version: 66.13
glider: 401
mission: 22
dive: 841
start: 8 11 117 0 8 40
data:
$ID,401
$MISSION,22
$DIVE,841
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,100817,235919,6104.4761,-17348.1445,4,0.8,20,7.0,0.5,243.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-41.7
$GPS2,110817,000731,6104.4087,-17348.2148,5,0.8,25,7.0,0.6,234.0,11,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.065599,0.747161
$KALMAN_X,75046.554688,-810.084534,-158.855545,-266005.000000,-3.850357
$KALMAN_Y,-33285.738281,2505.619873,591.312500,232229.078125,-164.114624
$MHEAD_RNG_PITCHd_Wd,358.0,37677,-1.5,-10.000,-7.59,38478
$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,-0.87,-487.5,231,1967,1902,4092,0.0,0.0,0,18,7.15,0.00,0.00,0.000,2049,0.100,0.000,837,1967,1901,1901,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.33,50.47
$GC,21,-0.87,-487.5,837,1967,1902,4094,0.8,0.0,1,52,12.93,1.48,-10.40,0.000,18948,0.046,1.271,2058,1415,3055,3055,4095,0,0,0,0,0,0,26.02,24.76,26.08,10.34,51.37
$GC,168,-0.87,-487.5,2058,1415,3056,4095,9.2,-9.0,25,174,0.00,1.27,0.00,0.000,1030,0.000,0.024,2059,1978,3057,3057,4095,0,0,0,0,0,0,26.15,26.13,26.15,10.59,49.84
$GC,207,-0.87,-487.5,2058,1979,3057,4095,12.6,-8.5,31,214,0.00,1.25,0.00,0.000,260,0.000,0.041,2058,2455,3057,3057,4094,0,0,0,0,0,0,26.36,26.07,26.37,10.59,49.68
$GC,258,-0.87,-487.5,2058,2455,3058,4094,17.5,-9.9,39,265,0.00,1.17,0.00,0.000,1030,0.000,0.027,2058,1983,3058,3058,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.58,50.31
$GC,298,-0.87,-487.5,2058,1982,3059,4095,21.3,-9.6,45,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1983,3059,3059,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.57,49.60
$GC,336,-0.87,-487.5,2058,1983,3060,4095,25.1,-9.7,51,342,0.00,1.25,0.00,0.000,260,0.000,0.041,2058,2455,3060,3060,4094,0,0,0,0,0,0,26.46,26.16,26.46,10.56,49.37
$GC,381,-0.87,-487.5,2058,2454,3060,4094,29.7,-10.3,58,387,0.00,1.17,0.00,0.000,1030,0.000,0.026,2058,1978,3061,3061,4095,0,0,0,0,0,0,26.26,26.22,26.28,10.54,48.30
$GC,420,-0.87,-487.5,2058,1977,3062,4095,33.7,-10.2,64,426,0.00,1.25,0.00,0.000,260,0.000,0.041,2058,2451,3061,3061,4094,0,0,0,0,0,0,26.50,26.21,26.51,10.51,47.32
$GC,434,-0.87,-487.5,2057,2451,3062,4094,35.3,-11.0,66,440,0.00,1.05,0.00,0.000,1030,0.000,0.025,2058,2027,3062,3062,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.50,47.04
$GC,473,-0.87,-487.5,2058,2027,3062,4094,39.4,-10.3,72,479,0.00,1.12,0.00,0.000,260,0.000,0.042,2058,2452,3062,3062,4095,0,0,0,0,0,0,26.53,26.24,26.53,10.49,46.57
$GC,541,-0.87,-487.5,2058,2451,3064,4095,46.8,-11.1,83,548,0.00,0.93,0.00,0.000,1030,0.000,0.024,2058,2065,3064,3064,4094,0,0,0,0,0,0,26.36,26.34,26.38,10.46,45.35
$GC,581,-0.87,-487.5,2058,2065,3064,4094,51.1,-10.7,89,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2065,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.45,45.43
$GC,619,-0.87,-487.5,2058,2065,3065,4095,55.1,-10.5,95,625,0.00,1.62,0.00,0.000,516,0.000,0.051,2059,1419,3066,3066,4095,0,0,0,0,0,0,26.59,26.27,26.60,10.44,44.56
$GC,633,-0.87,-487.5,2058,1418,3066,4095,56.6,-11.0,97,639,0.00,1.38,0.00,0.000,1030,0.000,0.024,2059,2006,3066,3066,4095,0,0,0,0,0,0,26.39,26.37,26.41,10.44,44.68
$STATE,663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,663,begin apogee
$GC,670,-0.45,0.0,2058,2135,3066,4094,60.1,-10.0,102,705,1.12,0.00,27.58,1.267,10244,0.028,0.000,2178,2135,2487,2487,4094,0,0,0,0,0,0,26.39,25.21,24.49,10.43,44.60
$STATE,706,end apogee,CONTROL_FINISHED_OK
$STATE,706,begin climb
$GC,709,0.87,487.5,2178,2135,2487,4094,63.7,0.0,108,745,4.40,0.00,27.80,1.258,11270,0.034,0.000,2601,2135,1916,1916,4094,0,0,0,0,0,0,25.68,25.88,24.04,10.31,44.09
$GC,778,1.40,841.9,2600,2134,1915,4094,60.0,9.1,119,808,1.83,0.00,20.67,1.172,10246,0.031,0.000,2781,2135,1501,1501,4094,0,0,0,0,0,0,25.43,24.68,24.01,10.19,43.77
$GC,840,1.40,841.9,2780,2135,1500,4094,52.5,14.4,129,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2135,1500,1500,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.08,44.52
$GC,878,1.40,841.9,2780,2134,1499,4094,46.9,15.2,135,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2135,1499,1499,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.08,44.01
$GC,916,1.40,841.9,2780,2135,1497,4094,41.2,15.4,141,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2135,1497,1497,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.07,44.32
$GC,954,1.40,841.9,2780,2134,1496,4094,35.6,15.3,147,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2135,1496,1496,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.07,44.68
$GC,992,1.40,841.9,2780,2134,1495,4094,29.9,14.8,153,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2135,1495,1495,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.08,45.78
$GC,1030,1.40,841.9,2780,2134,1493,4094,24.2,14.6,159,1037,0.00,1.40,0.00,0.000,516,0.000,0.044,2781,1605,1493,1493,4094,0,0,0,0,0,0,26.11,25.82,26.13,10.09,45.19
$GC,1147,1.40,841.9,2780,1605,1489,4094,7.6,14.0,178,1154,0.00,1.23,0.00,0.000,1030,0.000,0.025,2781,2113,1488,1488,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.15,49.60
$GC,1186,1.40,841.9,2780,2113,1487,4094,2.5,13.0,184,1193,0.00,1.48,0.00,0.000,260,0.000,0.051,2781,2667,1486,1486,4094,0,0,0,0,0,0,26.30,26.00,26.31,10.16,51.18
$STATE,1198,end climb,FINISH_DEPTH_REACHED
$STATE,1198,begin subsurface finish
$FINISH1,0.5,1.023799,126
$GC,1207,0.19,125.6,2781,2132,1486,4094,0.5,13.1,186,1226,3.80,1.50,-7.28,0.000,20740,0.022,1.275,2403,2667,2344,2344,4095,0,0,0,0,0,0,26.10,24.83,26.14,10.17,51.53
$FINISH2,0.1
$STATE,1227,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1227,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,224352
$TT8_MAMPS,0.025466,0.131075
$HUMID,51.65
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,24.01,22.794
$10V_AH,10.43,26.246
$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,31.225,22.125,76.050,0.000,0.000,23.937,17.396,277.998,0.000,0.000,26.516,486.290,277.434,188.162,601.151,186.149,33.478,403.484,0.000,284.056,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1275.255,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,14326,189
$CAP_FILE_SIZE,40215,0
$CFSIZE,1024409600,978157568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110817,000731,6104.409,-17348.215,5,0.8,25,7.0,0.6,234.0,11,5.0