version: 66.13
glider: 401
mission: 22
dive: 856
start: 8 11 117 7 34 49
data:
$ID,401
$MISSION,22
$DIVE,856
$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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,28
$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
$GPS1,110817,072526,6107.6328,-17349.4258,4,1.0,39,7.0,0.4,123.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-37.9
$GPS2,110817,073340,6107.6543,-17349.3281,8,0.9,53,7.0,0.0,63.0,8,3.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.038542,0.504818
$KALMAN_X,72356.976562,-911.767151,-242.768280,-264199.843750,153.016846
$KALMAN_Y,-35860.710938,2499.662598,771.812683,240617.796875,80.278870
$MHEAD_RNG_PITCHd_Wd,348.6,31826,-6.8,-10.000,-11.17,14199
$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,-1.35,-487.5,229,1942,1615,4092,0.0,0.0,0,21,9.90,0.00,0.00,0.000,2049,0.086,0.000,1093,1940,1615,1615,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,51.85
$GC,24,-1.35,-487.5,1092,1939,1615,4094,0.6,0.0,1,52,8.48,1.42,-13.12,0.000,18948,0.042,1.281,1899,1422,3055,3055,4094,0,0,0,0,0,0,26.06,24.76,26.12,10.28,51.65
$GC,195,-1.35,-487.5,1898,1421,3059,4094,15.0,-11.3,25,204,0.00,1.27,0.00,0.000,1030,0.000,0.024,1899,1960,3059,3059,4094,0,0,0,0,0,0,26.19,26.15,26.20,10.58,50.70
$GC,241,-1.35,-487.5,1899,1959,3059,4094,19.7,-9.6,31,251,0.00,1.35,0.00,0.000,260,0.000,0.045,1899,2472,3060,3060,4095,0,0,0,0,0,0,26.41,26.11,26.43,10.58,49.60
$GC,268,-1.35,-487.5,1899,2472,3060,4095,22.3,-9.7,34,277,0.00,1.25,0.00,0.000,1030,0.000,0.026,1899,1966,3060,3060,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.57,49.52
$GC,314,-1.35,-487.5,1898,1966,3061,4095,26.3,-8.3,40,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1966,3061,3061,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.54,48.77
$GC,359,-1.35,-487.5,1899,1965,3061,4095,30.0,-8.0,46,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1966,3061,3061,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.51,48.58
$GC,405,-1.35,-487.5,1899,1966,3062,4095,33.6,-8.1,52,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1966,3062,3062,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.49,48.30
$GC,451,-1.35,-487.5,1899,1966,3062,4095,37.1,-7.4,58,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1966,3062,3062,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.47,46.77
$GC,496,-1.35,-487.5,1899,1966,3063,4095,40.6,-8.0,64,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1966,3062,3062,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.45,45.98
$GC,542,-1.35,-487.5,1899,1966,3064,4095,44.3,-8.1,70,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1966,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.44,45.47
$GC,587,-1.35,-487.5,1899,1966,3064,4095,48.0,-8.0,76,596,0.00,1.40,0.00,0.000,516,0.000,0.052,1899,1419,3064,3064,4095,0,0,0,0,0,0,26.60,26.28,26.60,10.43,44.76
$GC,620,-1.35,-487.5,1898,1419,3065,4095,50.7,-8.3,80,628,0.00,1.30,0.00,0.000,1030,0.000,0.024,1899,1972,3065,3065,4095,0,0,0,0,0,0,26.45,26.38,26.42,10.43,44.64
$GC,666,-1.35,-487.5,1899,1972,3066,4095,54.6,-8.4,86,674,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1972,3066,3066,4095,0,0,0,0,0,0,26.63,26.63,26.63,10.41,44.68
$GC,711,-1.35,-487.5,1899,1971,3066,4095,58.4,-8.3,92,720,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1972,3066,3066,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.40,44.92
$STATE,728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,728,begin apogee
$GC,735,-0.45,0.0,1899,2140,3067,4094,60.0,-8.3,94,770,3.00,0.00,27.98,1.259,10244,0.048,0.000,2186,2140,2483,2483,4094,0,0,0,0,0,0,26.36,25.49,24.52,10.40,44.64
$STATE,771,end apogee,CONTROL_FINISHED_OK
$STATE,771,begin climb
$GC,774,1.35,487.5,2186,2140,2483,4094,61.8,0.0,98,811,6.00,0.00,27.65,1.231,11270,0.036,0.000,2762,2140,1915,1915,4094,0,0,0,0,0,0,25.72,25.89,24.07,10.28,44.25
$GC,849,1.68,708.2,2761,2139,1915,4094,57.3,8.4,107,869,0.95,1.45,13.55,1.087,10756,0.029,0.045,2866,1613,1659,1659,4094,0,0,0,0,0,0,25.49,25.10,24.16,10.16,43.93
$GC,919,1.68,708.2,2865,1613,1658,4094,49.7,10.9,116,928,0.00,1.23,0.00,0.000,1030,0.000,0.025,2866,2107,1657,1657,4094,0,0,0,0,0,0,25.56,25.53,25.58,10.09,44.25
$GC,966,1.68,708.2,2866,2107,1656,4094,44.9,10.4,122,975,0.00,1.55,0.00,0.000,260,0.000,0.054,2866,2675,1656,1656,4095,0,0,0,0,0,0,25.91,25.60,25.91,10.08,44.64
$GC,999,1.68,708.2,2865,2674,1655,4095,41.2,10.8,126,1008,0.00,1.42,0.00,0.000,1030,0.000,0.027,2866,2106,1655,1655,4094,0,0,0,0,0,0,25.78,25.76,25.79,10.08,44.64
$GC,1045,1.68,708.2,2866,2106,1654,4094,36.3,10.4,132,1055,0.00,1.30,0.00,0.000,516,0.000,0.048,2866,1609,1654,1654,4094,0,0,0,0,0,0,26.07,25.77,26.08,10.08,45.74
$GC,1138,1.68,708.2,2865,1609,1652,4094,26.8,10.1,145,1148,0.00,1.15,0.00,0.000,1030,0.000,0.026,2866,2087,1652,1652,4094,0,0,0,0,0,0,26.00,25.97,26.01,10.08,46.22
$GC,1186,1.68,708.2,2865,2086,1651,4094,22.1,10.1,151,1196,0.00,1.58,0.00,0.000,260,0.000,0.056,2866,2669,1651,1651,4094,0,0,0,0,0,0,26.27,25.94,26.27,10.10,46.77
$GC,1226,1.70,715.2,2865,2669,1650,4094,18.0,9.9,156,1235,0.00,1.45,0.00,0.000,1030,0.000,0.027,2866,2089,1650,1650,4094,0,0,0,0,0,0,26.08,26.08,26.07,10.13,48.22
$GC,1272,2.06,957.8,2866,2089,1649,4094,14.0,8.2,162,1292,1.10,1.27,13.88,0.703,10756,0.028,0.049,2984,1601,1366,1366,4094,0,0,0,0,0,0,26.14,25.79,25.06,10.15,50.00
$GC,1403,2.43,1207.1,2982,1601,1363,4094,2.2,8.2,180,1414,1.15,1.10,5.35,0.441,11266,0.023,0.025,3100,2063,1279,1279,4094,0,0,0,0,0,0,26.08,26.05,26.09,10.13,51.73
$STATE,1415,end climb,FINISH_DEPTH_REACHED
$STATE,1415,begin subsurface finish
$FINISH1,1.3,1.023892,119
$GC,1423,0.18,119.1,3100,2169,1279,4094,1.3,7.9,181,1450,7.15,1.35,-9.05,0.000,20740,0.024,1.278,2401,2652,2351,2351,4094,0,0,0,0,0,0,26.01,24.75,26.07,10.13,51.61
$FINISH2,0.1
$STATE,1451,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1452,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,060217
$TT8_MAMPS,0.025466,0.25466
$HUMID,53.07
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,24.07,23.316
$10V_AH,10.19,26.711
$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,37.725,23.400,88.400,0.000,0.000,23.171,21.049,250.773,0.000,0.000,54.826,507.858,0.000,164.165,1094.943,197.434,33.453,475.170,0.000,445.622,0.000,0.542,0.000
$DEVICE_MAMPS,86.445,1280.610,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.238,499.932,395.586,586.623,762.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,17885,184
$CAP_FILE_SIZE,42782,0
$CFSIZE,1024409600,977403904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110817,073340,6107.654,-17349.328,8,0.9,53,7.0,0.0,63.0,8,3.0