version: 66.13
glider: 401
mission: 22
dive: 836
start: 8 10 117 21 57 36
data:
$ID,401
$MISSION,22
$DIVE,836
$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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,36
$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
$GPS1,100817,213136,6104.0264,-17348.1348,8,0.8,19,7.0,0.2,220.4,10,4.8
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-2.8
$GPS2,100817,213136,6104.0264,-17348.1348,8,0.8,19,7.0,0.2,220.4,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.009870,0.413333
$KALMAN_X,75213.125000,-900.424927,-250.229736,-265917.000000,54.336700
$KALMAN_Y,-31818.824219,2528.796631,597.417053,230041.031250,-64.299316
$MHEAD_RNG_PITCHd_Wd,351.6,38376,-9.8,-10.000,-13.60,8599
$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,-1.63,-487.5,2394,1970,2356,4092,0.0,0.0,0,27,5.85,0.00,-6.22,0.000,20486,0.024,0.000,1823,1970,3056,3056,4095,0,0,0,0,0,0,25.90,25.36,25.95,10.46,47.95
$GC,30,-1.63,-487.5,1823,1970,3056,4095,-0.0,-0.6,2,38,0.00,1.48,0.00,0.000,516,0.000,0.054,1822,1412,3056,3056,4095,0,0,0,0,0,0,26.03,25.74,26.05,10.62,47.44
$GC,83,-1.63,-487.5,1822,1412,3057,4095,4.2,-11.5,9,91,0.00,1.27,0.00,0.000,1030,0.000,0.024,1823,1950,3057,3057,4095,0,0,0,0,0,0,25.95,25.93,25.96,10.62,47.40
$GC,129,-1.63,-487.5,1822,1950,3058,4095,10.5,-14.1,15,139,0.00,1.40,0.00,0.000,260,0.000,0.044,1823,2478,3057,3057,4095,0,0,0,0,0,0,26.20,25.90,26.22,10.61,47.12
$GC,162,-1.63,-487.5,1822,2478,3059,4095,15.2,-13.6,19,172,0.00,1.27,0.00,0.000,1030,0.000,0.024,1823,1965,3059,3059,4094,0,0,0,0,0,0,26.03,26.00,26.05,10.61,46.77
$GC,208,-1.63,-487.5,1822,1965,3060,4094,21.5,-13.4,25,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1964,3060,3060,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.60,46.65
$GC,253,-1.63,-487.5,1822,1965,3061,4095,26.6,-11.0,31,261,0.00,1.40,0.00,0.000,516,0.000,0.050,1823,1420,3061,3061,4095,0,0,0,0,0,0,26.34,26.03,26.34,10.59,46.41
$GC,272,-1.63,-487.5,1822,1420,3061,4095,28.7,-10.8,33,281,0.00,1.27,0.00,0.000,1030,0.000,0.023,1823,1963,3062,3062,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.58,46.49
$GC,318,-1.63,-487.5,1822,1963,3063,4095,33.5,-10.5,39,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1963,3062,3062,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.55,45.78
$GC,364,-1.63,-487.5,1822,1963,3063,4095,38.1,-10.1,45,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1963,3064,3064,4095,0,0,0,0,0,0,26.41,26.44,26.43,10.52,45.19
$GC,408,-1.63,-487.5,1822,1964,3064,4095,42.8,-10.2,51,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1965,3063,3063,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.50,44.60
$GC,453,-1.63,-487.5,1822,1964,3065,4094,47.6,-10.7,57,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1965,3065,3065,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.48,43.54
$GC,499,-1.63,-487.5,1822,1965,3066,4095,52.5,-10.8,63,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1965,3066,3066,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.46,43.69
$GC,544,-1.63,-487.5,1822,1964,3067,4095,57.4,-10.8,69,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,1965,3067,3067,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.45,42.83
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,580,-0.45,0.0,1822,2139,3069,4094,60.7,-10.4,73,616,3.88,0.00,27.92,1.250,10244,0.053,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.26,25.41,24.44,10.46,42.71
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,620,1.63,487.5,2186,2140,2484,4094,63.1,0.0,77,665,6.93,1.40,27.65,1.226,10500,0.034,0.050,2853,2666,1916,1916,4094,0,0,0,0,0,0,25.60,25.54,24.04,10.33,43.18
$GC,688,1.63,487.5,2853,2665,1915,4094,58.1,10.9,85,698,0.00,1.33,0.00,0.000,1030,0.000,0.023,2854,2137,1915,1915,4094,0,0,0,0,0,0,25.43,25.40,25.45,10.20,41.88
$GC,734,1.63,487.5,2853,2137,1914,4094,52.7,11.7,91,744,0.00,1.38,0.00,0.000,516,0.000,0.045,2854,1613,1915,1915,4094,0,0,0,0,0,0,25.82,25.53,25.83,10.19,42.12
$GC,846,1.63,487.5,2853,1612,1911,4094,39.7,11.4,107,855,0.00,1.23,0.00,0.000,1030,0.000,0.025,2853,2114,1911,1911,4094,0,0,0,0,0,0,25.88,25.85,25.89,10.17,43.38
$GC,892,1.64,498.6,2853,2113,1911,4094,35.0,9.9,113,902,0.00,1.48,2.22,0.129,8452,0.000,0.046,2853,2672,1904,1904,4094,0,0,0,0,0,0,26.16,25.50,24.89,10.18,43.54
$GC,933,1.67,517.7,2853,2672,1903,4094,31.0,9.8,118,942,0.00,1.40,2.90,0.330,9222,0.000,0.027,2853,2113,1880,1880,4095,0,0,0,0,0,0,25.98,25.96,24.95,10.18,44.84
$GC,981,1.76,578.1,2853,2113,1879,4095,26.7,9.3,124,992,0.22,1.30,4.93,0.571,10756,0.041,0.043,2886,1605,1809,1809,4095,0,0,0,0,0,0,26.05,25.82,25.01,10.19,45.27
$GC,1135,1.76,578.1,2886,1605,1806,4095,10.5,10.4,146,1144,0.00,1.20,0.00,0.000,1030,0.000,0.026,2886,2101,1805,1805,4094,0,0,0,0,0,0,26.13,26.11,26.15,10.23,49.64
$GC,1181,1.76,578.1,2886,2100,1804,4094,5.7,10.6,152,1190,0.00,1.52,0.00,0.000,260,0.000,0.054,2887,2673,1803,1803,4094,0,0,0,0,0,0,26.39,26.07,26.39,10.25,49.84
$STATE,1219,end climb,FINISH_DEPTH_REACHED
$STATE,1220,begin subsurface finish
$FINISH1,1.7,1.023924,117
$GC,1229,0.18,116.8,2886,2131,1803,4094,1.7,10.4,157,1248,4.88,1.40,-4.62,0.000,20996,0.022,1.269,2399,1604,2351,2351,4095,0,0,0,0,0,0,26.19,24.91,26.23,10.26,50.23
$FINISH2,0.1
$STATE,1249,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1249,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,200005
$TT8_MAMPS,0.025466,0.241178
$HUMID,50.78
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,8.50
$XPDR_PINGS,0
$24V_AH,24.04,22.638
$10V_AH,10.24,26.126
$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,21.750,25.300,65.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.669,0.000,137.931,658.015,70.613,33.432,400.851,0.000,385.114,0.000,0.544,0.000
$DEVICE_MAMPS,52.785,1269.135,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.136,431.984,341.783,506.108,655.760,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,17780,159
$CAP_FILE_SIZE,32851,0
$CFSIZE,1024409600,978386944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,213136,6104.026,-17348.135,8,0.8,19,7.0,0.2,220.4,10,4.8