version: 66.13
glider: 401
mission: 22
dive: 843
start: 8 11 117 0 53 20
data:
$ID,401
$MISSION,22
$DIVE,843
$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,17
$R_STBD_OVSHOOT,24
$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,0.22
$_SM_ANGLEo,-2.0
$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,0.070221,0.515990
$KALMAN_X,74918.179688,-797.998474,-153.703232,-265897.406250,-54.341019
$KALMAN_Y,-34181.363281,2364.143311,466.990692,233397.984375,-326.810699
$MHEAD_RNG_PITCHd_Wd,0.7,37677,-6.5,-10.000,-10.87,15241
$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,6,begin dive
$GC,9,-1.32,-487.5,2397,1955,2350,4092,0.0,0.0,0,18,4.88,0.00,-1.92,0.000,20482,0.030,0.000,1921,1955,2564,2564,4095,0,0,0,0,0,0,26.12,28.83,26.17,10.38,52.44
$GC,22,-1.32,-487.5,1921,1955,2564,4095,0.0,0.0,1,34,0.00,1.48,-4.47,0.000,16900,0.000,1.276,1921,1409,3058,3058,4095,0,0,0,0,0,0,26.34,24.84,26.34,10.41,52.55
$GC,85,-1.32,-487.5,1920,1409,3058,4095,4.6,-9.7,11,92,0.00,1.33,0.00,0.000,1030,0.000,0.026,1921,1976,3059,3059,4095,0,0,0,0,0,0,26.08,26.10,26.10,10.54,52.36
$GC,124,-1.32,-487.5,1920,1977,3060,4095,8.1,-9.0,17,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1978,3060,3060,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.54,51.77
$GC,163,-1.32,-487.5,1920,1977,3060,4094,11.6,-8.9,23,169,0.00,1.52,0.00,0.000,516,0.000,0.055,1921,1403,3060,3060,4094,0,0,0,0,0,0,26.34,26.03,26.36,10.54,52.44
$GC,177,-1.32,-487.5,1920,1403,3060,4094,13.0,-9.1,25,184,0.00,1.25,0.00,0.000,1030,0.000,0.026,1921,1952,3061,3061,4094,0,0,0,0,0,0,26.17,26.15,26.17,10.54,51.96
$GC,216,-1.32,-487.5,1920,1952,3061,4094,16.5,-8.6,31,223,0.00,1.33,0.00,0.000,260,0.000,0.042,1920,2453,3061,3061,4095,0,0,0,0,0,0,26.39,26.09,26.40,10.54,51.85
$GC,249,-1.32,-487.5,1920,2452,3062,4095,19.7,-9.5,36,256,0.00,1.25,0.00,0.000,1030,0.000,0.028,1920,1956,3062,3062,4095,0,0,0,0,0,0,26.20,26.16,26.22,10.54,51.65
$GC,290,-1.32,-487.5,1920,1955,3062,4095,23.4,-9.3,42,297,0.00,1.40,0.00,0.000,516,0.000,0.056,1921,1415,3062,3062,4095,0,0,0,0,0,0,26.44,26.13,26.45,10.53,50.98
$GC,336,-1.32,-487.5,1920,1415,3063,4095,27.7,-9.1,49,342,0.00,1.20,0.00,0.000,1030,0.000,0.025,1921,1944,3063,3063,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.52,50.51
$GC,375,-1.32,-487.5,1920,1944,3064,4095,31.2,-9.1,55,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1944,3064,3064,4094,0,0,0,0,0,0,26.49,26.50,26.50,10.49,50.07
$GC,413,-1.32,-487.5,1920,1944,3064,4094,34.7,-9.1,61,420,0.00,1.40,0.00,0.000,516,0.000,0.055,1921,1411,3065,3065,4095,0,0,0,0,0,0,26.51,26.19,26.52,10.48,49.60
$GC,501,-1.32,-487.5,1920,1411,3066,4095,42.8,-9.3,75,507,0.00,1.12,0.00,0.000,1030,0.000,0.025,1921,1916,3066,3066,4095,0,0,0,0,0,0,26.36,26.36,26.39,10.44,48.07
$GC,540,-1.32,-487.5,1920,1916,3067,4095,46.4,-9.2,81,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1916,3067,3067,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.43,47.83
$GC,578,-1.32,-487.5,1920,1916,3067,4095,50.0,-9.0,87,584,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1916,3068,3068,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.42,47.55
$GC,617,-1.32,-487.5,1920,1915,3068,4094,53.6,-9.6,93,623,0.00,1.40,0.00,0.000,260,0.000,0.041,1921,2451,3068,3068,4095,0,0,0,0,0,0,26.60,26.30,26.61,10.41,46.81
$GC,668,-1.32,-487.5,1920,2451,3069,4095,58.6,-10.1,101,674,0.00,1.38,0.00,0.000,1030,0.000,0.029,1921,1905,3069,3069,4095,0,0,0,0,0,0,26.39,26.36,26.41,10.40,46.57
$STATE,679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,679,begin apogee
$GC,686,-0.45,0.0,1920,2120,3069,4095,60.0,-10.3,103,722,2.70,0.00,27.95,1.259,10244,0.041,0.000,2186,2120,2484,2484,4093,0,0,0,0,0,0,26.36,25.48,24.50,10.39,46.18
$STATE,723,end apogee,CONTROL_FINISHED_OK
$STATE,723,begin climb
$GC,726,1.32,487.5,2187,2120,2484,4093,63.1,0.0,109,768,5.80,1.38,27.55,1.249,10756,0.032,0.044,2747,1599,1915,1915,4094,0,0,0,0,0,0,25.67,25.62,24.04,10.28,46.14
$GC,801,1.66,712.2,2747,1598,1914,4094,59.2,8.5,121,821,1.00,1.33,13.80,1.106,11270,0.023,0.025,2860,2129,1654,1654,4094,0,0,0,0,0,0,25.48,25.45,24.14,10.15,44.88
$GC,853,1.73,759.4,2860,2129,1653,4094,54.2,9.7,129,867,0.10,1.48,4.40,0.695,10500,0.070,0.051,2882,2673,1598,1598,4094,0,0,0,0,0,0,25.49,25.27,24.30,10.09,45.78
$GC,912,1.80,809.7,2881,2672,1597,4094,48.4,9.7,138,925,0.10,1.33,4.50,0.675,11270,0.046,0.025,2898,2131,1540,1540,4094,0,0,0,0,0,0,25.60,25.63,24.49,10.07,45.35
$GC,958,1.83,827.7,2897,2131,1539,4094,44.0,9.9,145,966,0.00,1.33,2.83,0.357,8708,0.000,0.045,2898,1624,1519,1519,4094,0,0,0,0,0,0,25.90,25.53,24.58,10.06,45.62
$GC,1058,2.04,966.2,2898,1624,1517,4094,34.7,9.1,161,1073,0.68,1.23,8.90,0.815,11270,0.025,0.027,2980,2125,1357,1357,4094,0,0,0,0,0,0,25.89,25.86,24.74,10.05,46.49
$GC,1105,2.04,966.2,2980,2125,1356,4094,29.8,10.4,168,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2125,1356,1356,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.03,47.12
$GC,1143,2.04,966.2,2980,2125,1355,4094,25.9,10.1,174,1150,0.00,1.33,0.00,0.000,516,0.000,0.047,2981,1629,1355,1355,4094,0,0,0,0,0,0,26.09,25.80,26.10,10.04,47.71
$GC,1194,2.27,1121.0,2980,1628,1354,4094,21.1,9.0,182,1213,0.62,1.12,9.52,0.715,11270,0.029,0.026,3053,2100,1178,1178,4094,0,0,0,0,0,0,25.96,25.95,24.92,10.07,48.54
$GC,1246,2.48,1261.7,3053,2099,1175,4094,16.2,9.1,190,1259,0.55,0.00,8.93,0.659,10246,0.033,0.000,3113,2100,1013,1013,4094,0,0,0,0,0,0,25.87,25.60,24.92,10.06,50.59
$GC,1292,2.52,1290.4,3112,2099,1012,4094,11.7,9.8,197,1300,0.10,0.00,3.30,0.334,10246,0.078,0.000,3131,2100,980,980,4094,0,0,0,0,0,0,25.86,25.65,24.98,10.04,51.33
$GC,1332,2.52,1290.4,3131,2099,979,4094,7.6,10.1,203,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2099,978,978,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.04,51.65
$GC,1370,2.52,1290.4,3131,2099,977,4094,3.7,10.0,209,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2100,977,977,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.05,52.00
$STATE,1387,end climb,SURFACE_DEPTH_REACHED
$STATE,1387,begin surface coast
$FINISH,0.1,1.023877
$STATE,1406,end surface coast,CONTROL_FINISHED_OK
$STATE,1406,begin surface
$SM_CCo,1508,0.00,0.000,0,0,975,1297.34
$SM_GC,0.26,29.85,0.32,0.00,0.020,0.050,0.000,240,1970,975,-6.55,2.37,1297.34,0,0,0,0,0,0,26.02,25.98,26.06
$IRIDIUM_FIX,6149.06,-17422.35,100817,224352
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.15
$INTERNAL_PRESSURE,10.0137
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.04,22.851
$10V_AH,10.45,26.294
$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,46.375,29.275,111.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,562.311,380.594,235.574,312.000,80.692,33.416,471.815,0.000,319.189,0.000,0.542,0.000
$DEVICE_MAMPS,78.030,1276.020,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,143.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,17713,215
$CAP_FILE_SIZE,46184,0
$CFSIZE,1024409600,978042880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,011931,6104.483,-17348.828,7,0.8,26,7.0,0.0,247.0,11,5.0