version: 66.13
glider: 401
mission: 22
dive: 820
start: 8 10 117 14 38 15
data:
$ID,401
$MISSION,22
$DIVE,820
$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,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,37
$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
$GPS1,100817,142758,6100.9414,-17347.5957,6,0.8,27,7.0,0.4,240.5,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-36.4
$GPS2,100817,143708,6100.8867,-17347.7793,10,1.0,28,7.0,0.6,236.3,9,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.030545,0.385235
$KALMAN_X,76664.390625,-927.194458,-468.105896,-266775.343750,-97.430115
$KALMAN_Y,-29728.599609,2721.226318,607.130798,221924.937500,-252.302307
$MHEAD_RNG_PITCHd_Wd,357.5,44145,-10.9,-10.000,-14.51,7299
$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,-487.5,231,1952,1726,4092,0.0,0.0,0,21,10.05,0.00,0.00,0.000,2049,0.079,0.000,1118,1952,1727,1727,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.29,50.90
$GC,24,-1.72,-487.5,1118,1952,1727,4094,0.6,0.0,1,50,7.00,0.00,-11.88,0.000,18950,0.042,0.000,1781,1952,3053,3053,4095,0,0,0,0,0,0,25.98,25.48,26.05,10.29,50.39
$GC,88,-1.72,-487.5,1781,1952,3053,4095,0.9,-3.2,9,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1953,3054,3054,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.58,50.27
$GC,135,-1.72,-487.5,1781,1952,3055,4095,5.5,-10.5,15,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1953,3055,3055,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.58,50.15
$GC,181,-1.72,-487.5,1781,1953,3055,4094,10.4,-11.0,21,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1953,3055,3055,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.59,49.56
$GC,228,-1.72,-487.5,1780,1952,3056,4094,15.4,-10.2,27,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3056,3056,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.58,48.97
$GC,275,-1.72,-487.5,1781,1952,3058,4095,20.4,-10.5,33,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1953,3057,3057,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.57,48.62
$GC,319,-1.72,-487.5,1780,1952,3058,4094,24.9,-9.5,39,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1952,3058,3058,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.55,48.42
$GC,365,-1.72,-487.5,1781,1952,3059,4095,29.2,-9.3,45,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3059,3059,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.53,47.91
$GC,410,-1.72,-487.5,1781,1952,3060,4094,33.4,-9.2,51,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1953,3060,3060,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.50,47.36
$GC,456,-1.72,-487.5,1781,1952,3060,4094,37.6,-9.3,57,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1952,3061,3061,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.48,46.65
$GC,502,-1.72,-487.5,1781,1952,3061,4094,41.9,-9.3,63,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1953,3061,3061,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.46,46.02
$GC,546,-1.72,-487.5,1781,1952,3062,4094,46.3,-9.9,69,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3062,3062,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.45,44.84
$GC,591,-1.72,-487.5,1781,1952,3063,4094,50.8,-10.2,75,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1953,3063,3063,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.43,44.21
$GC,636,-1.72,-487.5,1781,1952,3064,4095,55.3,-10.2,81,644,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1952,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.43,44.32
$GC,681,-1.72,-487.5,1781,1952,3064,4095,59.9,-10.2,87,689,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3064,3064,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.42,44.48
$STATE,696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,696,begin apogee
$GC,703,-0.45,0.0,1781,2141,3065,4095,61.7,-10.2,89,739,4.28,0.00,27.95,1.289,10246,0.053,0.000,2187,2141,2484,2484,4094,0,0,0,0,0,0,26.32,25.45,24.46,10.41,44.60
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,743,1.72,487.5,2186,2141,2484,4094,64.9,0.0,93,789,7.20,1.42,27.85,1.271,10500,0.032,0.049,2877,2659,1915,1915,4094,0,0,0,0,0,0,25.68,24.70,24.00,10.30,43.62
$GC,832,1.72,487.5,2877,2658,1913,4094,58.7,11.0,104,841,0.00,1.33,0.00,0.000,1030,0.000,0.024,2878,2132,1914,1914,4094,0,0,0,0,0,0,25.51,25.49,25.53,10.17,43.62
$GC,878,1.72,487.5,2877,2132,1912,4094,53.8,10.7,110,887,0.00,1.38,0.00,0.000,516,0.000,0.048,2878,1612,1912,1912,4094,0,0,0,0,0,0,25.86,25.58,25.88,10.16,43.66
$GC,984,1.72,487.5,2877,1611,1910,4094,42.8,10.6,125,994,0.00,1.17,0.00,0.000,1030,0.000,0.025,2876,2102,1910,1910,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.15,44.64
$GC,1032,1.72,487.5,2877,2102,1908,4094,37.7,10.4,131,1042,0.00,1.50,0.00,0.000,260,0.000,0.052,2877,2660,1908,1908,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.14,45.15
$GC,1065,1.72,487.5,2877,2661,1907,4094,33.9,11.2,135,1074,0.00,1.42,0.00,0.000,1030,0.000,0.027,2878,2094,1907,1907,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.14,45.70
$GC,1111,1.72,487.5,2877,2093,1907,4094,29.2,10.0,141,1120,0.00,1.27,0.00,0.000,516,0.000,0.052,2877,1605,1907,1907,4094,0,0,0,0,0,0,26.25,25.94,26.27,10.15,45.94
$GC,1249,1.75,503.6,2877,1605,1903,4094,15.7,9.8,161,1258,0.00,1.10,0.00,0.000,1030,0.000,0.025,2878,2076,1903,1903,4094,0,0,0,0,0,0,26.19,26.15,26.20,10.22,49.60
$GC,1296,1.80,536.9,2877,2075,1901,4094,11.3,9.5,167,1306,0.12,0.00,3.78,0.393,10246,0.068,0.000,2894,2076,1858,1858,4094,0,0,0,0,0,0,26.20,25.77,25.29,10.23,50.47
$GC,1345,1.86,578.8,2893,2076,1857,4094,6.7,9.4,173,1354,0.17,0.00,3.92,0.384,10502,0.063,0.000,2919,2076,1807,1807,4094,0,0,0,0,0,0,26.16,25.98,25.34,10.24,51.02
$STATE,1390,end climb,FINISH_DEPTH_REACHED
$STATE,1390,begin subsurface finish
$FINISH1,1.9,1.024045,108
$GC,1398,0.16,108.4,2918,2162,1806,4094,1.9,10.6,179,1417,5.75,1.33,-4.78,0.000,20740,0.072,1.284,2398,2641,2354,2354,4094,0,0,0,0,0,0,26.13,24.90,26.20,10.24,51.92
$FINISH2,0.1
$STATE,1418,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1418,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,130918
$TT8_MAMPS,0.026215,0.259154
$HUMID,51.77
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,24.00,22.129
$10V_AH,10.19,25.688
$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,34.575,12.500,63.500,0.000,0.000,25.036,25.819,332.739,0.000,0.000,29.776,504.071,0.352,152.635,1115.534,213.759,33.453,455.499,0.000,437.633,0.000,0.543,0.000
$DEVICE_MAMPS,78.795,1283.670,1289.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.423,491.773,389.239,577.168,750.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,17658,181
$CAP_FILE_SIZE,40187,0
$CFSIZE,1024409600,979173376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100817,143708,6100.887,-17347.779,10,1.0,28,7.0,0.6,236.3,9,4.9