version: 66.13
glider: 401
mission: 22
dive: 832
start: 8 10 117 20 7 43
data:
$ID,401
$MISSION,22
$DIVE,832
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,100817,195748,6103.4106,-17348.4727,3,0.9,22,7.0,0.3,108.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-29.6
$GPS2,100817,200636,6103.4170,-17348.4316,3,0.9,33,7.0,0.3,13.4,9,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.042578,0.399180
$KALMAN_X,75100.585938,-1018.221558,-402.741089,-265821.250000,103.778473
$KALMAN_Y,-31114.435547,2618.725830,659.483704,228024.015625,33.189514
$MHEAD_RNG_PITCHd_Wd,346.9,39524,-10.3,-10.000,-13.99,8003
$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,-1.67,-487.5,239,1948,1576,4092,0.0,0.0,0,21,10.00,0.00,0.00,0.000,2049,0.088,0.000,1105,1946,1576,1576,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.25,50.70
$GC,24,-1.67,-487.5,1105,1946,1576,4094,0.6,0.0,1,51,7.45,1.50,-13.30,0.000,18948,0.052,1.283,1798,1408,3057,3057,4094,0,0,0,0,0,0,25.97,24.72,26.04,10.26,50.82
$GC,75,-1.67,-487.5,1797,1408,3057,4094,1.6,-4.5,7,83,0.00,1.30,0.00,0.000,1030,0.000,0.024,1798,1958,3057,3057,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.58,50.78
$GC,120,-1.67,-487.5,1797,1958,3059,4095,8.0,-15.1,13,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1958,3059,3059,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.58,50.78
$GC,165,-1.67,-487.5,1797,1958,3060,4095,14.9,-15.3,19,174,0.00,1.38,0.00,0.000,260,0.000,0.047,1798,2474,3060,3060,4094,0,0,0,0,0,0,26.31,26.00,26.32,10.57,49.68
$GC,210,-1.67,-487.5,1798,2475,3061,4094,21.7,-14.9,25,219,0.00,1.30,0.00,0.000,1030,0.000,0.027,1798,1953,3061,3061,4094,0,0,0,0,0,0,26.14,26.09,26.16,10.57,49.40
$GC,256,-1.67,-487.5,1798,1952,3062,4094,27.3,-12.0,31,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1952,3062,3062,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.54,48.54
$GC,301,-1.67,-487.5,1798,1952,3063,4094,32.6,-11.9,37,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1953,3063,3063,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.51,48.03
$GC,347,-1.67,-487.5,1798,1952,3064,4094,38.1,-12.0,43,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1952,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.48,47.71
$GC,392,-1.67,-487.5,1798,1952,3065,4095,43.5,-12.1,49,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1952,3065,3065,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.45,46.14
$GC,436,-1.67,-487.5,1797,1952,3066,4095,48.9,-12.4,55,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1952,3066,3066,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.44,45.70
$GC,482,-1.67,-487.5,1798,1952,3067,4094,54.4,-12.2,61,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1952,3067,3067,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,44.88
$GC,527,-1.67,-487.5,1797,1952,3068,4095,59.9,-12.3,67,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1952,3068,3068,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.42,44.92
$STATE,543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,543,begin apogee
$GC,550,-0.45,0.0,1798,2139,3068,4094,62.2,-12.2,69,586,4.15,0.00,28.15,1.292,10244,0.054,0.000,2187,2139,2483,2483,4094,0,0,0,0,0,0,26.26,25.39,24.39,10.42,44.25
$STATE,587,end apogee,CONTROL_FINISHED_OK
$STATE,587,begin climb
$GC,590,1.67,487.5,2187,2139,2484,4094,64.9,0.0,73,635,7.05,1.40,27.85,1.267,10500,0.034,0.052,2866,2659,1915,1915,4095,0,0,0,0,0,0,25.57,25.51,23.97,10.30,44.52
$GC,665,1.67,487.5,2866,2659,1914,4095,59.1,11.6,82,675,0.00,1.33,0.00,0.000,1030,0.000,0.024,2866,2135,1914,1914,4094,0,0,0,0,0,0,25.41,25.42,25.43,10.16,43.26
$GC,712,1.67,487.5,2866,2134,1913,4094,53.3,12.5,88,721,0.00,1.38,0.00,0.000,516,0.000,0.047,2866,1613,1912,1912,4094,0,0,0,0,0,0,25.81,25.51,25.82,10.16,43.73
$GC,810,1.67,487.5,2866,1612,1910,4094,41.2,11.6,102,820,0.00,1.23,0.00,0.000,1030,0.000,0.026,2867,2111,1909,1909,4095,0,0,0,0,0,0,25.83,25.82,25.86,10.15,44.36
$GC,856,1.67,487.5,2866,2111,1908,4095,35.6,12.0,108,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2111,1908,1908,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.15,44.64
$GC,900,1.67,487.5,2866,2111,1907,4094,30.5,11.6,114,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2111,1907,1907,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.15,44.99
$GC,946,1.67,487.5,2866,2111,1906,4094,25.0,12.3,120,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2111,1906,1906,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.17,46.37
$GC,991,1.67,487.5,2866,2111,1905,4095,19.6,11.8,126,1000,0.00,1.30,0.00,0.000,516,0.000,0.047,2866,1618,1905,1905,4094,0,0,0,0,0,0,26.27,25.98,26.29,10.20,47.16
$GC,1076,1.67,487.5,2866,1618,1902,4094,10.8,10.2,138,1085,0.00,1.17,0.00,0.000,1030,0.000,0.026,2866,2106,1902,1902,4094,0,0,0,0,0,0,26.14,26.10,26.15,10.23,49.72
$GC,1122,1.67,487.5,2866,2106,1901,4094,6.2,10.1,144,1132,0.00,1.50,0.00,0.000,260,0.000,0.054,2867,2668,1901,1901,4094,0,0,0,0,0,0,26.39,26.07,26.39,10.25,50.27
$STATE,1167,end climb,FINISH_DEPTH_REACHED
$STATE,1167,begin subsurface finish
$FINISH1,1.6,1.023951,115
$GC,1176,0.17,114.9,2866,2134,1900,4094,1.6,9.7,150,1195,4.72,1.42,-4.00,0.000,20996,0.027,1.281,2398,1613,2354,2354,4094,0,0,0,0,0,0,26.19,24.94,26.24,10.26,50.90
$FINISH2,0.1
$STATE,1196,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1197,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,184443
$TT8_MAMPS,0.025466,0.26215
$HUMID,51.26
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.97,22.510
$10V_AH,10.19,26.016
$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,33.375,17.975,56.000,0.000,0.000,23.039,21.981,309.743,0.000,0.000,36.088,420.862,0.000,142.484,967.987,210.591,33.456,414.404,0.000,369.629,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,1282.905,1292.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.164,413.001,326.767,484.410,631.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,14300,152
$CAP_FILE_SIZE,35803,0
$CFSIZE,1024409600,978599936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,200636,6103.417,-17348.432,3,0.9,33,7.0,0.3,13.4,9,5.0