version: 66.13
glider: 401
mission: 22
dive: 818
start: 8 10 117 13 37 16
data:
$ID,401
$MISSION,22
$DIVE,818
$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,17
$R_STBD_OVSHOOT,29
$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
$GPS1,100817,131444,6100.9580,-17346.7109,11,0.8,16,7.0,0.0,240.8,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.3
$GPS2,100817,131444,6100.9580,-17346.7109,11,0.8,16,7.0,0.0,240.8,11,4.5
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.074388,0.388763
$KALMAN_X,77223.843750,-816.974365,-362.958405,-266554.406250,-69.516388
$KALMAN_Y,-28850.833984,2779.590088,663.089478,221064.484375,-158.828186
$MHEAD_RNG_PITCHd_Wd,342.2,6187,-10.5,-10.000,-14.18,7734
$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,-1.69,-487.5,2397,1953,2367,4092,0.0,0.0,0,20,6.07,0.00,-3.40,0.000,20482,0.030,0.000,1803,1954,2741,2741,4094,0,0,0,0,0,0,26.18,28.83,26.23,10.38,52.00
$GC,23,-1.69,-487.5,1803,1954,2741,4094,0.0,0.0,1,33,0.00,1.45,-2.75,0.000,16900,0.000,1.281,1803,1404,3057,3057,4095,0,0,0,0,0,0,26.37,24.90,26.38,10.45,52.48
$GC,43,-1.69,-487.5,1802,1403,3058,4095,1.3,-5.0,3,51,0.00,1.33,0.00,0.000,1030,0.000,0.026,1803,1962,3058,3058,4094,0,0,0,0,0,0,26.13,26.08,26.13,10.53,52.48
$GC,88,-1.69,-487.5,1802,1962,3058,4094,5.5,-9.7,9,98,0.00,1.35,0.00,0.000,260,0.000,0.044,1803,2472,3059,3059,4094,0,0,0,0,0,0,26.36,26.06,26.36,10.53,52.67
$GC,255,-1.69,-487.5,1802,2472,3061,4094,21.7,-9.8,33,265,0.00,1.25,0.00,0.000,1030,0.000,0.027,1803,1971,3062,3062,4094,0,0,0,0,0,0,26.25,26.22,26.28,10.52,50.82
$GC,304,-1.69,-487.5,1802,1970,3062,4094,26.3,-9.2,39,312,0.00,1.42,0.00,0.000,516,0.000,0.054,1803,1416,3062,3062,4094,0,0,0,0,0,0,26.50,26.19,26.51,10.50,51.26
$GC,369,-1.69,-487.5,1802,1416,3064,4094,32.3,-8.8,48,378,0.00,1.42,0.00,0.000,1030,0.000,0.025,1803,2012,3064,3064,4095,0,0,0,0,0,0,26.33,26.31,26.34,10.46,49.72
$GC,415,-1.69,-487.5,1802,2012,3064,4095,36.2,-8.3,54,423,0.00,1.20,0.00,0.000,260,0.000,0.047,1802,2471,3063,3063,4094,0,0,0,0,0,0,26.55,26.25,26.56,10.45,48.58
$GC,519,-1.69,-487.5,1802,2471,3066,4094,45.7,-9.3,69,529,0.00,0.98,0.00,0.000,1030,0.000,0.024,1803,2068,3066,3066,4094,0,0,0,0,0,0,26.37,26.37,26.41,10.41,46.96
$GC,567,-1.69,-487.5,1802,2067,3066,4094,49.9,-9.1,75,577,0.00,1.67,0.00,0.000,516,0.000,0.050,1803,1414,3067,3067,4095,0,0,0,0,0,0,26.61,26.29,26.63,10.40,46.85
$GC,633,-1.69,-487.5,1802,1414,3068,4095,56.2,-9.4,84,643,0.00,1.62,0.00,0.000,1030,0.000,0.027,1803,2087,3069,3069,4094,0,0,0,0,0,0,26.41,26.39,26.43,10.39,46.77
$STATE,677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,677,begin apogee
$GC,683,-0.45,0.0,1802,2086,3069,4094,60.4,-8.8,90,719,3.97,0.00,28.08,1.281,10244,0.047,0.000,2186,2086,2484,2484,4094,0,0,0,0,0,0,26.37,25.49,24.51,10.38,46.37
$STATE,720,end apogee,CONTROL_FINISHED_OK
$STATE,720,begin climb
$GC,722,1.69,487.5,2186,2086,2484,4094,63.3,0.0,94,768,7.10,1.35,27.67,1.265,10756,0.031,0.046,2868,1571,1918,1918,4094,0,0,0,0,0,0,25.67,25.62,24.04,10.27,45.58
$GC,931,1.69,487.5,2866,1571,1915,4094,46.1,10.0,123,940,0.00,1.27,0.00,0.000,1030,0.000,0.025,2868,2094,1915,1915,4095,0,0,0,0,0,0,25.84,25.82,25.85,10.13,46.10
$GC,977,1.74,520.6,2867,2094,1914,4095,41.6,9.6,129,987,0.00,0.00,3.62,0.529,8198,0.000,0.000,2868,2094,1876,1876,4095,0,0,0,0,0,0,26.12,25.41,24.78,10.12,45.82
$GC,1025,1.76,535.9,2867,2094,1875,4095,37.0,9.8,135,1035,0.10,0.00,2.65,0.285,10246,0.073,0.000,2886,2094,1859,1859,4094,0,0,0,0,0,0,25.96,25.47,24.84,10.11,45.94
$GC,1074,1.77,543.0,2886,2094,1858,4094,32.2,9.9,141,1084,0.00,1.38,2.05,0.047,8708,0.000,0.047,2887,1574,1856,1856,4094,0,0,0,0,0,0,26.20,25.41,24.36,10.11,46.29
$GC,1127,1.82,572.4,2886,1573,1854,4094,26.9,9.6,148,1138,0.10,1.27,3.55,0.444,11270,0.064,0.027,2900,2101,1816,1816,4094,0,0,0,0,0,0,25.98,26.01,25.01,10.12,47.28
$GC,1177,1.83,579.2,2899,2100,1815,4094,22.1,9.9,154,1186,0.00,0.00,0.62,0.004,8198,0.000,0.000,2900,2101,1815,1815,4094,0,0,0,0,0,0,26.27,26.27,26.27,10.13,47.71
$GC,1224,1.87,607.6,2899,2100,1814,4094,17.5,9.6,160,1234,0.10,0.00,3.60,0.405,10246,0.086,0.000,2917,2101,1773,1773,4094,0,0,0,0,0,0,26.10,25.66,25.15,10.16,49.17
$GC,1273,1.87,607.6,2916,2100,1773,4094,12.7,10.2,166,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2101,1773,1773,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.17,50.23
$GC,1320,1.88,614.7,2917,2101,1771,4094,8.0,9.9,172,1329,0.00,1.38,0.00,0.000,516,0.000,0.049,2917,1576,1771,1771,4094,0,0,0,0,0,0,26.36,26.03,26.38,10.18,51.14
$STATE,1383,end climb,FINISH_DEPTH_REACHED
$STATE,1383,begin subsurface finish
$FINISH1,1.8,1.024076,106
$GC,1392,0.16,106.2,2917,2103,1769,4094,1.8,9.4,181,1411,5.75,1.48,-5.18,0.000,20996,0.073,1.284,2398,1571,2366,2366,4094,0,0,0,0,0,0,26.10,24.89,26.19,10.21,52.59
$FINISH2,0.1
$STATE,1412,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1412,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,115639
$TT8_MAMPS,0.025466,0.245672
$HUMID,53.07
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,24.04,22.062
$10V_AH,10.20,25.628
$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,23.200,24.925,71.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,511.302,0.985,128.335,761.414,69.415,33.430,395.390,0.000,441.065,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1284.435,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.783,497.142,393.461,583.637,759.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,17833,183
$CAP_FILE_SIZE,34622,0
$CFSIZE,1024409600,979271680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,131444,6100.958,-17346.711,11,0.8,16,7.0,0.0,240.8,11,4.5