version: 66.13
glider: 401
mission: 22
dive: 811
start: 8 10 117 10 51 30
data:
$ID,401
$MISSION,22
$DIVE,811
$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,33
$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
$GPS1,100817,103245,6100.9175,-17345.0566,8,0.9,21,7.1,0.2,185.4,9,4.8
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-42.7
$GPS2,100817,105023,6100.8052,-17345.0664,9,0.9,40,7.1,0.4,206.7,9,4.7
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.206406,0.336042
$KALMAN_X,77362.507812,-734.858765,-314.160217,-265264.781250,91.486694
$KALMAN_Y,-27248.203125,3151.052734,1091.359863,218373.359375,-197.005737
$MHEAD_RNG_PITCHd_Wd,321.3,7188,-10.6,-10.000,-14.23,7666
$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,-1.69,-487.5,230,1941,1899,4092,0.0,0.0,0,18,7.05,0.00,0.00,0.000,2049,0.097,0.000,831,1942,1899,1899,4095,0,0,0,0,0,0,26.25,28.83,28.83,10.36,49.37
$GC,21,-1.69,-487.5,830,1941,1899,4095,0.8,0.0,1,46,10.27,1.52,-10.32,0.000,18692,0.051,1.267,1790,2476,3058,3058,4095,0,0,0,0,0,0,25.98,24.74,26.05,10.35,49.21
$GC,54,-1.69,-487.5,1789,2477,3057,4095,-0.0,1.3,6,61,0.00,1.33,0.00,0.000,1030,0.000,0.033,1790,1962,3058,3058,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.61,48.62
$GC,93,-1.69,-487.5,1790,1962,3059,4094,2.9,-10.5,12,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1962,3058,3058,4094,0,0,0,0,0,0,26.26,26.28,26.28,10.60,48.18
$GC,131,-1.69,-487.5,1790,1962,3059,4094,8.8,-16.4,18,138,0.00,1.40,0.00,0.000,260,0.000,0.046,1790,2480,3059,3059,4094,0,0,0,0,0,0,26.30,25.99,26.32,10.61,48.70
$GC,170,-1.69,-487.5,1789,2480,3060,4094,15.3,-17.0,24,177,0.00,1.35,0.00,0.000,1030,0.000,0.025,1791,1941,3061,3061,4095,0,0,0,0,0,0,26.12,26.10,26.15,10.60,47.79
$GC,209,-1.69,-487.5,1790,1941,3061,4095,21.0,-13.9,30,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1941,3061,3061,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.59,47.59
$GC,247,-1.69,-487.5,1789,1941,3062,4095,26.3,-14.0,36,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1941,3063,3063,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.57,47.24
$GC,285,-1.69,-487.5,1790,1941,3063,4095,31.2,-12.5,42,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1941,3063,3063,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.53,46.77
$GC,323,-1.69,-487.5,1790,1941,3064,4095,35.9,-12.0,48,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1941,3064,3064,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.51,45.94
$GC,361,-1.69,-487.5,1790,1941,3065,4094,40.6,-12.4,54,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1941,3065,3065,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.48,45.51
$GC,399,-1.69,-487.5,1790,1941,3066,4094,45.2,-11.9,60,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1941,3066,3066,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.47,44.64
$GC,437,-1.69,-487.5,1790,1941,3066,4094,49.9,-12.2,66,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1941,3067,3067,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.46,44.56
$GC,475,-1.69,-487.5,1790,1941,3067,4094,54.6,-12.3,72,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1941,3068,3068,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.44,43.77
$GC,513,-1.69,-487.5,1790,1941,3068,4094,59.5,-12.7,78,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1941,3068,3068,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.44,44.21
$STATE,525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,525,begin apogee
$GC,532,-0.45,0.0,1790,2111,3069,4094,61.2,-13.4,80,568,4.18,0.00,27.98,1.291,10244,0.054,0.000,2186,2111,2483,2483,4095,0,0,0,0,0,0,26.27,25.40,24.41,10.43,43.06
$STATE,569,end apogee,CONTROL_FINISHED_OK
$STATE,569,begin climb
$GC,572,1.69,487.5,2186,2111,2484,4095,63.8,0.0,86,614,7.12,0.00,27.65,1.261,11270,0.034,0.000,2869,2111,1916,1916,4095,0,0,0,0,0,0,25.65,25.79,23.99,10.31,42.87
$GC,646,1.69,487.5,2868,2111,1915,4095,57.7,11.7,98,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2111,1915,1915,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.18,42.55
$GC,684,1.69,487.5,2868,2111,1914,4094,53.0,12.0,104,690,0.00,1.45,0.00,0.000,516,0.000,0.047,2869,1572,1914,1914,4094,0,0,0,0,0,0,25.79,25.50,25.79,10.17,42.71
$GC,741,1.69,487.5,2868,1572,1913,4094,46.1,12.2,113,747,0.00,1.20,0.00,0.000,1030,0.000,0.025,2869,2067,1912,1912,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.16,43.50
$GC,780,1.69,487.5,2868,2067,1911,4094,41.3,12.2,119,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,1911,1911,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.16,43.46
$GC,818,1.69,487.5,2868,2066,1910,4094,36.5,12.5,125,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,1910,1910,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.15,43.77
$GC,856,1.69,487.5,2868,2067,1909,4094,31.8,12.4,131,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,1909,1909,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.15,44.72
$GC,894,1.69,487.5,2868,2066,1908,4094,26.9,12.5,137,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2067,1908,1908,4093,0,0,0,0,0,0,26.20,26.22,26.22,10.16,44.68
$GC,932,1.69,487.5,2869,2066,1907,4093,22.3,11.8,143,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,1907,1907,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.18,45.62
$GC,970,1.69,487.5,2868,2066,1906,4094,18.0,11.3,149,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,1906,1906,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.21,46.81
$GC,1007,1.69,487.5,2868,2066,1904,4094,13.9,10.5,155,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2067,1905,1905,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.22,48.81
$GC,1046,1.72,502.3,2868,2067,1904,4094,10.1,9.8,161,1053,0.00,0.00,2.20,0.097,8198,0.000,0.000,2869,2067,1896,1896,4094,0,0,0,0,0,0,26.35,25.94,25.27,10.24,49.60
$GC,1085,1.77,537.1,2868,2066,1895,4094,6.2,9.5,167,1092,0.10,0.00,3.55,0.345,10246,0.075,0.000,2887,2067,1856,1856,4094,0,0,0,0,0,0,26.17,25.96,25.32,10.25,50.55
$STATE,1122,end climb,FINISH_DEPTH_REACHED
$STATE,1122,begin subsurface finish
$FINISH1,1.9,1.024145,101
$GC,1130,0.15,101.4,2887,2067,1855,4094,1.9,10.8,173,1144,5.35,1.38,-4.05,0.000,20996,0.063,1.277,2396,1563,2373,2373,4094,0,0,0,0,0,0,26.09,24.89,26.17,10.26,51.06
$FINISH2,0.4
$STATE,1145,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1145,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,104255
$TT8_MAMPS,0.025466,0.165529
$HUMID,51.29
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,23.99,21.884
$10V_AH,10.39,25.442
$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,34.075,10.025,61.375,0.000,0.000,97.625,76.819,487.535,0.000,0.000,41.550,460.638,383.107,179.369,997.517,199.530,33.453,388.066,0.000,264.244,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1276.785,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,14336,175
$CAP_FILE_SIZE,44261,0
$CFSIZE,1024409600,979632128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100817,105023,6100.805,-17345.066,9,0.9,40,7.1,0.4,206.7,9,4.7