version: 66.13
glider: 401
mission: 22
dive: 821
start: 8 10 117 15 4 7
data:
$ID,401
$MISSION,22
$DIVE,821
$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,56
$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
$GPS1,100817,143708,6100.8867,-17347.7793,10,1.0,28,7.0,0.6,236.3,9,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.5
$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,0.094974,0.334323
$KALMAN_X,76617.781250,-941.553772,-467.521240,-266729.406250,-96.959778
$KALMAN_Y,-29935.546875,2609.612061,504.762726,222345.031250,-182.543701
$MHEAD_RNG_PITCHd_Wd,8.9,44145,-12.7,-10.000,-16.05,5663
$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,-376.4,2398,1952,2354,4092,0.0,0.0,0,18,6.15,0.00,-0.98,0.000,20482,0.027,0.000,1793,1952,2463,2463,4095,0,0,0,0,0,0,26.17,28.83,26.22,10.38,52.55
$GC,22,-1.72,-376.4,1793,1952,2463,4095,0.0,0.0,1,34,0.00,1.45,-4.20,0.000,16900,0.000,1.270,1793,1405,2929,2929,4094,0,0,0,0,0,0,26.38,24.89,26.39,10.40,52.24
$GC,91,-1.87,-477.6,1792,1404,2929,4094,2.0,-8.2,12,99,0.25,1.25,-0.70,0.000,21510,0.033,0.025,1753,1942,3051,3051,4095,0,0,0,0,0,0,26.08,26.08,26.13,10.51,52.20
$GC,131,-1.87,-477.6,1752,1942,3052,4095,6.3,-11.3,18,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1943,3052,3052,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.54,52.20
$GC,169,-1.87,-477.6,1752,1943,3053,4095,10.5,-11.2,24,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1943,3053,3053,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.54,51.73
$GC,207,-1.87,-477.6,1752,1943,3054,4094,14.6,-11.1,30,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1942,3054,3054,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.54,51.92
$GC,245,-1.87,-477.6,1752,1943,3055,4095,18.7,-11.1,36,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1943,3055,3055,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.54,50.98
$GC,283,-1.87,-477.6,1752,1944,3055,4094,22.9,-11.4,42,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1944,3056,3056,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.53,50.70
$GC,321,-1.87,-477.6,1752,1944,3056,4094,26.7,-10.1,48,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1944,3056,3056,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.51,50.82
$GC,359,-1.87,-477.6,1752,1944,3057,4094,30.6,-10.4,54,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1944,3057,3057,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.50,50.90
$GC,397,-1.87,-477.6,1752,1945,3058,4094,34.3,-10.1,60,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3058,3058,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.48,49.48
$GC,435,-1.87,-477.6,1752,1945,3059,4095,38.2,-10.4,66,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3058,3058,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.45,49.17
$GC,473,-1.87,-477.6,1752,1945,3060,4094,42.0,-10.3,72,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3059,3059,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,47.71
$GC,511,-1.87,-477.6,1752,1945,3060,4095,45.9,-10.6,78,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3060,3060,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.43,47.12
$GC,549,-1.87,-477.6,1752,1945,3061,4095,49.9,-10.3,84,556,0.00,1.38,0.00,0.000,260,0.000,0.044,1753,2468,3061,3061,4095,0,0,0,0,0,0,26.55,26.26,26.56,10.42,46.77
$GC,594,-1.87,-477.6,1752,2468,3061,4095,54.6,-10.5,91,601,0.00,1.30,0.00,0.000,1030,0.000,0.028,1753,1949,3061,3061,4095,0,0,0,0,0,0,26.36,26.32,26.37,10.40,46.45
$GC,633,-1.87,-477.6,1752,1949,3062,4095,58.6,-10.2,97,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3062,3062,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.40,46.37
$STATE,644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,644,begin apogee
$GC,651,-0.45,0.0,1753,2130,3062,4094,60.0,-10.5,99,687,4.57,0.00,27.70,1.271,10244,0.054,0.000,2186,2131,2484,2484,4094,0,0,0,0,0,0,26.30,25.45,24.46,10.40,46.45
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,691,1.87,477.6,2185,2131,2484,4094,63.3,0.0,105,733,7.65,1.42,27.25,1.256,10500,0.029,0.052,2924,2663,1927,1927,4094,0,0,0,0,0,0,25.60,25.57,24.01,10.28,45.66
$GC,765,1.87,477.6,2923,2663,1926,4094,58.7,10.3,117,772,0.00,1.35,0.00,0.000,1030,0.000,0.024,2924,2130,1926,1926,4094,0,0,0,0,0,0,25.45,25.43,25.47,10.16,45.62
$GC,804,1.87,477.6,2924,2130,1925,4094,54.7,10.6,123,811,0.00,1.35,0.00,0.000,516,0.000,0.049,2924,1615,1925,1925,4095,0,0,0,0,0,0,25.80,25.52,25.81,10.15,45.11
$GC,861,1.87,477.6,2924,1615,1924,4095,48.6,10.7,132,868,0.00,1.25,0.00,0.000,1030,0.000,0.025,2924,2127,1924,1924,4094,0,0,0,0,0,0,25.76,25.73,25.77,10.14,45.23
$GC,900,1.87,477.6,2924,2126,1923,4094,44.5,10.2,138,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2127,1923,1923,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.13,46.22
$GC,938,1.87,477.6,2924,2126,1922,4095,40.5,10.9,144,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2126,1922,1922,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.14,45.94
$GC,976,1.87,477.6,2924,2126,1921,4094,36.3,11.1,150,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2127,1921,1921,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,46.57
$GC,1014,1.87,477.6,2924,2126,1920,4094,32.3,10.9,156,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2127,1921,1921,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.13,46.57
$GC,1052,1.87,477.6,2923,2126,1919,4094,28.3,10.7,162,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2126,1919,1919,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.14,46.88
$GC,1090,1.87,478.6,2924,2126,1918,4094,24.4,10.0,168,1097,0.00,1.35,0.00,0.000,516,0.000,0.047,2925,1615,1919,1919,4093,0,0,0,0,0,0,26.28,25.98,26.29,10.16,47.99
$GC,1130,1.92,512.1,2924,1614,1918,4093,20.7,9.4,174,1137,0.00,1.20,3.28,0.375,9222,0.000,0.025,2924,2114,1886,1886,4094,0,0,0,0,0,0,26.12,26.08,25.12,10.17,48.81
$GC,1170,1.98,553.6,2924,2113,1885,4094,17.0,9.2,180,1184,0.25,1.48,3.95,0.444,10500,0.046,0.051,2957,2668,1837,1837,4094,0,0,0,0,0,0,26.10,25.93,25.15,10.19,49.64
$GC,1234,1.98,553.6,2956,2667,1836,4094,10.1,11.0,190,1240,0.00,1.38,0.00,0.000,1030,0.000,0.026,2957,2113,1836,1836,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.20,50.86
$GC,1273,2.03,580.5,2956,2112,1835,4095,6.3,9.5,196,1281,0.00,1.33,3.15,0.295,8708,0.000,0.054,2957,1607,1804,1804,4094,0,0,0,0,0,0,26.37,26.00,25.30,10.21,51.73
$STATE,1317,end climb,FINISH_DEPTH_REACHED
$STATE,1317,begin subsurface finish
$FINISH1,1.8,1.024044,108
$GC,1326,0.16,108.5,2957,2137,1803,4094,1.8,9.4,203,1339,6.22,0.00,-4.75,0.000,20998,0.078,0.000,2402,2139,2363,2363,4094,0,0,0,0,0,0,26.06,25.13,26.12,10.22,52.40
$FINISH2,0.1
$STATE,1340,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1340,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,130918
$TT8_MAMPS,0.025466,0.102613
$HUMID,52.87
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.01,22.150
$10V_AH,10.45,25.702
$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,25.100,21.000,65.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,528.509,307.695,188.295,298.326,76.080,33.428,415.988,0.000,304.929,0.000,0.542,0.000
$DEVICE_MAMPS,78.030,1269.900,1271.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,136.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,14326,205
$CAP_FILE_SIZE,39979,0
$CFSIZE,1024409600,979140608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,143708,6100.887,-17347.779,10,1.0,28,7.0,0.6,236.3,9,4.9