version: 66.13
glider: 401
mission: 22
dive: 842
start: 8 11 117 0 31 19
data:
$ID,401
$MISSION,22
$DIVE,842
$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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,110817,000731,6104.4087,-17348.2148,5,0.8,25,7.0,0.6,234.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-0.9
$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,0.039459,0.384424
$KALMAN_X,74979.398438,-807.370972,-160.077835,-265941.468750,-26.162064
$KALMAN_Y,-33718.664062,2347.925537,444.507446,232984.796875,-140.625671
$MHEAD_RNG_PITCHd_Wd,358.9,37677,-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,-487.5,2403,1952,2344,4092,0.0,0.0,0,20,6.20,0.00,-3.33,0.000,20482,0.023,0.000,1792,1952,2712,2712,4095,0,0,0,0,0,0,26.11,28.83,26.16,10.38,53.18
$GC,24,-1.72,-487.5,1791,1952,2713,4095,0.1,0.0,1,34,0.00,1.45,-3.15,0.000,16900,0.000,1.276,1792,1406,3054,3054,4095,0,0,0,0,0,0,26.34,24.84,26.34,10.47,52.75
$GC,116,-1.72,-487.5,1790,1406,3056,4095,7.0,-14.7,14,125,0.00,1.30,0.00,0.000,1030,0.000,0.025,1791,1945,3056,3056,4095,0,0,0,0,0,0,26.12,26.09,26.15,10.55,52.52
$GC,162,-1.72,-487.5,1790,1945,3057,4095,14.1,-15.7,20,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1945,3058,3058,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.55,52.59
$GC,206,-1.72,-487.5,1791,1945,3059,4095,20.6,-14.0,26,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1945,3059,3059,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.54,52.12
$GC,251,-1.72,-487.5,1790,1945,3060,4094,26.1,-11.8,32,260,0.00,1.42,0.00,0.000,260,0.000,0.047,1791,2484,3060,3060,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.51,51.37
$GC,297,-1.72,-487.5,1790,2483,3061,4094,31.6,-12.0,38,306,0.00,1.35,0.00,0.000,1030,0.000,0.027,1791,1946,3061,3061,4095,0,0,0,0,0,0,26.25,26.22,26.26,10.49,50.51
$GC,343,-1.72,-487.5,1790,1946,3062,4095,37.1,-11.9,44,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1946,3062,3062,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.47,49.33
$GC,388,-1.72,-487.5,1790,1945,3062,4095,42.3,-11.7,50,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1946,3063,3063,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,48.74
$GC,434,-1.72,-487.5,1790,1946,3064,4095,47.7,-12.3,56,443,0.00,1.35,0.00,0.000,516,0.000,0.052,1791,1419,3064,3064,4094,0,0,0,0,0,0,26.53,26.22,26.55,10.43,47.67
$GC,466,-1.72,-487.5,1790,1419,3064,4094,51.9,-12.4,60,476,0.00,1.27,0.00,0.000,1030,0.000,0.025,1791,1961,3065,3065,4095,0,0,0,0,0,0,26.35,26.32,26.39,10.42,47.55
$GC,513,-1.72,-487.5,1790,1961,3066,4095,57.5,-11.9,66,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1961,3066,3066,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,46.81
$STATE,536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,536,begin apogee
$GC,543,-0.45,0.0,1791,2135,3067,4095,60.7,-12.3,69,579,4.20,0.00,28.02,1.287,10244,0.056,0.000,2184,2135,2484,2484,4094,0,0,0,0,0,0,26.29,25.44,24.44,10.41,46.57
$STATE,580,end apogee,CONTROL_FINISHED_OK
$STATE,581,begin climb
$GC,584,1.72,487.5,2184,2135,2484,4094,63.5,0.0,73,628,7.25,0.00,27.67,1.255,11270,0.034,0.000,2878,2135,1919,1919,4094,0,0,0,0,0,0,25.68,25.82,24.06,10.29,45.70
$GC,666,1.72,487.5,2877,2135,1918,4094,56.8,12.4,83,675,0.00,1.40,0.00,0.000,516,0.000,0.045,2878,1612,1917,1917,4095,0,0,0,0,0,0,25.69,25.41,25.70,10.16,45.74
$GC,724,1.72,487.5,2878,1612,1915,4095,48.8,13.4,91,734,0.00,1.20,0.00,0.000,1030,0.000,0.027,2878,2096,1915,1915,4095,0,0,0,0,0,0,25.72,25.68,25.72,10.15,45.70
$GC,772,1.72,487.5,2877,2095,1914,4095,42.8,12.9,97,781,0.00,1.55,0.00,0.000,260,0.000,0.054,2878,2667,1914,1914,4094,0,0,0,0,0,0,26.01,25.71,26.02,10.14,45.51
$GC,804,1.72,487.5,2877,2667,1913,4094,38.3,13.4,101,814,0.00,1.48,0.00,0.000,1030,0.000,0.028,2878,2085,1913,1913,4094,0,0,0,0,0,0,25.86,25.83,25.88,10.14,46.37
$GC,850,1.72,487.5,2877,2085,1912,4094,32.4,12.9,107,860,0.00,1.23,0.00,0.000,516,0.000,0.048,2878,1613,1911,1911,4094,0,0,0,0,0,0,26.14,25.89,26.15,10.15,46.06
$GC,922,1.72,487.5,2877,1612,1910,4094,23.8,10.6,117,932,0.00,1.10,0.00,0.000,1030,0.000,0.025,2878,2084,1910,1910,4094,0,0,0,0,0,0,26.03,26.02,26.06,10.17,46.92
$GC,970,1.89,595.5,2877,2084,1909,4094,19.9,8.5,123,988,0.43,1.55,7.05,0.644,10500,0.041,0.050,2929,2670,1788,1788,4094,0,0,0,0,0,0,26.06,25.84,25.06,10.19,48.26
$GC,1045,1.94,632.3,2928,2669,1787,4094,12.7,9.5,133,1055,0.00,1.42,3.60,0.374,9222,0.000,0.028,2928,2102,1746,1746,4094,0,0,0,0,0,0,26.07,26.03,25.17,10.20,50.19
$GC,1093,2.10,740.8,2928,2101,1745,4094,8.6,8.5,139,1112,0.62,1.27,7.20,0.553,10756,0.029,0.053,2994,1608,1619,1619,4094,0,0,0,0,0,0,26.09,25.86,25.19,10.20,51.26
$STATE,1159,end climb,FINISH_DEPTH_REACHED
$STATE,1159,begin subsurface finish
$FINISH1,1.8,1.023888,119
$GC,1168,0.18,119.3,2994,2147,1617,4094,1.8,9.6,148,1188,6.15,1.45,-6.20,0.000,20740,0.035,1.274,2397,2682,2350,2350,4095,0,0,0,0,0,0,26.08,24.79,26.12,10.20,51.37
$FINISH2,0.3
$STATE,1189,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1189,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,224352
$TT8_MAMPS,0.026215,0.256158
$HUMID,52.20
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,24.06,22.818
$10V_AH,10.20,26.280
$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,24.850,25.400,73.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.027,0.000,140.457,622.599,65.943,33.428,398.565,0.000,363.779,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,1276.020,1287.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.803,407.554,322.447,477.762,620.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14265,150
$CAP_FILE_SIZE,32060,0
$CFSIZE,1024409600,978124800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,000731,6104.409,-17348.215,5,0.8,25,7.0,0.6,234.0,11,5.0