version: 66.13
glider: 401
mission: 22
dive: 845
start: 8 11 117 1 54 24
data:
$ID,401
$MISSION,22
$DIVE,845
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,110817,012743,6104.4365,-17348.9570,8,0.8,18,7.0,0.0,252.0,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-2.8
$GPS2,110817,012743,6104.4365,-17348.9570,8,0.8,18,7.0,0.0,252.0,11,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.132227,0.498229
$KALMAN_X,74180.500000,-866.643433,-230.476868,-265715.968750,-109.103745
$KALMAN_Y,-35103.906250,2214.425781,336.746735,234657.859375,-188.998962
$MHEAD_RNG_PITCHd_Wd,7.9,37695,-6.6,-10.000,-10.98,14856
$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,-1.33,-487.5,2415,1950,2329,4092,0.0,0.0,0,18,5.00,0.00,-2.42,0.000,20482,0.021,0.000,1918,1950,2601,2601,4095,0,0,0,0,0,0,26.08,28.83,26.13,10.43,48.93
$GC,22,-1.33,-487.5,1918,1951,2600,4095,0.1,0.0,1,34,0.00,1.48,-4.12,0.000,16900,0.000,1.265,1918,1410,3058,3058,4094,0,0,0,0,0,0,26.29,24.79,26.30,10.49,48.66
$GC,121,-1.33,-487.5,1917,1410,3059,4094,3.4,-9.4,17,128,0.00,1.27,0.00,0.000,1030,0.000,0.024,1918,1977,3059,3059,4095,0,0,0,0,0,0,26.10,26.09,26.11,10.60,49.25
$GC,160,-1.33,-487.5,1917,1980,3060,4095,7.0,-9.0,23,167,0.00,1.20,0.00,0.000,260,0.000,0.035,1918,2445,3060,3060,4094,0,0,0,0,0,0,26.31,26.03,26.32,10.60,49.21
$GC,241,-1.33,-487.5,1917,2445,3061,4094,14.0,-8.4,36,248,0.00,1.23,0.00,0.000,1030,0.000,0.028,1918,1958,3061,3061,4095,0,0,0,0,0,0,26.17,26.13,26.19,10.60,49.56
$GC,282,-1.33,-487.5,1917,1958,3061,4095,17.1,-7.6,42,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,1958,3062,3062,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.60,49.37
$GC,321,-1.33,-487.5,1917,1958,3062,4095,20.1,-7.3,48,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,1958,3062,3062,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.60,49.01
$GC,359,-1.33,-487.5,1917,1958,3062,4095,22.9,-7.3,54,366,0.00,1.27,0.00,0.000,260,0.000,0.036,1918,2446,3062,3062,4095,0,0,0,0,0,0,26.47,26.19,26.48,10.59,48.54
$GC,458,-1.33,-487.5,1917,2446,3064,4095,29.4,-6.7,70,465,0.00,1.17,0.00,0.000,1030,0.000,0.025,1918,1965,3064,3064,4094,0,0,0,0,0,0,26.30,26.27,26.32,10.54,47.83
$GC,498,-1.33,-487.5,1917,1964,3064,4094,32.3,-7.4,76,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,1965,3064,3064,4095,0,0,0,0,0,0,26.55,26.55,26.55,10.53,47.24
$GC,536,-1.33,-487.5,1917,1965,3064,4095,35.5,-8.4,82,543,0.00,1.27,0.00,0.000,260,0.000,0.039,1918,2450,3065,3065,4095,0,0,0,0,0,0,26.56,26.27,26.57,10.51,46.88
$GC,593,-1.33,-487.5,1917,2450,3066,4095,40.1,-8.1,91,600,0.00,1.12,0.00,0.000,1030,0.000,0.024,1918,1992,3066,3066,4094,0,0,0,0,0,0,26.37,26.35,26.39,10.49,45.86
$GC,633,-1.33,-487.5,1917,1992,3066,4094,43.3,-7.8,97,639,0.00,1.48,0.00,0.000,516,0.000,0.052,1918,1417,3066,3066,4095,0,0,0,0,0,0,26.60,26.29,26.61,10.47,45.31
$GC,672,-1.33,-487.5,1917,1417,3067,4095,46.6,-8.5,103,679,0.00,1.20,0.00,0.000,1030,0.000,0.024,1918,1950,3067,3067,4095,0,0,0,0,0,0,26.41,26.41,26.44,10.46,44.92
$GC,711,-1.33,-487.5,1917,1950,3067,4095,49.8,-7.8,109,718,0.00,1.30,0.00,0.000,260,0.000,0.039,1918,2454,3068,3068,4094,0,0,0,0,0,0,26.63,26.34,26.64,10.45,45.19
$GC,762,-1.33,-487.5,1917,2454,3068,4094,54.1,-8.6,117,769,0.00,1.15,0.00,0.000,1030,0.000,0.025,1918,1987,3068,3068,4094,0,0,0,0,0,0,26.44,26.41,26.45,10.44,44.60
$GC,802,-1.33,-487.5,1917,1986,3069,4094,57.4,-8.2,123,808,0.00,1.45,0.00,0.000,516,0.000,0.053,1918,1419,3069,3069,4094,0,0,0,0,0,0,26.66,26.34,26.67,10.43,44.72
$STATE,832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,832,begin apogee
$GC,840,-0.45,0.0,1917,2119,3069,4095,60.2,-8.7,128,876,2.78,0.00,27.80,1.253,10244,0.049,0.000,2187,2119,2485,2485,4095,0,0,0,0,0,0,26.38,25.53,24.55,10.43,45.23
$STATE,877,end apogee,CONTROL_FINISHED_OK
$STATE,877,begin climb
$GC,880,1.33,487.5,2186,2119,2484,4095,62.8,0.0,134,916,5.85,0.00,27.52,1.235,11270,0.034,0.000,2753,2118,1915,1915,4094,0,0,0,0,0,0,25.76,25.92,24.08,10.31,44.60
$GC,949,1.49,595.3,2753,2118,1915,4094,58.7,9.3,145,963,0.43,1.38,7.62,0.955,10756,0.034,0.041,2800,1604,1790,1790,4094,0,0,0,0,0,0,25.46,25.21,24.24,10.18,43.81
$GC,1116,1.49,595.3,2799,1604,1786,4094,41.4,10.6,172,1122,0.00,1.20,0.00,0.000,1030,0.000,0.025,2800,2098,1786,1786,4094,0,0,0,0,0,0,25.88,25.85,25.89,10.13,45.82
$GC,1154,1.49,595.3,2800,2098,1785,4094,37.4,10.4,178,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1784,1784,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.13,45.58
$GC,1192,1.49,595.3,2799,2098,1784,4094,33.3,10.6,184,1199,0.00,1.30,0.00,0.000,516,0.000,0.047,2800,1607,1784,1784,4094,0,0,0,0,0,0,26.20,25.91,26.21,10.13,46.10
$GC,1268,1.53,618.3,2799,1607,1782,4094,25.8,9.8,196,1275,0.00,1.08,2.72,0.278,9222,0.000,0.024,2800,2067,1762,1762,4094,0,0,0,0,0,0,26.09,26.08,25.06,10.14,46.92
$GC,1308,1.59,663.3,2799,2067,1762,4094,22.0,9.7,202,1322,0.28,1.60,4.15,0.481,10500,0.043,0.050,2840,2674,1709,1709,4094,0,0,0,0,0,0,26.10,25.91,25.10,10.16,47.99
$GC,1354,1.63,687.5,2839,2673,1709,4094,17.3,9.8,209,1362,0.00,1.50,3.05,0.315,9222,0.000,0.027,2840,2066,1682,1682,4094,0,0,0,0,0,0,26.13,26.07,25.16,10.18,49.05
$GC,1395,1.83,822.4,2839,2066,1681,4094,13.6,9.1,215,1409,0.62,1.20,8.48,0.627,10756,0.031,0.049,2909,1603,1524,1524,4094,0,0,0,0,0,0,26.10,25.86,25.15,10.19,50.59
$STATE,1507,end climb,FINISH_DEPTH_REACHED
$STATE,1507,begin subsurface finish
$FINISH1,1.5,1.023796,126
$GC,1515,0.19,125.7,2909,2141,1521,4094,1.5,10.7,233,1535,5.10,1.45,-6.95,0.000,20996,0.021,1.274,2402,1604,2340,2340,4094,0,0,0,0,0,0,26.11,24.84,26.16,10.19,52.55
$FINISH2,0.1
$STATE,1536,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1536,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,000140
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.93
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,24.08,22.915
$10V_AH,10.49,26.355
$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,20.050,32.225,81.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,608.823,390.846,180.392,341.730,73.341,33.430,417.089,0.000,348.749,0.000,0.543,0.000
$DEVICE_MAMPS,48.960,1274.490,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,158.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,17667,236
$CAP_FILE_SIZE,41663,0
$CFSIZE,1024409600,977944576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,012743,6104.437,-17348.957,8,0.8,18,7.0,0.0,252.0,11,4.8