version: 66.13
glider: 401
mission: 22
dive: 834
start: 8 10 117 20 49 56
data:
$ID,401
$MISSION,22
$DIVE,834
$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,43
$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
$GPS1,100817,200636,6103.4170,-17348.4316,3,0.9,33,7.0,0.3,13.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.7
$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,0.025742,0.654036
$KALMAN_X,75075.367188,-963.874084,-326.024841,-265921.687500,41.706726
$KALMAN_Y,-31609.041016,2569.429688,626.201843,228623.890625,-78.318481
$MHEAD_RNG_PITCHd_Wd,355.3,39524,-3.4,-10.000,-8.69,27282
$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,-1.04,-487.5,2400,1980,2356,4092,0.0,0.0,0,28,3.90,0.00,-6.38,0.000,20486,0.026,0.000,2012,1980,3056,3056,4095,0,0,0,0,0,0,26.32,25.76,26.34,10.37,52.95
$GC,32,-1.04,-487.5,2011,1980,3055,4095,0.0,-0.7,2,41,0.00,1.50,0.00,0.000,516,0.000,0.057,2012,1413,3056,3056,4095,0,0,0,0,0,0,26.33,26.02,26.34,10.51,53.15
$GC,85,-1.04,-487.5,2011,1412,3056,4095,2.9,-9.1,9,94,0.00,1.25,0.00,0.000,1030,0.000,0.027,2011,1958,3057,3057,4095,0,0,0,0,0,0,26.19,26.19,26.20,10.53,52.79
$GC,132,-1.04,-487.5,2011,1958,3057,4095,6.5,-7.4,15,141,0.00,1.33,0.00,0.000,260,0.000,0.045,2011,2458,3057,3057,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.53,52.20
$GC,179,-1.04,-487.5,2011,2458,3058,4095,9.7,-6.8,21,188,0.00,1.27,0.00,0.000,1030,0.000,0.028,2011,1951,3059,3059,4095,0,0,0,0,0,0,26.23,26.21,26.27,10.53,52.00
$GC,226,-1.04,-487.5,2010,1951,3058,4095,12.8,-6.6,27,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1951,3059,3059,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.53,52.04
$GC,273,-1.04,-487.5,2011,1951,3059,4094,15.8,-6.6,33,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1951,3059,3059,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.53,51.45
$GC,320,-1.04,-487.5,2011,1951,3059,4094,18.9,-6.6,39,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1951,3060,3060,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.54,51.18
$GC,368,-1.04,-487.5,2010,1951,3060,4094,21.8,-6.1,45,377,0.00,1.38,0.00,0.000,516,0.000,0.054,2011,1411,3060,3060,4095,0,0,0,0,0,0,26.55,26.24,26.56,10.52,50.35
$GC,407,-1.04,-487.5,2011,1411,3060,4095,24.3,-5.9,50,417,0.00,1.20,0.00,0.000,1030,0.000,0.024,2011,1937,3061,3061,4094,0,0,0,0,0,0,26.39,26.36,26.40,10.52,50.03
$GC,454,-1.04,-487.5,2010,1938,3061,4094,26.9,-5.5,56,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1938,3061,3061,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.51,49.72
$GC,501,-1.04,-487.5,2010,1938,3062,4095,29.3,-5.2,62,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1938,3062,3062,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.49,49.37
$GC,548,-1.04,-487.5,2011,1938,3062,4095,31.8,-5.2,68,558,0.00,1.35,0.00,0.000,260,0.000,0.044,2011,2458,3062,3062,4094,0,0,0,0,0,0,26.63,26.33,26.64,10.47,49.52
$GC,588,-1.04,-487.5,2011,2457,3062,4094,34.0,-5.4,73,598,0.00,1.27,0.00,0.000,1030,0.000,0.028,2011,1945,3062,3062,4094,0,0,0,0,0,0,26.42,26.38,26.44,10.46,48.11
$GC,635,-1.04,-487.5,2011,1945,3063,4094,36.6,-5.5,79,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1945,3063,3063,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.45,47.40
$GC,681,-1.04,-487.5,2011,1945,3063,4094,39.0,-5.2,85,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1946,3064,3064,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.44,46.85
$GC,728,-1.04,-487.5,2010,1945,3064,4094,41.3,-5.0,91,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1945,3064,3064,4094,0,0,0,0,0,0,26.67,26.69,26.69,10.43,47.08
$GC,775,-1.04,-487.5,2011,1945,3064,4094,43.6,-4.8,97,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1945,3064,3064,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.42,46.22
$GC,823,-1.04,-487.5,2010,1945,3065,4094,45.9,-4.8,103,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1945,3065,3065,4095,0,0,0,0,0,0,26.70,26.72,26.71,10.41,45.66
$GC,870,-1.04,-487.5,2011,1945,3065,4095,48.1,-4.7,109,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1945,3065,3065,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.39,45.62
$GC,917,-1.04,-487.5,2011,1945,3066,4095,50.3,-4.7,115,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1945,3066,3066,4095,0,0,0,0,0,0,26.72,26.73,26.73,10.39,45.70
$GC,964,-1.04,-487.5,2011,1945,3066,4095,52.6,-4.9,121,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1945,3066,3066,4095,0,0,0,0,0,0,26.73,26.74,26.74,10.38,45.47
$STATE,980,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,980,begin apogee
$GC,987,-0.45,0.0,2011,2130,3066,4094,53.6,-4.8,123,1023,1.75,0.00,27.65,1.221,10244,0.044,0.000,2184,2130,2484,2484,4094,0,0,0,0,0,0,26.47,25.34,24.65,10.38,45.11
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1027,1.04,487.5,2184,2129,2485,4094,54.9,0.0,127,1063,4.93,0.00,27.55,1.194,11270,0.038,0.000,2656,2130,1915,1915,4094,0,0,0,0,0,0,25.82,26.01,24.16,10.26,45.15
$GC,1102,2.41,1404.7,2655,2129,1915,4094,51.5,6.6,136,1163,4.50,1.45,50.35,1.136,10756,0.023,0.045,3093,1605,847,847,4094,0,0,0,0,0,0,25.56,24.76,23.92,10.14,44.48
$GC,1207,3.22,1944.9,3093,1605,845,4094,38.1,8.0,149,1251,2.70,1.20,30.17,0.976,11270,0.024,0.025,3362,2092,217,217,4094,0,0,0,0,0,0,25.37,25.34,24.06,9.92,44.40
$GC,1290,3.92,2407.9,3361,2091,216,4094,28.6,8.3,159,1309,2.17,0.00,9.10,0.752,10246,0.025,0.000,3576,2092,52,52,4093,0,0,0,0,0,0,25.35,24.86,24.34,9.82,44.95
$GC,1347,3.92,2407.9,3575,2091,51,4093,20.8,16.0,166,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2092,50,50,4094,0,0,0,0,0,0,25.65,25.66,25.66,9.82,46.45
$GC,1394,3.92,2407.9,3575,2091,48,4094,12.7,16.8,172,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2092,47,47,4094,0,0,0,0,0,0,25.79,25.80,25.80,9.84,48.54
$GC,1441,3.92,2407.9,3575,2091,44,4094,4.9,16.6,178,1450,0.00,1.58,0.00,0.000,260,0.000,0.056,3575,2666,44,44,4094,0,0,0,0,0,0,25.90,25.60,25.91,9.86,49.33
$STATE,1458,end climb,SURFACE_DEPTH_REACHED
$STATE,1458,begin surface coast
$FINISH,0.3,1.023937
$STATE,1472,end surface coast,CONTROL_FINISHED_OK
$STATE,1473,begin surface
$SM_CCo,1580,0.00,0.000,0,0,42,2097.56
$SM_GC,0.26,34.97,1.88,0.00,0.020,0.025,0.000,230,1955,42,-6.59,1.14,2097.56,0,0,0,0,0,0,25.65,25.72,25.77
$IRIDIUM_FIX,6149.06,-17422.35,100817,184443
$TT8_MAMPS,0.025466,0.248668
$HUMID,50.94
$INTERNAL_PRESSURE,9.81839
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.92,22.562
$10V_AH,10.18,26.068
$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,54.925,17.950,144.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,505.257,59.909,229.638,761.585,86.578,33.417,570.988,0.000,438.861,0.000,0.544,0.000
$DEVICE_MAMPS,43.605,57.375,1220.940,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,122.541,494.499,391.238,579.684,757.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,17758,182
$CAP_FILE_SIZE,40372,0
$CFSIZE,1024409600,978485248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,211710,6104.037,-17348.105,3,0.7,17,7.0,0.0,0.0,11,4.9