version: 66.13
glider: 401
mission: 22
dive: 813
start: 8 10 117 11 33 50
data:
$ID,401
$MISSION,22
$DIVE,813
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,100817,105023,6100.8052,-17345.0664,9,0.9,40,7.1,0.4,206.7,9,4.7
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.0
$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,-0.225195,0.312526
$KALMAN_X,77705.945312,-688.898132,-254.671997,-265717.312500,115.899689
$KALMAN_Y,-27662.439453,3022.181885,931.460205,219081.546875,-171.265686
$MHEAD_RNG_PITCHd_Wd,317.1,7188,-11.0,-10.000,-14.55,7242
$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,-483.7,2391,1941,2363,4092,0.0,0.0,0,18,6.10,0.00,-1.50,0.000,20482,0.027,0.000,1790,1941,2530,2530,4095,0,0,0,0,0,0,26.16,28.83,26.20,10.38,52.32
$GC,22,-1.72,-483.7,1790,1941,2530,4095,0.1,0.0,1,29,0.00,0.00,-4.75,0.000,16390,0.000,0.000,1790,1940,3052,3052,4095,0,0,0,0,0,0,26.37,25.15,26.38,10.40,51.69
$GC,61,-1.73,-487.5,1789,1941,3053,4095,1.2,-4.7,7,68,0.00,1.42,0.00,0.000,260,0.000,0.043,1789,2477,3053,3053,4095,0,0,0,0,0,0,26.40,26.10,26.41,10.53,52.67
$GC,112,-1.73,-487.5,1789,2477,3054,4095,7.9,-14.7,15,118,0.00,1.17,0.00,0.000,1030,0.000,0.026,1790,2010,3054,3054,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.53,51.57
$GC,150,-1.73,-487.5,1789,2009,3055,4095,14.1,-15.6,21,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2010,3055,3055,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.54,51.57
$GC,188,-1.73,-487.5,1789,2009,3056,4095,19.7,-15.1,27,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2010,3056,3056,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.52,51.22
$GC,226,-1.73,-487.5,1789,2009,3057,4094,24.8,-13.0,33,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2010,3057,3057,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.51,50.90
$GC,264,-1.73,-487.5,1789,2009,3058,4095,29.6,-12.3,39,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2009,3058,3058,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.49,50.98
$GC,302,-1.73,-487.5,1789,2009,3059,4095,34.2,-12.1,45,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2010,3059,3059,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.47,49.80
$GC,340,-1.73,-487.5,1789,2010,3060,4095,38.8,-12.2,51,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2010,3060,3060,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.44,49.17
$GC,378,-1.73,-487.5,1789,2009,3061,4095,43.6,-12.5,57,385,0.00,1.50,0.00,0.000,516,0.000,0.050,1790,1424,3061,3061,4095,0,0,0,0,0,0,26.57,26.26,26.58,10.42,48.07
$GC,429,-1.73,-487.5,1789,1424,3062,4095,50.2,-13.2,65,436,0.00,1.35,0.00,0.000,1030,0.000,0.026,1790,1984,3062,3062,4095,0,0,0,0,0,0,26.37,26.34,26.39,10.41,47.51
$GC,468,-1.73,-487.5,1789,1984,3063,4095,55.3,-13.4,71,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1984,3063,3063,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.40,47.00
$STATE,503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,503,begin apogee
$GC,510,-0.45,0.0,1789,2113,3064,4095,60.3,-13.4,77,546,4.20,0.00,27.73,1.274,10244,0.055,0.000,2185,2112,2484,2484,4094,0,0,0,0,0,0,26.32,25.48,24.49,10.40,46.96
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,547,begin climb
$GC,550,1.73,487.5,2185,2112,2484,4094,62.9,0.0,83,592,7.22,0.00,27.62,1.246,11270,0.033,0.000,2876,2112,1915,1915,4094,0,0,0,0,0,0,25.71,25.86,24.05,10.27,46.33
$GC,624,1.73,487.5,2876,2112,1914,4094,56.4,11.9,95,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2112,1914,1914,4094,0,0,0,0,0,0,25.65,25.67,25.65,10.15,45.74
$GC,662,1.73,487.5,2876,2112,1913,4094,51.5,12.9,101,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2113,1913,1913,4095,0,0,0,0,0,0,25.81,25.82,25.82,10.14,45.31
$GC,700,1.73,487.5,2876,2112,1911,4095,46.5,13.0,107,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2112,1912,1912,4094,0,0,0,0,0,0,25.92,25.94,25.93,10.13,46.25
$GC,738,1.73,487.5,2876,2112,1910,4094,41.4,13.1,113,745,0.00,1.42,0.00,0.000,516,0.000,0.048,2877,1580,1911,1911,4094,0,0,0,0,0,0,26.01,25.72,26.01,10.13,46.10
$GC,807,1.73,487.5,2876,1580,1908,4094,32.5,12.9,124,814,0.00,1.23,0.00,0.000,1030,0.000,0.026,2877,2082,1909,1909,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.13,46.73
$GC,846,1.73,487.5,2876,2082,1907,4094,27.8,12.5,130,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2082,1907,1907,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.14,47.12
$GC,884,1.73,487.5,2876,2082,1906,4094,23.2,11.6,136,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2082,1907,1907,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.15,48.22
$GC,922,1.73,487.5,2877,2082,1905,4094,18.6,12.0,142,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2082,1905,1905,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.18,48.54
$GC,960,1.73,487.5,2876,2082,1904,4094,14.3,11.0,148,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2082,1904,1904,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.20,50.15
$GC,998,1.73,487.5,2876,2082,1903,4094,10.0,11.6,154,1004,0.00,1.33,0.00,0.000,516,0.000,0.049,2877,1580,1903,1903,4094,0,0,0,0,0,0,26.33,26.03,26.34,10.22,50.70
$GC,1036,1.73,487.5,2876,1579,1902,4094,6.0,10.5,160,1043,0.00,1.20,0.00,0.000,1030,0.000,0.026,2877,2081,1902,1902,4094,0,0,0,0,0,0,26.16,26.13,26.17,10.23,51.65
$STATE,1073,end climb,SURFACE_DEPTH_REACHED
$STATE,1073,begin surface coast
$FINISH,0.4,1.024154
$STATE,1086,end surface coast,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$SM_CCo,1184,0.00,0.000,0,0,1900,502.28
$SM_GC,0.99,27.12,0.30,0.00,0.022,0.046,0.000,238,1947,1900,-6.55,1.87,502.28,0,0,0,0,0,0,26.20,26.19,26.23
$IRIDIUM_FIX,6149.06,-17422.35,100817,104255
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.15
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.05,21.924
$10V_AH,10.45,25.486
$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,44.650,11.650,55.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,445.645,315.417,174.611,244.569,66.825,33.419,362.523,0.000,252.760,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,51.255,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,10797,168
$CAP_FILE_SIZE,32989,0
$CFSIZE,1024409600,979533824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,115429,6100.982,-17345.729,5,0.8,18,7.1,0.3,155.7,11,4.9