version: 66.13
glider: 401
mission: 22
dive: 847
start: 8 11 117 3 0 20
data:
$ID,401
$MISSION,22
$DIVE,847
$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,27
$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
$GPS1,110817,024934,6104.6284,-17349.6699,4,0.8,25,7.0,0.0,243.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-15.9
$GPS2,110817,025911,6104.6094,-17349.8223,8,0.8,15,7.0,0.4,218.3,10,4.6
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.132188,0.398698
$KALMAN_X,73273.820312,-943.844055,-313.849426,-265456.687500,-115.821259
$KALMAN_Y,-35963.457031,2217.534668,355.887146,235802.531250,-181.182220
$MHEAD_RNG_PITCHd_Wd,11.3,37471,-9.6,-10.000,-13.39,8937
$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,-1.60,-487.5,238,1950,961,4092,0.0,0.0,0,18,7.18,0.00,0.00,0.000,2049,0.076,0.000,872,1951,961,961,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.15,50.63
$GC,21,-1.60,-487.5,872,1951,961,4094,0.4,0.0,1,57,10.07,1.42,-18.42,0.000,18948,0.048,1.272,1818,1416,3057,3057,4095,0,0,0,0,0,0,25.96,24.72,26.03,10.15,50.23
$GC,288,-1.60,-487.5,1817,1415,3057,4095,-0.1,0.1,45,295,0.00,1.27,0.00,0.000,1030,0.000,0.025,1818,1949,3057,3057,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.60,49.76
$GC,327,-1.60,-487.5,1817,1955,3057,4094,-0.1,0.0,51,334,0.00,1.40,0.00,0.000,516,0.000,0.055,1818,1419,3057,3057,4094,0,0,0,0,0,0,26.43,26.11,26.44,10.61,49.84
$GC,552,-1.60,-487.5,1817,1419,3058,4094,7.6,-14.3,88,559,0.00,1.25,0.00,0.000,1030,0.000,0.024,1818,1950,3059,3059,4095,0,0,0,0,0,0,26.36,26.34,26.38,10.62,49.60
$GC,591,-1.60,-487.5,1817,1950,3060,4095,13.2,-14.8,94,597,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,1950,3060,3060,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.61,49.25
$GC,629,-1.60,-487.5,1817,1950,3060,4095,18.4,-13.1,100,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,1950,3060,3060,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.61,49.09
$GC,667,-1.60,-487.5,1817,1950,3061,4095,23.2,-12.6,106,673,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,1951,3061,3061,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.60,48.93
$GC,705,-1.60,-487.5,1817,1950,3062,4094,27.5,-11.3,112,712,0.00,1.38,0.00,0.000,260,0.000,0.044,1818,2484,3062,3062,4095,0,0,0,0,0,0,26.62,26.32,26.63,10.57,48.81
$GC,738,-1.60,-487.5,1817,2483,3062,4095,31.1,-10.9,117,744,0.00,1.33,0.00,0.000,1030,0.000,0.025,1818,1948,3063,3063,4095,0,0,0,0,0,0,26.42,26.39,26.44,10.55,47.75
$GC,777,-1.60,-487.5,1817,1947,3064,4095,35.2,-10.7,123,783,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,1948,3064,3064,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.53,47.48
$GC,815,-1.60,-487.5,1817,1948,3064,4094,39.5,-11.1,129,821,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,1948,3064,3064,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.50,46.33
$GC,853,-1.60,-487.5,1817,1948,3065,4095,43.7,-11.4,135,860,0.00,1.35,0.00,0.000,516,0.000,0.051,1818,1413,3065,3065,4095,0,0,0,0,0,0,26.67,26.36,26.68,10.49,45.51
$GC,880,-1.60,-487.5,1817,1414,3066,4095,46.8,-11.5,139,886,0.00,1.25,0.00,0.000,1030,0.000,0.024,1818,1953,3066,3066,4094,0,0,0,0,0,0,26.48,26.45,26.50,10.48,44.76
$GC,919,-1.60,-487.5,1817,1953,3066,4094,51.3,-11.3,145,925,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,1953,3066,3066,4095,0,0,0,0,0,0,26.68,26.70,26.70,10.46,44.56
$GC,957,-1.60,-487.5,1817,1953,3068,4095,55.6,-11.1,151,963,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,1953,3067,3067,4094,0,0,0,0,0,0,26.70,26.71,26.70,10.45,44.52
$STATE,968,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,968,begin apogee
$GC,975,-0.45,0.0,1818,2140,3067,4094,57.1,-11.0,153,1011,3.85,0.00,27.67,1.221,10244,0.052,0.000,2187,2140,2484,2484,4094,0,0,0,0,0,0,26.41,25.57,24.61,10.45,44.48
$STATE,1012,end apogee,CONTROL_FINISHED_OK
$STATE,1012,begin climb
$GC,1014,1.60,487.5,2187,2140,2484,4094,59.3,0.0,159,1056,6.75,0.00,27.40,1.196,11270,0.033,0.000,2841,2140,1916,1916,4094,0,0,0,0,0,0,25.80,25.96,24.17,10.33,43.69
$GC,1088,1.60,487.5,2840,2140,1915,4094,53.6,11.0,171,1095,0.00,1.40,0.00,0.000,516,0.000,0.044,2841,1609,1915,1915,4094,0,0,0,0,0,0,25.72,25.44,25.73,10.20,43.50
$GC,1151,1.60,487.5,2840,1609,1913,4094,46.5,11.1,181,1158,0.00,1.23,0.00,0.000,1030,0.000,0.024,2841,2109,1914,1914,4094,0,0,0,0,0,0,25.75,25.71,25.77,10.18,43.42
$GC,1190,1.60,487.5,2840,2109,1913,4094,42.2,10.8,187,1197,0.00,1.50,0.00,0.000,260,0.000,0.052,2840,2665,1912,1912,4094,0,0,0,0,0,0,26.04,25.75,26.05,10.17,43.77
$GC,1223,1.60,487.5,2840,2665,1912,4094,38.6,10.7,192,1230,0.00,1.42,0.00,0.000,1030,0.000,0.025,2841,2096,1911,1911,4094,0,0,0,0,0,0,25.89,25.87,25.92,10.17,44.09
$GC,1262,1.60,487.5,2840,2095,1910,4094,34.5,10.6,198,1269,0.00,1.27,0.00,0.000,516,0.000,0.047,2840,1604,1911,1911,4095,0,0,0,0,0,0,26.17,25.87,26.17,10.17,44.72
$GC,1367,1.66,522.0,2840,1604,1907,4095,23.9,9.6,215,1375,0.00,1.15,3.35,0.390,9222,0.000,0.025,2841,2084,1875,1875,4095,0,0,0,0,0,0,26.08,26.06,25.08,10.20,46.41
$GC,1408,1.83,641.3,2840,2084,1875,4095,20.3,8.6,221,1422,0.62,1.58,7.75,0.656,10500,0.031,0.051,2910,2672,1736,1736,4094,0,0,0,0,0,0,26.07,25.84,25.07,10.22,47.36
$GC,1466,1.83,641.3,2909,2672,1733,4094,14.2,11.0,230,1473,0.00,1.42,0.00,0.000,1030,0.000,0.025,2910,2099,1734,1734,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.21,49.76
$GC,1505,1.83,641.3,2909,2099,1733,4094,10.1,10.7,236,1512,0.00,1.25,0.00,0.000,516,0.000,0.047,2910,1613,1733,1733,4094,0,0,0,0,0,0,26.30,26.01,26.32,10.23,50.47
$STATE,1583,end climb,FINISH_DEPTH_REACHED
$STATE,1583,begin subsurface finish
$FINISH1,1.8,1.023869,121
$GC,1592,0.18,120.7,2909,2146,1731,4094,1.8,10.3,249,1606,5.50,0.00,-5.12,0.000,20742,0.062,0.000,2404,2147,2349,2349,4094,0,0,0,0,0,0,26.10,25.10,26.17,10.25,52.32
$FINISH2,-0.0
$STATE,1607,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1607,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,012150
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.00
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,24.17,22.991
$10V_AH,10.39,26.420
$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,33.975,24.625,66.175,0.000,0.000,39.320,21.795,335.236,0.000,0.000,18.989,633.586,418.369,185.875,768.622,194.843,33.455,439.039,0.000,371.531,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,1272.195,1220.940,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,167.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,21211,251
$CAP_FILE_SIZE,45195,0
$CFSIZE,1024409600,977846272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110817,025911,6104.609,-17349.822,8,0.8,15,7.0,0.4,218.3,10,4.6