version: 66.13
glider: 401
mission: 22
dive: 810
start: 8 10 117 10 9 24
data:
$ID,401
$MISSION,22
$DIVE,810
$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,2105
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$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
$GPS1,100817,092547,6100.6675,-17344.8828,7,0.8,16,7.1,0.0,213.8,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.8
$GPS2,100817,092547,6100.6675,-17344.8828,7,0.8,16,7.1,0.0,213.8,9,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.258294,0.279323
$KALMAN_X,77185.742188,-714.311707,-297.878143,-264954.718750,141.250885
$KALMAN_Y,-27110.839844,3122.280273,1070.464966,218036.265625,-111.516724
$MHEAD_RNG_PITCHd_Wd,310.1,7492,-11.2,-10.000,-14.73,7028
$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,-1.72,-469.1,2391,1943,2369,4092,0.0,0.0,0,21,6.07,0.00,-3.90,0.000,20482,0.026,0.000,1792,1943,2800,2800,4094,0,0,0,0,0,0,26.22,28.83,26.27,10.37,52.59
$GC,24,-1.72,-469.1,1792,1943,2800,4094,0.0,0.0,1,34,0.00,1.50,-2.15,0.000,16644,0.000,1.276,1792,2476,3034,3034,4095,0,0,0,0,0,0,26.44,24.95,26.42,10.46,52.40
$GC,90,-1.72,-469.1,1791,2476,3034,4095,5.1,-12.9,10,100,0.00,1.33,0.00,0.000,1030,0.000,0.028,1792,1953,3035,3035,4095,0,0,0,0,0,0,26.15,26.11,26.17,10.52,52.79
$GC,136,-1.72,-469.1,1791,1953,3036,4095,12.1,-16.0,16,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1953,3036,3036,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.53,52.28
$GC,181,-1.72,-469.1,1791,1953,3037,4095,17.5,-10.4,22,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1953,3037,3037,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.52,52.04
$GC,226,-1.72,-469.1,1791,1953,3038,4095,22.6,-11.5,28,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1953,3038,3038,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.51,51.61
$GC,272,-1.75,-487.5,1791,1953,3039,4095,26.4,-8.6,34,282,0.00,1.48,-0.08,0.000,16644,0.000,1.269,1792,2479,3083,3083,4095,0,0,0,0,0,0,26.48,24.98,26.03,10.49,51.57
$GC,358,-1.75,-487.5,1791,2479,3085,4095,34.6,-9.8,46,367,0.00,1.33,0.00,0.000,1030,0.000,0.028,1792,1956,3085,3085,4095,0,0,0,0,0,0,26.14,26.10,26.17,10.46,49.48
$GC,405,-1.75,-487.5,1791,1955,3085,4095,39.1,-9.3,52,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1956,3085,3085,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.44,48.85
$GC,451,-1.75,-487.5,1791,1956,3086,4094,43.5,-9.6,58,460,0.00,1.40,0.00,0.000,260,0.000,0.042,1792,2480,3086,3086,4094,0,0,0,0,0,0,26.43,26.12,26.44,10.42,48.14
$GC,492,-1.75,-487.5,1791,2479,3087,4094,47.4,-9.7,63,502,0.00,1.25,0.00,0.000,1030,0.000,0.028,1792,1979,3087,3087,4095,0,0,0,0,0,0,26.23,26.20,26.26,10.42,47.63
$GC,540,-1.75,-487.5,1791,1979,3088,4095,52.1,-9.4,69,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1979,3088,3088,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.40,46.73
$GC,585,-1.75,-487.5,1791,1979,3089,4094,56.7,-10.1,75,594,0.00,1.48,0.00,0.000,516,0.000,0.056,1792,1411,3089,3089,4094,0,0,0,0,0,0,26.51,26.19,26.52,10.40,46.33
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,623,-0.45,0.0,1791,2106,3090,4094,60.0,-10.0,79,659,4.20,0.00,29.00,1.282,10244,0.054,0.000,2185,2107,2484,2484,4094,0,0,0,0,0,0,26.24,25.37,24.37,10.39,46.77
$STATE,660,end apogee,CONTROL_FINISHED_OK
$STATE,661,begin climb
$GC,663,1.75,487.5,2185,2106,2484,4094,63.2,0.0,83,708,7.32,1.42,27.88,1.261,10756,0.032,0.045,2885,1567,1915,1915,4094,0,0,0,0,0,0,25.55,25.48,23.98,10.27,45.70
$GC,752,1.75,487.5,2884,1567,1915,4094,57.7,10.5,94,761,0.00,1.33,0.00,0.000,1030,0.000,0.024,2884,2105,1914,1914,4094,0,0,0,0,0,0,25.48,25.45,25.50,10.14,44.76
$GC,798,1.75,487.5,2884,2104,1914,4094,52.9,10.6,100,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2104,1914,1914,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.13,44.76
$GC,843,1.75,487.5,2884,2104,1913,4094,47.4,12.8,106,853,0.00,1.40,0.00,0.000,516,0.000,0.047,2885,1578,1912,1912,4094,0,0,0,0,0,0,25.96,25.66,25.96,10.13,45.31
$GC,917,1.75,487.5,2884,1578,1910,4094,38.0,13.0,116,926,0.00,1.17,0.00,0.000,1030,0.000,0.027,2885,2061,1910,1910,4094,0,0,0,0,0,0,25.90,25.86,25.91,10.13,45.70
$GC,965,1.75,487.5,2884,2061,1908,4094,32.0,12.7,122,974,0.00,1.55,0.00,0.000,260,0.000,0.053,2885,2635,1908,1908,4094,0,0,0,0,0,0,26.16,25.85,26.17,10.13,46.06
$GC,1012,1.75,487.5,2884,2634,1907,4094,25.8,12.8,128,1021,0.00,1.42,0.00,0.000,1030,0.000,0.028,2885,2071,1907,1907,4094,0,0,0,0,0,0,26.00,25.97,26.02,10.15,46.92
$GC,1060,1.75,487.5,2884,2070,1906,4094,20.1,11.9,134,1069,0.00,1.30,0.00,0.000,516,0.000,0.051,2884,1570,1906,1906,4094,0,0,0,0,0,0,26.26,25.96,26.27,10.18,48.30
$GC,1151,1.75,487.5,2884,1570,1903,4094,9.6,10.2,147,1160,0.00,1.20,0.00,0.000,1030,0.000,0.027,2885,2069,1903,1903,4095,0,0,0,0,0,0,26.13,26.10,26.16,10.22,50.82
$GC,1198,1.75,487.5,2884,2068,1902,4095,4.8,10.7,153,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2069,1902,1902,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.24,51.85
$STATE,1221,end climb,SURFACE_DEPTH_REACHED
$STATE,1221,begin surface coast
$FINISH,0.3,1.024164
$STATE,1244,end surface coast,CONTROL_FINISHED_OK
$STATE,1244,begin surface
$SM_CCo,1343,0.00,0.000,0,0,1901,502.28
$SM_GC,1.02,27.35,0.30,0.00,0.023,0.045,0.000,230,1943,1901,-6.59,1.28,502.28,0,0,0,0,0,0,26.06,26.20,26.17
$IRIDIUM_FIX,6149.06,-17422.35,100817,081018
$TT8_MAMPS,0.025466,0.255409
$HUMID,52.75
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.98,21.826
$10V_AH,10.19,25.419
$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,44.950,22.925,56.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.845,59.657,154.210,666.811,70.804,33.419,413.635,0.000,386.452,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1276.020,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.689,431.950,341.831,507.205,664.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14332,159
$CAP_FILE_SIZE,33614,0
$CFSIZE,1024409600,979681280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,103245,6100.917,-17345.057,8,0.9,21,7.1,0.2,185.4,9,4.8