,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.05,47.08
$GC,1143,1.43,810.2,2777,2102,1529,4094,17.2,12.1,146,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2102,1529,1529,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.09,47.36
$GC,1190,1.43,810.2,2777,2101,1527,4094,11.4,12.6,152,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2102,1527,1527,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.11,49.33
$GC,1237,1.43,810.2,2777,2102,1526,4094,5.3,13.2,158,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2102,1525,1525,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.13,51.06
$STATE,1261,end climb,SURFACE_DEPTH_REACHED
$STATE,1261,begin surface coast
$FINISH,0.0,1.023834
$STATE,1276,end surface coast,CONTROL_FINISHED_OK
$STATE,1276,begin surface
$SM_CCo,1374,0.00,0.000,0,0,1524,825.11
$SM_GC,0.78,26.23,0.40,0.00,0.021,0.049,0.000,231,1949,1524,-6.59,1.23,825.11,0,0,0,0,0,0,26.01,26.08,26.10
$IRIDIUM_FIX,6149.06,-17422.35,100817,171758
$TT8_MAMPS,0.025466,0.240429
$HUMID,51.85
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.99,22.383
$10V_AH,10.20,25.912
$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,37.600,12.200,74.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,460.955,60.514,160.239,679.300,76.164,33.418,426.977,0.000,394.609,0.000,0.543,0.000
$DEVICE_MAMPS,38.250,55.845,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.301,442.825,350.438,519.408,677.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,17811,163
$CAP_FILE_SIZE,33770,0
$CFSIZE,1024409600,978780160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,184221,6102.555,-17348.801,3,0.7,13,7.0,0.0,0.0,11,4.9