version: 66.13
glider: 401
mission: 22
dive: 816
start: 8 10 117 12 45 53
data:
$ID,401
$MISSION,22
$DIVE,816
$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,29
$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
$GPS1,100817,120131,6100.9243,-17345.7871,10,0.9,36,7.1,0.3,230.2,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.1
$GPS2,100817,120131,6100.9243,-17345.7871,10,0.9,36,7.1,0.3,230.2,10,4.6
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.144609,0.349089
$KALMAN_X,77678.937500,-729.959656,-284.460632,-266301.687500,23.507874
$KALMAN_Y,-28316.955078,2887.365967,774.601562,220248.906250,-193.556152
$MHEAD_RNG_PITCHd_Wd,330.4,6645,-11.3,-10.000,-14.82,6914
$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,-461.3,2396,1963,2372,4092,0.0,0.0,0,21,6.12,0.00,-4.05,0.000,20482,0.024,0.000,1791,1967,2817,2817,4094,0,0,0,0,0,0,26.22,28.83,26.27,10.37,53.81
$GC,24,-1.72,-461.3,1790,1967,2817,4094,0.1,0.0,1,34,0.00,0.00,-1.75,0.000,16390,0.000,0.000,1791,1967,3026,3026,4094,0,0,0,0,0,0,26.44,25.70,26.42,10.46,53.74
$GC,70,-1.72,-461.3,1790,1967,3027,4094,4.9,-12.6,7,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1967,3028,3028,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.51,52.91
$GC,115,-1.72,-461.3,1790,1967,3029,4095,11.8,-15.8,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1967,3029,3029,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.52,52.91
$GC,160,-1.72,-461.3,1790,1967,3031,4095,18.6,-15.1,19,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1967,3030,3030,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.51,52.12
$GC,204,-1.72,-461.3,1790,1967,3031,4094,24.5,-12.9,25,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1967,3031,3031,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.50,51.96
$GC,249,-1.72,-461.3,1790,1967,3032,4095,30.0,-12.0,31,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1967,3032,3032,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,51.26
$GC,295,-1.72,-461.3,1790,1967,3033,4095,35.4,-12.0,37,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1967,3033,3033,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,50.07
$GC,340,-1.72,-461.3,1790,1967,3034,4095,40.8,-11.7,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1967,3034,3034,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.42,49.09
$GC,385,-1.72,-461.3,1790,1967,3035,4095,46.2,-12.3,49,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1966,3036,3036,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.39,48.14
$GC,430,-1.72,-461.3,1790,1967,3036,4095,51.9,-12.7,55,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1967,3036,3036,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.39,47.12
$GC,475,-1.72,-461.3,1790,1967,3037,4094,57.5,-12.5,61,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1967,3037,3037,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.38,46.85
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,507,-0.45,0.0,1790,2111,3038,4095,60.7,-12.7,64,543,4.20,0.00,26.67,1.281,10246,0.056,0.000,2184,2111,2484,2484,4095,0,0,0,0,0,0,26.29,25.48,24.48,10.38,46.69
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,547,1.72,461.3,2184,2111,2484,4095,63.6,0.0,68,592,7.20,1.40,26.38,1.255,10500,0.034,0.050,2876,2625,1946,1946,4094,0,0,0,0,0,0,25.72,25.02,24.06,10.27,46.06
$GC,654,1.72,461.3,2875,2624,1944,4094,53.4,12.8,82,664,0.00,1.30,0.00,0.000,1030,0.000,0.025,2876,2109,1944,1944,4094,0,0,0,0,0,0,25.59,25.58,25.63,10.14,45.43
$GC,700,1.72,461.3,2875,2108,1943,4094,47.5,12.7,88,710,0.00,1.40,0.00,0.000,516,0.000,0.050,2876,1577,1942,1942,4094,0,0,0,0,0,0,25.94,25.63,25.95,10.13,45.43
$GC,785,1.72,461.3,2875,1577,1940,4094,36.9,12.5,100,795,0.00,1.23,0.00,0.000,1030,0.000,0.027,2876,2080,1940,1940,4095,0,0,0,0,0,0,25.90,25.86,25.91,10.12,46.10
$GC,832,1.72,461.3,2875,2079,1939,4095,31.3,11.9,106,841,0.00,1.50,0.00,0.000,260,0.000,0.053,2876,2636,1939,1939,4094,0,0,0,0,0,0,26.17,25.86,26.18,10.13,45.98
$GC,873,1.72,461.3,2875,2636,1938,4094,26.4,12.4,111,882,0.00,1.38,0.00,0.000,1030,0.000,0.027,2876,2091,1937,1937,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.14,46.73
$GC,920,1.72,461.3,2875,2090,1936,4094,20.9,11.6,117,930,0.00,1.35,0.00,0.000,516,0.000,0.050,2876,1572,1936,1936,4094,0,0,0,0,0,0,26.27,25.96,26.28,10.17,47.51
$GC,986,1.72,461.3,2875,1572,1935,4094,13.9,10.6,126,994,0.00,1.25,0.00,0.000,1030,0.000,0.028,2876,2085,1935,1935,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.20,49.72
$GC,1031,1.72,461.3,2875,2085,1934,4094,8.9,11.0,132,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2085,1933,1933,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.22,51.02
$GC,1075,1.72,461.3,2875,2085,1933,4094,4.2,10.9,138,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2085,1932,1932,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.23,51.73
$STATE,1099,end climb,SURFACE_DEPTH_REACHED
$STATE,1099,begin surface coast
$FINISH,0.3,1.024129
$STATE,1122,end surface coast,CONTROL_FINISHED_OK
$STATE,1122,begin surface
$SM_CCo,1221,0.00,0.000,0,0,1931,476.52
$SM_GC,1.05,27.02,0.35,0.00,0.021,0.042,0.000,237,1936,1931,-6.55,1.18,476.52,0,0,0,0,0,0,26.22,26.21,26.25
$IRIDIUM_FIX,6149.06,-17422.35,100817,104542
$TT8_MAMPS,0.025466,0.250915
$HUMID,52.04
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.06,22.000
$10V_AH,10.18,25.570
$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,44.550,12.425,53.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,406.275,60.692,149.178,600.415,67.756,33.417,392.669,0.000,350.412,0.000,0.544,0.000
$DEVICE_MAMPS,55.845,52.785,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.286,391.219,309.575,458.976,598.401,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,14335,144
$CAP_FILE_SIZE,29774,0
$CFSIZE,1024409600,979402752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,130704,6101.019,-17346.590,5,0.9,13,7.0,0.0,244.4,9,4.7