version: 66.13
glider: 401
mission: 22
dive: 837
start: 8 10 117 22 20 38
data:
$ID,401
$MISSION,22
$DIVE,837
$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,55
$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,0.07
$_SM_ANGLEo,-2.0
$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,-0.007253,0.349362
$KALMAN_X,75185.406250,-878.836304,-226.511337,-265935.218750,25.742416
$KALMAN_Y,-32284.587891,2541.112549,612.617554,230472.218750,-246.469849
$MHEAD_RNG_PITCHd_Wd,351.8,38376,-12.6,-10.000,-15.97,5736
$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,-1.72,-381.4,2399,1985,2351,4092,0.0,0.0,0,17,6.15,0.00,-0.55,0.000,20482,0.024,0.000,1790,1985,2413,2413,4094,0,0,0,0,0,0,26.17,28.83,26.21,10.39,51.65
$GC,21,-1.72,-381.4,1790,1985,2413,4094,0.1,0.0,1,33,0.00,1.55,-4.60,0.000,16900,0.000,1.271,1790,1417,2935,2935,4095,0,0,0,0,0,0,26.37,24.87,26.38,10.41,51.73
$GC,84,-1.72,-381.4,1790,1417,2936,4095,5.2,-12.9,11,90,0.00,1.23,0.00,0.000,1030,0.000,0.025,1790,1930,2937,2937,4095,0,0,0,0,0,0,26.10,26.08,26.12,10.53,50.90
$GC,123,-1.72,-381.4,1789,1930,2938,4095,11.0,-15.5,17,128,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1930,2938,2938,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.53,51.06
$GC,160,-1.72,-381.4,1789,1930,2939,4095,16.7,-15.2,23,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1930,2939,2939,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.53,50.31
$GC,198,-1.72,-381.4,1789,1930,2940,4094,21.8,-13.1,29,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1930,2940,2940,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.52,50.43
$GC,236,-1.72,-381.4,1789,1931,2941,4095,26.2,-11.5,35,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1931,2941,2941,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.50,49.68
$GC,274,-1.72,-381.4,1790,1931,2942,4094,30.5,-11.7,41,281,0.00,1.45,0.00,0.000,260,0.000,0.045,1790,2480,2941,2941,4095,0,0,0,0,0,0,26.46,26.15,26.46,10.48,49.48
$GC,307,-1.72,-381.4,1789,2479,2943,4095,34.4,-11.7,46,314,0.00,1.33,0.00,0.000,1030,0.000,0.027,1790,1950,2943,2943,4095,0,0,0,0,0,0,26.25,26.23,26.27,10.46,49.52
$GC,346,-1.72,-381.4,1789,1950,2943,4095,38.8,-11.4,52,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1951,2944,2944,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,49.01
$GC,384,-1.72,-381.4,1789,1950,2944,4095,43.3,-12.2,58,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1951,2944,2944,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,47.71
$GC,422,-1.72,-381.4,1789,1950,2945,4095,47.9,-12.2,64,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1950,2945,2945,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.42,46.88
$GC,460,-1.72,-381.4,1789,1950,2946,4095,52.6,-12.5,70,467,0.00,1.35,0.00,0.000,516,0.000,0.053,1790,1418,2946,2946,4095,0,0,0,0,0,0,26.55,26.24,26.56,10.40,47.28
$GC,493,-1.72,-381.4,1789,1418,2947,4095,56.6,-12.2,75,500,0.00,1.25,0.00,0.000,1030,0.000,0.025,1790,1947,2947,2947,4095,0,0,0,0,0,0,26.36,26.34,26.38,10.39,46.29
$STATE,523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,523,begin apogee
$GC,531,-0.45,0.0,1790,2143,2948,4094,60.6,-11.6,80,561,4.20,0.00,22.52,1.233,10244,0.055,0.000,2187,2143,2483,2483,4094,0,0,0,0,0,0,26.29,25.59,24.60,10.39,46.22
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,562,begin climb
$GC,565,1.72,381.4,2186,2142,2483,4094,63.0,0.0,85,602,7.12,1.40,21.92,1.210,10500,0.034,0.054,2878,2667,2038,2038,4095,0,0,0,0,0,0,25.75,25.70,24.21,10.30,46.25
$GC,628,1.72,381.4,2878,2667,2037,4095,57.8,11.9,95,635,0.00,1.35,0.00,0.000,1030,0.000,0.025,2878,2134,2038,2038,4094,0,0,0,0,0,0,25.55,25.52,25.57,10.19,44.92
$GC,667,1.72,381.4,2878,2133,2036,4094,52.7,13.4,101,674,0.00,1.38,0.00,0.000,516,0.000,0.047,2878,1610,2036,2036,4094,0,0,0,0,0,0,25.89,25.59,25.89,10.19,45.07
$GC,784,1.72,381.4,2877,1610,2033,4094,37.4,12.6,120,790,0.00,1.23,0.00,0.000,1030,0.000,0.026,2878,2111,2033,2033,4094,0,0,0,0,0,0,25.93,25.91,25.95,10.18,46.29
$GC,823,1.72,381.4,2878,2111,2032,4094,32.4,13.0,126,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2111,2032,2032,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.17,46.29
$GC,861,1.72,381.4,2878,2111,2031,4095,27.7,12.2,132,868,0.00,1.33,0.00,0.000,516,0.000,0.047,2878,1610,2031,2031,4095,0,0,0,0,0,0,26.25,25.95,26.25,10.19,47.16
$GC,894,1.72,381.4,2878,1610,2030,4095,23.6,12.2,137,900,0.00,1.15,0.00,0.000,1030,0.000,0.027,2878,2085,2030,2030,4094,0,0,0,0,0,0,26.07,26.04,26.09,10.20,47.55
$GC,932,1.72,381.4,2878,2085,2029,4094,18.9,12.1,143,939,0.00,1.52,0.00,0.000,260,0.000,0.054,2878,2671,2029,2029,4094,0,0,0,0,0,0,26.32,26.00,26.33,10.23,48.38
$GC,989,1.72,381.4,2878,2671,2027,4094,12.4,11.0,152,996,0.00,1.45,0.00,0.000,1030,0.000,0.027,2879,2092,2028,2028,4094,0,0,0,0,0,0,26.20,26.13,26.22,10.25,50.15
$GC,1028,1.72,381.4,2878,2091,2027,4094,8.3,10.0,158,1035,0.00,1.27,0.00,0.000,516,0.000,0.050,2878,1599,2027,2027,4094,0,0,0,0,0,0,26.39,26.09,26.41,10.26,50.66
$STATE,1089,end climb,SURFACE_DEPTH_REACHED
$STATE,1089,begin surface coast
$FINISH,1.4,1.023913
$STATE,1095,end surface coast,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$SM_CCo,1195,0.00,0.000,0,0,2024,395.81
$SM_GC,0.87,27.05,0.85,0.00,0.022,0.024,0.000,238,1978,2024,-6.55,-1.59,395.81,0,0,0,0,0,0,26.24,26.25,26.27
$IRIDIUM_FIX,6149.06,-17422.35,100817,200005
$TT8_MAMPS,0.025466,0.102613
$HUMID,52.28
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,24.21,22.654
$10V_AH,10.48,26.137
$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,44.525,22.375,44.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.247,324.984,167.191,245.599,66.891,33.419,353.362,0.000,254.144,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1271.430,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,14334,169
$CAP_FILE_SIZE,33548,0
$CFSIZE,1024409600,978354176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,224136,6104.320,-17347.939,21,0.8,26,7.0,0.4,193.8,10,4.8