version: 66.13
glider: 401
mission: 22
dive: 829
start: 8 10 117 18 51 46
data:
$ID,401
$MISSION,22
$DIVE,829
$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,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
$GPS1,100817,184221,6102.5547,-17348.8008,3,0.7,13,7.0,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-32.0
$GPS2,100817,185037,6102.5781,-17348.8164,3,0.8,17,7.0,0.0,10.0,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.040852,0.384278
$KALMAN_X,75061.531250,-1087.972046,-514.880554,-265960.843750,55.095734
$KALMAN_Y,-31082.824219,2557.289795,560.828247,226604.250000,-47.757202
$MHEAD_RNG_PITCHd_Wd,359.1,41104,-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,8,-1.72,-487.5,230,1948,1524,4092,0.0,0.0,0,18,7.35,0.00,0.00,0.000,2049,0.086,0.000,869,1946,1523,1523,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.24,50.74
$GC,21,-1.72,-487.5,869,1945,1524,4094,0.6,0.0,1,52,9.93,1.45,-13.57,0.000,18948,0.059,1.280,1780,1410,3054,3054,4094,0,0,0,0,0,0,25.96,24.72,26.03,10.23,50.82
$GC,84,-1.72,-487.5,1780,1410,3054,4094,3.2,-11.9,11,90,0.00,1.27,0.00,0.000,1030,0.000,0.024,1780,1947,3055,3055,4094,0,0,0,0,0,0,26.00,25.97,26.01,10.57,50.70
$GC,123,-1.72,-487.5,1780,1946,3055,4094,9.3,-15.8,17,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1947,3055,3055,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.57,50.27
$GC,161,-1.72,-487.5,1780,1946,3056,4094,15.3,-15.6,23,167,0.00,1.40,0.00,0.000,260,0.000,0.047,1781,2472,3057,3057,4095,0,0,0,0,0,0,26.28,25.97,26.29,10.57,50.07
$GC,205,-1.72,-487.5,1780,2472,3058,4095,22.2,-15.2,30,212,0.00,1.27,0.00,0.000,1030,0.000,0.026,1781,1961,3058,3058,4095,0,0,0,0,0,0,26.10,26.08,26.13,10.56,49.33
$GC,245,-1.72,-487.5,1780,1961,3059,4095,27.2,-12.4,36,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1961,3059,3059,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.53,49.44
$GC,283,-1.72,-487.5,1780,1961,3060,4094,31.9,-11.9,42,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1961,3060,3060,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.50,48.34
$GC,321,-1.72,-487.5,1780,1960,3061,4094,36.4,-11.9,48,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1961,3061,3061,4094,0,0,0,0,0,0,26.41,26.42,26.43,10.48,47.63
$GC,359,-1.72,-487.5,1780,1960,3061,4094,41.1,-12.5,54,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1960,3061,3061,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.46,47.04
$GC,397,-1.72,-487.5,1780,1960,3062,4094,45.9,-12.8,60,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1960,3062,3062,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.44,46.69
$GC,435,-1.72,-487.5,1780,1960,3063,4095,50.7,-13.0,66,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1960,3063,3063,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.43,45.47
$GC,473,-1.72,-487.5,1780,1960,3064,4094,55.6,-13.3,72,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1960,3064,3064,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.42,45.19
$STATE,508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,508,begin apogee
$GC,516,-0.45,0.0,1780,2138,3065,4094,60.5,-13.3,78,551,4.30,0.00,27.90,1.278,10244,0.055,0.000,2186,2138,2484,2484,4095,0,0,0,0,0,0,26.23,25.39,24.39,10.41,45.31
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,553,begin climb
$GC,555,1.72,487.5,2186,2137,2484,4095,63.1,0.0,84,598,7.22,1.42,27.73,1.251,10500,0.034,0.053,2880,2666,1916,1916,4094,0,0,0,0,0,0,25.56,25.50,23.98,10.30,45.27
$GC,624,1.72,487.5,2880,2666,1915,4094,57.3,12.3,95,631,0.00,1.33,0.00,0.000,1030,0.000,0.024,2880,2142,1915,1915,4094,0,0,0,0,0,0,25.39,25.36,25.41,10.17,44.17
$GC,663,1.72,487.5,2879,2141,1914,4094,52.3,13.2,101,670,0.00,1.40,0.00,0.000,516,0.000,0.046,2880,1612,1914,1914,4094,0,0,0,0,0,0,25.75,25.46,25.77,10.15,43.93
$GC,756,1.72,487.5,2880,1611,1911,4094,40.2,13.0,116,763,0.00,1.23,0.00,0.000,1030,0.000,0.027,2880,2107,1911,1911,4093,0,0,0,0,0,0,25.79,25.77,25.81,10.14,44.99
$GC,795,1.72,487.5,2880,2107,1910,4093,35.2,12.9,122,802,0.00,1.52,0.00,0.000,260,0.000,0.054,2880,2671,1910,1910,4094,0,0,0,0,0,0,26.07,25.77,26.08,10.14,45.03
$GC,835,1.72,487.5,2880,2671,1908,4094,30.0,13.3,128,842,0.00,1.40,0.00,0.000,1030,0.000,0.026,2880,2109,1908,1908,4094,0,0,0,0,0,0,25.93,25.90,25.94,10.14,45.70
$GC,874,1.72,487.5,2880,2109,1907,4094,24.7,13.1,134,881,0.00,1.30,0.00,0.000,516,0.000,0.047,2880,1610,1907,1907,4094,0,0,0,0,0,0,26.17,25.89,26.20,10.16,46.22
$GC,985,1.72,487.5,2880,1609,1903,4094,11.9,10.5,152,992,0.00,1.20,0.00,0.000,1030,0.000,0.027,2880,2103,1904,1904,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.22,50.00
$GC,1024,1.72,487.5,2880,2102,1903,4094,7.8,10.4,158,1031,0.00,1.52,0.00,0.000,260,0.000,0.054,2880,2672,1902,1902,4094,0,0,0,0,0,0,26.34,26.03,26.34,10.23,50.23
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.5,1.023948,115
$GC,1087,0.17,115.2,2880,2131,1901,4094,1.5,10.9,167,1101,4.95,0.00,-3.88,0.000,20486,0.042,0.000,2397,2123,2357,2357,4094,0,0,0,0,0,0,26.15,25.10,26.20,10.25,51.22
$FINISH2,0.2
$STATE,1102,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,172106
$TT8_MAMPS,0.025466,0.132573
$HUMID,52.24
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.98,22.423
$10V_AH,10.41,25.929
$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,33.750,19.500,55.625,0.000,0.000,24.098,18.656,292.491,0.000,0.000,18.777,445.462,257.076,161.756,575.885,176.159,33.476,355.046,0.000,255.635,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1279.845,1278.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329384
$DATA_FILE_SIZE,14305,169
$CAP_FILE_SIZE,35954,0
$CFSIZE,1024409600,978747392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,185037,6102.578,-17348.816,3,0.8,17,7.0,0.0,10.0,10,5.0