version: 66.13
glider: 401
mission: 22
dive: 831
start: 8 10 117 19 32 53
data:
$ID,401
$MISSION,22
$DIVE,831
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,100817,185037,6102.5781,-17348.8164,3,0.8,17,7.0,0.0,10.0,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.0
$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,0.053971,0.463047
$KALMAN_X,74915.195312,-1056.431396,-448.831879,-265910.750000,-20.745300
$KALMAN_Y,-31716.878906,2482.878906,513.116455,227380.390625,-147.410278
$MHEAD_RNG_PITCHd_Wd,359.6,41104,-8.0,-10.000,-12.11,11555
$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,-1.46,-487.5,2395,1955,2346,4092,0.0,0.0,0,18,5.30,0.00,-2.03,0.000,20482,0.026,0.000,1877,1955,2570,2570,4095,0,0,0,0,0,0,26.12,28.83,26.17,10.37,52.08
$GC,22,-1.46,-487.5,1877,1955,2570,4095,0.1,0.0,1,34,0.00,1.45,-4.43,0.000,16900,0.000,1.274,1877,1420,3058,3058,4095,0,0,0,0,0,0,26.35,24.86,26.36,10.41,51.81
$GC,55,-1.46,-487.5,1876,1420,3058,4095,1.7,-6.4,6,62,0.00,1.30,0.00,0.000,1030,0.000,0.026,1877,1965,3058,3058,4095,0,0,0,0,0,0,26.03,26.01,26.05,10.52,52.04
$GC,94,-1.46,-487.5,1876,1964,3059,4095,6.0,-11.4,12,100,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1965,3059,3059,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.53,52.52
$GC,132,-1.46,-487.5,1876,1965,3060,4095,10.5,-12.0,18,138,0.00,1.35,0.00,0.000,260,0.000,0.047,1876,2472,3060,3060,4094,0,0,0,0,0,0,26.32,26.01,26.33,10.52,51.89
$GC,170,-1.46,-487.5,1876,2472,3060,4094,15.0,-11.6,24,177,0.00,1.30,0.00,0.000,1030,0.000,0.028,1877,1954,3061,3061,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.53,51.49
$GC,209,-1.46,-487.5,1877,1954,3061,4094,19.5,-12.0,30,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1955,3062,3062,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.52,51.69
$GC,247,-1.46,-487.5,1877,1954,3062,4095,23.6,-10.3,36,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3062,3062,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.51,50.59
$GC,286,-1.46,-487.5,1876,1954,3063,4094,27.1,-8.9,42,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3063,3063,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.49,50.78
$GC,324,-1.46,-487.5,1876,1954,3063,4094,30.5,-8.7,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3063,3063,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.48,50.31
$GC,363,-1.46,-487.5,1877,1954,3064,4095,33.9,-8.9,54,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3064,3064,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.46,50.11
$GC,401,-1.46,-487.5,1876,1954,3065,4094,37.1,-8.3,60,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,48.93
$GC,439,-1.46,-487.5,1876,1954,3065,4095,40.5,-9.1,66,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1955,3065,3065,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.42,48.74
$GC,478,-1.46,-487.5,1876,1954,3066,4095,43.9,-8.8,72,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1955,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,47.75
$GC,516,-1.46,-487.5,1876,1954,3066,4095,47.4,-9.2,78,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3067,3067,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.40,47.28
$GC,555,-1.46,-487.5,1876,1954,3067,4094,50.9,-9.0,84,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1955,3067,3067,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.40,46.81
$GC,593,-1.46,-487.5,1877,1954,3068,4095,54.3,-9.2,90,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3068,3068,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.39,46.69
$GC,632,-1.46,-487.5,1876,1954,3068,4094,57.8,-8.9,96,637,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,1954,3068,3068,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.38,46.65
$STATE,655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,655,begin apogee
$GC,662,-0.45,0.0,1877,2140,3069,4095,60.2,-9.0,100,698,3.22,0.00,27.92,1.279,10244,0.049,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.32,25.45,24.46,10.38,46.61
$STATE,699,end apogee,CONTROL_FINISHED_OK
$STATE,699,begin climb
$GC,702,1.46,487.5,2186,2140,2484,4094,61.9,0.0,106,743,6.35,0.00,27.73,1.248,11270,0.035,0.000,2790,2140,1915,1915,4095,0,0,0,0,0,0,25.68,25.84,24.03,10.26,46.69
$GC,776,1.60,576.8,2789,2140,1915,4095,56.9,9.2,118,789,0.38,0.00,6.65,0.908,10246,0.039,0.000,2833,2140,1810,1810,4094,0,0,0,0,0,0,25.44,25.14,24.23,10.13,44.99
$GC,821,1.60,576.8,2833,2140,1810,4094,52.1,10.9,125,828,0.00,1.42,0.00,0.000,516,0.000,0.046,2833,1608,1810,1810,4094,0,0,0,0,0,0,25.73,25.45,25.75,10.11,45.35
$GC,878,1.60,576.8,2833,1607,1808,4094,46.0,10.5,134,884,0.00,1.25,0.00,0.000,1030,0.000,0.027,2833,2111,1809,1809,4094,0,0,0,0,0,0,25.70,25.68,25.73,10.10,45.55
$GC,917,1.60,576.8,2833,2111,1807,4094,42.0,10.3,140,923,0.00,1.52,0.00,0.000,260,0.000,0.055,2833,2672,1807,1807,4094,0,0,0,0,0,0,26.00,25.70,26.01,10.09,45.86
$GC,955,1.60,576.8,2833,2672,1806,4094,37.8,10.7,146,962,0.00,1.42,0.00,0.000,1030,0.000,0.027,2833,2106,1806,1806,4094,0,0,0,0,0,0,25.84,25.84,25.88,10.09,46.53
$GC,994,1.60,576.8,2833,2106,1806,4094,33.8,10.0,152,1001,0.00,1.30,0.00,0.000,516,0.000,0.048,2833,1608,1806,1806,4094,0,0,0,0,0,0,26.13,25.83,26.13,10.09,46.96
$GC,1075,1.66,621.5,2832,1607,1804,4094,25.9,9.6,165,1084,0.12,1.17,3.83,0.475,11270,0.047,0.027,2857,2092,1758,1758,4095,0,0,0,0,0,0,25.98,25.98,24.98,10.11,48.22
$GC,1117,1.66,622.9,2857,2091,1757,4095,21.8,10.0,171,1123,0.00,1.52,0.00,0.000,260,0.000,0.056,2857,2672,1757,1757,4094,0,0,0,0,0,0,26.23,25.91,26.25,10.12,48.81
$GC,1144,1.66,622.9,2856,2672,1757,4094,19.0,10.4,175,1150,0.00,1.48,0.00,0.000,1030,0.000,0.027,2857,2069,1757,1757,4094,0,0,0,0,0,0,26.08,26.01,26.10,10.13,48.97
$GC,1183,1.89,773.0,2857,2069,1756,4094,15.6,8.7,181,1197,0.62,1.20,9.32,0.676,10756,0.033,0.050,2927,1607,1581,1581,4094,0,0,0,0,0,0,26.07,25.82,25.07,10.16,50.59
$GC,1253,1.89,773.2,2927,1606,1580,4094,8.7,10.0,192,1260,0.00,1.12,0.00,0.000,1030,0.000,0.026,2927,2078,1579,1579,4095,0,0,0,0,0,0,26.03,26.01,26.05,10.14,51.61
$GC,1292,1.89,773.2,2927,2078,1578,4095,4.9,10.0,198,1299,0.00,1.58,0.00,0.000,260,0.000,0.055,2927,2671,1578,1578,4095,0,0,0,0,0,0,26.27,25.96,26.29,10.15,51.89
$STATE,1322,end climb,SURFACE_DEPTH_REACHED
$STATE,1322,begin surface coast
$FINISH,0.3,1.023947
$STATE,1335,end surface coast,CONTROL_FINISHED_OK
$STATE,1335,begin surface
$SM_CCo,1436,0.00,0.000,0,0,1576,780.47
$SM_GC,0.73,27.70,1.88,0.00,0.020,0.030,0.000,240,1952,1576,-6.55,1.18,780.47,0,0,0,0,0,0,26.10,26.08,26.15
$IRIDIUM_FIX,6149.06,-17422.35,100817,172106
$TT8_MAMPS,0.026215,0.103362
$HUMID,52.67
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,24.03,22.467
$10V_AH,10.44,25.974
$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,43.700,23.150,75.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,539.186,369.348,211.135,298.278,80.548,33.417,437.116,0.000,304.985,0.000,0.543,0.000
$DEVICE_MAMPS,48.960,1274.490,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,14318,205
$CAP_FILE_SIZE,42602,0
$CFSIZE,1024409600,978649088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100817,195748,6103.411,-17348.473,3,0.9,22,7.0,0.3,108.3,9,4.9