version: 66.13
glider: 401
mission: 22
dive: 827
start: 8 10 117 17 54 22
data:
$ID,401
$MISSION,22
$DIVE,827
$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,59
$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
$GPS1,100817,172544,6101.7915,-17348.9258,3,0.8,16,7.0,0.0,72.1,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.6
$GPS2,100817,172544,6101.7915,-17348.9258,3,0.8,16,7.0,0.0,72.1,11,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.067500,0.451276
$KALMAN_X,75224.414062,-1109.115723,-557.617188,-266160.625000,-22.113342
$KALMAN_Y,-30822.927734,2404.435547,382.406586,225247.468750,11.213837
$MHEAD_RNG_PITCHd_Wd,1.5,42563,-8.3,-10.000,-12.36,10957
$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,-1.49,-487.5,2398,1953,2352,4092,0.0,0.0,0,18,5.45,0.00,-1.67,0.000,20482,0.024,0.000,1863,1953,2539,2539,4094,0,0,0,0,0,0,25.96,28.83,26.00,10.38,51.92
$GC,22,-1.49,-487.5,1863,1953,2538,4094,0.0,0.0,1,34,0.00,1.45,-4.68,0.000,16900,0.000,1.275,1863,1417,3055,3055,4094,0,0,0,0,0,0,26.16,24.70,26.17,10.41,51.81
$GC,67,-1.49,-487.5,1862,1416,3056,4094,3.4,-11.0,8,73,0.00,1.23,0.00,0.000,1030,0.000,0.025,1863,1933,3056,3056,4095,0,0,0,0,0,0,25.90,25.88,25.92,10.52,52.36
$GC,105,-1.49,-487.5,1863,1933,3057,4095,8.2,-12.4,14,111,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1933,3057,3057,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.53,52.28
$GC,143,-1.49,-487.5,1862,1933,3058,4094,12.7,-12.1,20,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1933,3058,3058,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.54,52.28
$GC,181,-1.49,-487.5,1862,1933,3059,4095,17.1,-11.8,26,188,0.00,1.42,0.00,0.000,260,0.000,0.046,1863,2468,3059,3059,4095,0,0,0,0,0,0,26.24,25.94,26.25,10.53,51.10
$GC,226,-1.49,-487.5,1862,2467,3060,4095,22.2,-11.1,33,233,0.00,1.27,0.00,0.000,1030,0.000,0.028,1863,1961,3060,3060,4095,0,0,0,0,0,0,26.07,26.03,26.08,10.52,51.65
$GC,265,-1.49,-487.5,1863,1961,3060,4095,26.0,-9.8,39,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3060,3060,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.49,50.74
$GC,304,-1.49,-487.5,1862,1961,3061,4095,29.6,-9.1,45,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3061,3061,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.48,50.43
$GC,342,-1.49,-487.5,1862,1961,3061,4094,33.1,-9.1,51,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3062,3062,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,50.07
$GC,381,-1.49,-487.5,1862,1961,3062,4095,36.7,-9.7,57,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3062,3062,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.44,48.89
$GC,419,-1.49,-487.5,1862,1961,3064,4094,40.4,-9.5,63,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3063,3063,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.43,48.54
$GC,457,-1.49,-487.5,1862,1961,3064,4094,44.1,-9.9,69,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3064,3064,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.41,48.07
$GC,496,-1.49,-487.5,1863,1961,3064,4095,47.8,-9.9,75,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.41,47.36
$GC,534,-1.49,-487.5,1862,1961,3065,4095,51.6,-9.6,81,540,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3065,3065,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.40,47.16
$GC,573,-1.49,-487.5,1862,1961,3066,4095,55.4,-9.7,87,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3065,3065,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.39,47.24
$GC,611,-1.49,-487.5,1862,1961,3067,4095,59.2,-9.9,93,617,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,1961,3067,3067,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.38,46.73
$STATE,622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,622,begin apogee
$GC,629,-0.45,0.0,1862,2136,3067,4094,60.5,-9.8,95,665,3.40,0.00,27.85,1.262,10244,0.050,0.000,2187,2136,2484,2484,4094,0,0,0,0,0,0,26.25,25.41,24.42,10.39,46.61
$STATE,666,end apogee,CONTROL_FINISHED_OK
$STATE,666,begin climb
$GC,668,1.49,487.5,2187,2136,2484,4094,62.5,0.0,101,710,6.45,0.00,27.70,1.238,11270,0.034,0.000,2799,2136,1916,1916,4094,0,0,0,0,0,0,25.64,25.79,24.00,10.26,46.65
$GC,743,1.54,523.7,2799,2136,1915,4094,57.6,9.7,113,750,0.10,0.00,3.88,0.638,10246,0.077,0.000,2817,2136,1873,1873,4094,0,0,0,0,0,0,25.43,25.19,24.25,10.14,45.31
$GC,783,1.59,553.4,2816,2136,1872,4094,53.6,9.7,119,791,0.00,1.42,3.47,0.550,8708,0.000,0.044,2817,1605,1839,1839,4094,0,0,0,0,0,0,25.75,25.37,24.38,10.12,45.51
$GC,847,1.64,587.1,2816,1604,1837,4094,47.3,9.7,129,856,0.22,1.23,3.65,0.553,11270,0.034,0.026,2855,2102,1799,1799,4094,0,0,0,0,0,0,25.70,25.68,24.55,10.11,46.37
$GC,888,1.64,587.1,2854,2102,1798,4094,43.0,11.0,135,895,0.00,1.55,0.00,0.000,260,0.000,0.055,2855,2679,1798,1798,4095,0,0,0,0,0,0,25.96,25.66,25.97,10.09,46.14
$GC,927,1.64,587.1,2854,2678,1797,4095,38.6,11.6,141,934,0.00,1.45,0.00,0.000,1030,0.000,0.027,2855,2105,1797,1797,4094,0,0,0,0,0,0,25.88,25.81,25.89,10.09,47.08
$GC,966,1.64,587.1,2854,2104,1796,4094,34.5,10.8,147,973,0.00,1.30,0.00,0.000,516,0.000,0.048,2855,1606,1796,1796,4095,0,0,0,0,0,0,26.10,25.79,26.11,10.09,46.85
$GC,1047,1.64,587.1,2854,1606,1794,4095,26.2,10.0,160,1053,0.00,1.17,0.00,0.000,1030,0.000,0.027,2855,2090,1794,1794,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.10,48.26
$GC,1086,1.64,587.1,2854,2089,1794,4094,22.2,10.2,166,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2089,1792,1792,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.13,48.26
$GC,1124,1.73,650.0,2854,2089,1792,4094,18.6,9.4,172,1138,0.15,1.27,4.75,0.529,10756,0.054,0.047,2880,1603,1724,1724,4094,0,0,0,0,0,0,26.10,25.88,25.09,10.15,49.72
$GC,1176,1.86,731.7,2880,1602,1724,4094,13.8,9.2,180,1190,0.30,1.05,5.90,0.556,11270,0.043,0.026,2915,2048,1630,1630,4094,0,0,0,0,0,0,26.03,26.05,25.13,10.15,51.26
$GC,1223,1.89,755.6,2915,2048,1629,4094,9.4,9.8,187,1230,0.00,1.67,3.00,0.278,8452,0.000,0.054,2915,2671,1602,1602,4094,0,0,0,0,0,0,26.26,25.89,25.18,10.15,51.53
$GC,1275,1.94,787.6,2915,2670,1601,4094,4.2,9.7,195,1283,0.22,1.55,3.42,0.317,11270,0.044,0.028,2946,2047,1564,1564,4094,0,0,0,0,0,0,26.08,26.04,25.26,10.17,52.16
$STATE,1295,end climb,FINISH_DEPTH_REACHED
$STATE,1295,begin subsurface finish
$FINISH1,1.9,1.023951,115
$GC,1303,0.17,114.9,2946,2147,1563,4094,1.9,9.8,198,1323,5.88,1.45,-6.57,0.000,20996,0.057,1.271,2404,1605,2353,2353,4095,0,0,0,0,0,0,26.01,24.79,26.05,10.16,53.11
$FINISH2,0.1
$STATE,1324,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1324,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,171758
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.22
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.00,22.356
$10V_AH,10.45,25.875
$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,22.175,22.950,83.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,524.646,297.362,193.189,292.504,75.037,33.427,417.299,0.000,299.293,0.000,0.543,0.000
$DEVICE_MAMPS,77.265,1275.255,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,134.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,14294,201
$CAP_FILE_SIZE,41475,0
$CFSIZE,1024409600,978845696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,172544,6101.792,-17348.926,3,0.8,16,7.0,0.0,72.1,11,4.9