version: 66.13
glider: 401
mission: 22
dive: 823
start: 8 10 117 16 2 0
data:
$ID,401
$MISSION,22
$DIVE,823
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,100817,155259,6100.9995,-17348.6406,38,0.7,42,7.0,0.4,288.1,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-34.4
$GPS2,100817,160053,6100.9907,-17348.7617,3,0.7,14,7.0,0.0,0.0,11,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.109076,0.358229
$KALMAN_X,75813.921875,-1044.144775,-559.500610,-266646.875000,-106.398560
$KALMAN_Y,-30487.771484,2560.263672,466.833435,223173.062500,-182.758362
$MHEAD_RNG_PITCHd_Wd,9.9,44025,-11.4,-10.000,-14.95,6766
$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,-451.2,231,1963,1802,4092,0.0,0.0,0,18,7.28,0.00,0.00,0.000,2049,0.096,0.000,850,1963,1803,1803,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.30,50.31
$GC,21,-1.72,-451.2,850,1963,1803,4094,0.8,0.0,1,46,9.82,0.00,-10.88,0.000,18950,0.044,0.000,1783,1963,3014,3014,4095,0,0,0,0,0,0,26.01,25.00,26.07,10.31,50.11
$GC,78,-1.77,-487.5,1783,1963,3014,4095,-0.0,-0.3,10,85,0.00,1.48,-0.35,0.000,16900,0.000,1.271,1784,1417,3055,3055,4095,0,0,0,0,0,0,26.27,24.74,26.13,10.57,50.47
$GC,124,-1.77,-487.5,1783,1416,3056,4095,4.3,-12.7,17,131,0.00,1.27,0.00,0.000,1030,0.000,0.024,1784,1953,3056,3056,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.57,49.96
$GC,163,-1.77,-487.5,1783,1953,3057,4094,10.0,-14.7,23,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1953,3057,3057,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.58,50.11
$GC,201,-1.77,-487.5,1783,1953,3058,4094,15.6,-14.0,29,207,0.00,1.38,0.00,0.000,260,0.000,0.047,1784,2472,3058,3058,4095,0,0,0,0,0,0,26.29,26.00,26.31,10.58,49.88
$GC,252,-1.77,-487.5,1783,2472,3059,4095,23.0,-14.7,37,258,0.00,1.27,0.00,0.000,1030,0.000,0.025,1784,1956,3060,3060,4095,0,0,0,0,0,0,26.12,26.08,26.14,10.56,48.81
$GC,290,-1.77,-487.5,1783,1955,3059,4095,28.0,-12.4,43,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3061,3061,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.54,48.38
$GC,328,-1.77,-487.5,1783,1956,3061,4094,32.6,-12.0,49,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3061,3061,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.51,47.95
$GC,366,-1.77,-487.5,1783,1956,3062,4094,37.2,-11.9,55,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3063,3063,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.49,47.48
$GC,404,-1.77,-487.5,1783,1956,3063,4095,41.7,-11.6,61,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3063,3063,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.47,46.49
$GC,442,-1.77,-487.5,1783,1956,3063,4095,46.3,-12.1,67,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3064,3064,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.45,45.51
$GC,480,-1.77,-487.5,1783,1956,3064,4094,51.0,-12.2,73,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3065,3065,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.44,45.15
$GC,518,-1.77,-487.5,1783,1956,3065,4094,55.8,-12.3,79,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3066,3066,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.43,45.03
$STATE,554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,554,begin apogee
$GC,561,-0.45,0.0,1784,2141,3067,4095,60.5,-12.3,85,600,4.25,0.00,27.83,1.273,10244,0.054,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.24,25.13,24.41,10.41,44.52
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,604,1.77,487.5,2186,2141,2484,4094,63.1,0.0,91,646,7.32,1.40,27.75,1.247,10756,0.032,0.041,2893,1605,1915,1915,4094,0,0,0,0,0,0,25.60,25.54,24.00,10.30,43.97
$GC,711,1.77,487.5,2893,1605,1913,4094,52.8,13.1,108,717,0.00,1.30,0.00,0.000,1030,0.000,0.026,2894,2124,1913,1913,4094,0,0,0,0,0,0,25.56,25.53,25.58,10.16,43.85
$GC,749,1.77,487.5,2893,2124,1913,4094,47.5,13.0,114,756,0.00,1.50,0.00,0.000,260,0.000,0.054,2894,2675,1912,1912,4094,0,0,0,0,0,0,25.89,25.59,25.89,10.16,44.68
$GC,782,1.77,487.5,2893,2674,1911,4094,43.1,13.7,119,789,0.00,1.38,0.00,0.000,1030,0.000,0.025,2894,2126,1911,1911,4094,0,0,0,0,0,0,25.77,25.73,25.77,10.15,43.93
$GC,821,1.77,487.5,2893,2126,1911,4094,38.1,12.5,125,828,0.00,1.35,0.00,0.000,516,0.000,0.047,2894,1612,1910,1910,4095,0,0,0,0,0,0,26.04,25.74,26.05,10.14,45.03
$GC,944,1.77,487.5,2893,1611,1907,4095,23.0,11.4,145,950,0.00,1.20,0.00,0.000,1030,0.000,0.026,2894,2105,1907,1907,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.18,46.61
$GC,983,1.77,487.5,2893,2104,1906,4094,19.0,10.1,151,989,0.00,1.52,0.00,0.000,260,0.000,0.054,2894,2672,1905,1905,4094,0,0,0,0,0,0,26.26,25.95,26.27,10.20,47.75
$GC,1015,1.77,487.5,2893,2672,1905,4094,15.4,10.8,156,1022,0.00,1.40,0.00,0.000,1030,0.000,0.027,2894,2109,1905,1905,4094,0,0,0,0,0,0,26.08,26.05,26.09,10.21,49.96
$GC,1054,1.77,487.5,2893,2109,1904,4094,11.1,11.2,162,1061,0.00,1.30,0.00,0.000,516,0.000,0.050,2894,1608,1903,1903,4094,0,0,0,0,0,0,26.32,26.02,26.33,10.24,50.03
$STATE,1139,end climb,FINISH_DEPTH_REACHED
$STATE,1139,begin subsurface finish
$FINISH1,1.8,1.024022,110
$GC,1147,0.16,110.0,2894,2138,1901,4094,1.8,10.6,176,1161,5.40,0.00,-3.83,0.000,20486,0.066,0.000,2398,2145,2361,2361,4094,0,0,0,0,0,0,26.10,25.12,26.18,10.26,51.26
$FINISH2,0.1
$STATE,1162,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1162,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,143012
$TT8_MAMPS,0.025466,0.133322
$HUMID,51.89
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,24.00,22.211
$10V_AH,10.42,25.757
$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,34.075,19.525,55.575,0.000,0.000,24.093,18.542,274.758,0.000,0.000,16.018,467.229,276.107,162.417,572.564,174.324,33.452,364.035,0.000,268.294,0.000,0.544,0.000
$DEVICE_MAMPS,96.390,1271.430,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,14263,178
$CAP_FILE_SIZE,37174,0
$CFSIZE,1024409600,979042304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,568.45,0x236162,2,24
$GPS,100817,160053,6100.991,-17348.762,3,0.7,14,7.0,0.0,0.0,11,4.9