version: 66.13
glider: 401
mission: 22
dive: 822
start: 8 10 117 15 28 37
data:
$ID,401
$MISSION,22
$DIVE,822
$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,25
$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
$GPS1,100817,143708,6100.8867,-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,0.07
$_SM_ANGLEo,-1.3
$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,0.030716,0.385221
$KALMAN_X,76546.000000,-964.919983,-482.687531,-266617.750000,-102.687317
$KALMAN_Y,-30232.892578,2569.959229,471.843170,222713.984375,-231.639771
$MHEAD_RNG_PITCHd_Wd,357.6,44145,-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,-487.5,2402,1956,2363,4092,0.0,0.0,0,21,6.22,0.00,-3.53,0.000,20482,0.029,0.000,1792,1956,2751,2751,4094,0,0,0,0,0,0,26.22,28.83,26.28,10.37,53.26
$GC,24,-1.72,-487.5,1791,1956,2751,4094,0.1,0.0,1,34,0.00,1.45,-2.78,0.000,16900,0.000,1.292,1792,1412,3055,3055,4094,0,0,0,0,0,0,26.46,24.94,26.46,10.45,53.66
$GC,77,-1.72,-487.5,1792,1412,3056,4094,4.7,-11.4,8,87,0.00,1.30,0.00,0.000,1030,0.000,0.026,1792,1961,3056,3056,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.52,53.22
$GC,123,-1.72,-487.5,1791,1961,3057,4095,9.6,-11.0,14,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1961,3057,3057,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.52,53.26
$GC,169,-1.72,-487.5,1791,1961,3058,4094,14.8,-11.6,20,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1961,3058,3058,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.53,52.59
$GC,214,-1.72,-487.5,1791,1961,3060,4094,19.8,-11.2,26,224,0.00,1.35,0.00,0.000,260,0.000,0.045,1792,2473,3059,3059,4095,0,0,0,0,0,0,26.47,26.17,26.48,10.53,52.20
$GC,299,-1.72,-487.5,1791,2473,3061,4095,29.0,-10.6,38,309,0.00,1.30,0.00,0.000,1030,0.000,0.028,1792,1952,3061,3061,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.50,51.53
$GC,347,-1.72,-487.5,1791,1953,3062,4094,33.6,-9.9,44,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1953,3062,3062,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.48,51.41
$GC,394,-1.72,-487.5,1791,1953,3062,4095,38.4,-10.2,50,403,0.00,1.38,0.00,0.000,516,0.000,0.054,1792,1417,3062,3062,4095,0,0,0,0,0,0,26.56,26.25,26.57,10.45,49.68
$GC,441,-1.72,-487.5,1791,1416,3063,4095,43.3,-10.3,56,450,0.00,1.25,0.00,0.000,1030,0.000,0.024,1792,1960,3064,3064,4095,0,0,0,0,0,0,26.38,26.34,26.40,10.43,49.01
$GC,489,-1.72,-487.5,1791,1959,3064,4095,47.9,-9.7,62,496,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1960,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.41,48.58
$GC,533,-1.72,-487.5,1791,1959,3065,4095,52.5,-10.1,68,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1959,3066,3066,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.41,47.28
$GC,578,-1.72,-487.5,1792,1959,3065,4094,57.0,-10.0,74,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1960,3066,3066,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.40,47.16
$STATE,608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,608,begin apogee
$GC,615,-0.45,0.0,1792,2134,3066,4094,60.3,-9.9,78,651,4.18,0.00,27.98,1.280,10244,0.054,0.000,2185,2134,2483,2483,4094,0,0,0,0,0,0,26.35,25.48,24.50,10.39,46.65
$STATE,652,end apogee,CONTROL_FINISHED_OK
$STATE,652,begin climb
$GC,655,1.72,487.5,2184,2134,2483,4094,63.4,0.0,82,699,7.22,0.00,27.70,1.260,11270,0.033,0.000,2878,2134,1918,1918,4094,0,0,0,0,0,0,25.72,25.87,24.03,10.27,45.86
$GC,737,1.72,487.5,2877,2134,1917,4094,57.8,10.9,92,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2134,1916,1916,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.14,44.99
$GC,784,1.72,487.5,2877,2134,1915,4094,52.6,11.1,98,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2134,1915,1915,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.14,44.92
$GC,831,1.72,487.5,2877,2134,1914,4094,47.3,11.3,104,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2134,1914,1914,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.13,45.86
$GC,878,1.72,487.5,2877,2134,1913,4094,42.0,11.4,110,887,0.00,1.40,0.00,0.000,516,0.000,0.048,2878,1612,1913,1913,4094,0,0,0,0,0,0,26.06,25.77,26.08,10.13,46.02
$GC,917,1.72,487.5,2877,1611,1912,4094,37.5,11.1,115,927,0.00,1.10,0.00,0.000,1030,0.000,0.024,2878,2078,1912,1912,4094,0,0,0,0,0,0,25.94,25.91,25.95,10.13,45.66
$GC,963,1.72,487.5,2877,2077,1911,4094,32.6,10.7,121,973,0.00,1.52,0.00,0.000,260,0.000,0.050,2878,2653,1911,1911,4094,0,0,0,0,0,0,26.19,25.87,26.20,10.13,46.18
$GC,1044,1.72,487.5,2877,2652,1910,4094,24.1,10.4,132,1053,0.00,1.38,0.00,0.000,1030,0.000,0.028,2878,2106,1908,1908,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.16,47.95
$GC,1091,1.86,578.3,2877,2105,1908,4094,19.7,8.7,138,1103,0.32,1.30,6.15,0.620,10756,0.047,0.049,2918,1604,1809,1809,4094,0,0,0,0,0,0,26.08,25.89,25.10,10.18,49.25
$STATE,1262,end climb,SURFACE_DEPTH_REACHED
$STATE,1262,begin surface coast
$FINISH,0.1,1.024088
$STATE,1284,end surface coast,CONTROL_FINISHED_OK
$STATE,1284,begin surface
$SM_CCo,1383,0.00,0.000,0,0,1803,585.57
$SM_GC,0.79,27.58,0.80,0.00,0.021,0.027,0.000,231,1939,1803,-6.59,-2.14,585.57,0,0,0,0,0,0,26.09,26.22,26.18
$IRIDIUM_FIX,6149.06,-17422.35,100817,130918
$TT8_MAMPS,0.025466,0.247919
$HUMID,52.28
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.03,22.172
$10V_AH,10.20,25.739
$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,45.525,16.375,61.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,468.335,61.027,149.646,694.268,71.890,33.414,407.373,0.000,402.524,0.000,0.544,0.000
$DEVICE_MAMPS,53.550,1292.085,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.628,451.041,356.844,529.263,691.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,17996,166
$CAP_FILE_SIZE,32093,0
$CFSIZE,1024409600,979091456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,155259,6101.000,-17348.641,38,0.7,42,7.0,0.4,288.1,11,4.9