version: 66.13
glider: 401
mission: 22
dive: 848
start: 8 11 117 3 29 18
data:
$ID,401
$MISSION,22
$DIVE,848
$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,32
$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
$GPS1,110817,025911,6104.6094,-17349.8223,8,0.8,15,7.0,0.4,218.3,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.0
$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,0.165339,0.588464
$KALMAN_X,73150.679688,-962.701172,-330.735443,-265309.406250,-114.567780
$KALMAN_Y,-36198.917969,2118.495850,280.080200,236220.625000,-125.433014
$MHEAD_RNG_PITCHd_Wd,8.7,37471,-4.3,-10.000,-9.29,22899
$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,-1.12,-487.5,2404,1947,2350,4092,0.0,0.0,0,28,4.22,0.00,-6.38,0.000,20486,0.027,0.000,1983,1947,3057,3057,4095,0,0,0,0,0,0,26.26,25.72,26.27,10.40,52.16
$GC,32,-1.12,-487.5,1983,1947,3056,4095,-0.0,-0.1,2,41,0.00,1.35,0.00,0.000,516,0.000,0.051,1982,1424,3056,3056,4095,0,0,0,0,0,0,26.29,25.99,26.29,10.56,52.79
$GC,97,-1.12,-487.5,1982,1423,3058,4095,5.4,-8.5,11,107,0.00,1.27,0.00,0.000,1030,0.000,0.025,1983,1964,3058,3058,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.56,51.89
$GC,144,-1.12,-487.5,1982,1963,3058,4094,9.2,-8.2,17,153,0.00,1.35,0.00,0.000,260,0.000,0.045,1983,2475,3058,3058,4094,0,0,0,0,0,0,26.41,26.11,26.42,10.57,51.61
$GC,170,-1.12,-487.5,1982,2474,3059,4094,11.2,-7.5,20,179,0.00,1.25,0.00,0.000,1030,0.000,0.027,1983,1971,3059,3059,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.57,51.57
$GC,218,-1.12,-487.5,1982,1971,3060,4094,14.6,-7.4,26,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1971,3060,3060,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.57,51.33
$GC,265,-1.12,-487.5,1982,1971,3060,4095,17.9,-7.0,32,275,0.00,1.42,0.00,0.000,516,0.000,0.053,1983,1417,3059,3059,4095,0,0,0,0,0,0,26.49,26.17,26.50,10.57,51.61
$GC,292,-1.12,-487.5,1982,1418,3060,4095,19.9,-7.0,35,301,0.00,1.30,0.00,0.000,1030,0.000,0.024,1983,1973,3060,3060,4095,0,0,0,0,0,0,26.30,26.29,26.32,10.57,50.47
$GC,340,-1.12,-487.5,1982,1972,3061,4095,23.0,-6.4,41,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1972,3061,3061,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.57,50.82
$GC,387,-1.12,-487.5,1982,1972,3061,4095,25.9,-6.3,47,396,0.00,1.33,0.00,0.000,260,0.000,0.044,1983,2480,3062,3062,4095,0,0,0,0,0,0,26.55,26.25,26.56,10.55,50.11
$GC,435,-1.12,-487.5,1982,2479,3062,4095,28.8,-6.0,53,443,0.00,1.23,0.00,0.000,1030,0.000,0.026,1983,1981,3062,3062,4094,0,0,0,0,0,0,26.34,26.32,26.37,10.53,49.40
$GC,482,-1.12,-487.5,1982,1981,3063,4094,31.5,-5.7,59,491,0.00,1.45,0.00,0.000,516,0.000,0.052,1983,1416,3063,3063,4095,0,0,0,0,0,0,26.59,26.31,26.60,10.51,49.09
$GC,508,-1.12,-487.5,1982,1416,3063,4095,33.1,-5.7,62,518,0.00,1.30,0.00,0.000,1030,0.000,0.025,1982,1974,3063,3063,4094,0,0,0,0,0,0,26.41,26.38,26.41,10.50,48.58
$GC,557,-1.12,-487.5,1982,1974,3063,4094,35.7,-5.4,68,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3063,3063,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.48,48.03
$GC,604,-1.12,-487.5,1982,1974,3064,4095,38.3,-5.5,74,613,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3064,3064,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.46,47.67
$GC,651,-1.12,-487.5,1982,1974,3064,4094,40.9,-5.5,80,659,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3064,3064,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.46,46.37
$GC,696,-1.12,-487.5,1982,1974,3065,4094,43.5,-5.5,86,705,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3065,3065,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.44,45.82
$GC,742,-1.12,-487.5,1982,1974,3065,4095,46.2,-5.9,92,750,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1974,3066,3066,4094,0,0,0,0,0,0,26.68,26.70,26.69,10.43,45.55
$GC,787,-1.12,-487.5,1982,1974,3066,4094,48.9,-6.2,98,795,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3066,3066,4095,0,0,0,0,0,0,26.70,26.70,26.70,10.42,45.27
$GC,832,-1.12,-487.5,1982,1974,3066,4095,51.6,-6.1,104,841,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3066,3066,4095,0,0,0,0,0,0,26.70,26.72,26.72,10.41,45.15
$GC,878,-1.12,-487.5,1982,1974,3067,4095,54.3,-5.7,110,887,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3067,3067,4095,0,0,0,0,0,0,26.72,26.73,26.73,10.41,45.62
$GC,924,-1.12,-487.5,1982,1974,3067,4095,57.0,-5.8,116,932,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3067,3067,4095,0,0,0,0,0,0,26.73,26.74,26.74,10.40,45.66
$GC,969,-1.12,-487.5,1982,1974,3068,4095,59.6,-5.9,122,977,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1974,3068,3068,4095,0,0,0,0,0,0,26.74,26.75,26.75,10.40,45.35
$STATE,985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,985,begin apogee
$GC,992,-0.45,0.0,1982,2135,3068,4095,60.6,-5.7,124,1027,2.10,0.00,27.83,1.258,10244,0.042,0.000,2189,2136,2484,2484,4094,0,0,0,0,0,0,26.48,25.60,24.62,10.39,45.58
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1031,1.12,487.5,2189,2135,2484,4094,62.1,0.0,128,1067,5.12,0.00,27.60,1.236,11270,0.037,0.000,2680,2136,1916,1916,4094,0,0,0,0,0,0,25.80,25.99,24.13,10.27,45.47
$GC,1106,2.40,1340.3,2680,2135,1915,4094,58.9,6.2,137,1167,4.22,1.42,47.20,1.187,10756,0.022,0.043,3091,1617,923,923,4094,0,0,0,0,0,0,25.54,24.53,23.91,10.15,44.60
$GC,1206,2.45,1373.0,3091,1616,922,4094,45.3,9.9,149,1216,0.08,1.23,3.70,0.541,11270,0.058,0.026,3106,2109,883,883,4094,0,0,0,0,0,0,25.32,25.34,24.30,9.94,44.29
$GC,1255,2.97,1722.0,3106,2107,882,4094,41.0,8.4,155,1282,1.67,0.00,20.05,0.973,10502,0.023,0.000,3281,2109,477,477,4094,0,0,0,0,0,0,25.56,25.04,24.27,9.93,45.07
$GC,1321,3.27,1923.1,3280,2108,476,4094,34.2,9.1,163,1339,0.85,0.00,12.30,0.851,10246,0.027,0.000,3378,2109,243,243,4094,0,0,0,0,0,0,25.49,25.12,24.37,9.85,45.43
$GC,1377,3.71,2215.9,3378,2108,242,4094,29.0,8.7,170,1396,1.30,0.00,10.18,0.773,10246,0.025,0.000,3511,2109,55,55,4094,0,0,0,0,0,0,25.51,24.99,24.48,9.82,46.06
$GC,1434,3.72,2220.0,3510,2108,54,4094,23.3,10.0,177,1443,0.00,1.33,0.22,0.004,8708,0.000,0.046,3511,1616,54,54,4094,0,0,0,0,0,0,25.76,25.48,25.77,9.81,47.75
$GC,1473,3.83,2292.6,3510,1614,53,4094,19.4,9.7,182,1484,0.30,1.23,0.00,0.000,3078,0.029,0.028,3553,2113,52,52,4094,0,0,0,0,0,0,25.66,25.65,25.70,9.83,49.13
$GC,1520,3.83,2292.6,3552,2112,51,4094,14.0,12.4,188,1530,0.00,1.52,0.00,0.000,260,0.000,0.058,3553,2669,51,51,4094,0,0,0,0,0,0,25.98,25.66,25.99,9.85,50.07
$GC,1553,3.83,2292.6,3552,2668,49,4094,9.8,13.0,192,1563,0.00,1.42,0.00,0.000,1030,0.000,0.028,3552,2095,49,49,4094,0,0,0,0,0,0,25.86,25.86,25.86,9.86,50.31
$GC,1600,3.83,2292.6,3552,2094,47,4094,4.3,11.8,198,1609,0.00,1.27,0.00,0.000,516,0.000,0.053,3552,1612,46,46,4094,0,0,0,0,0,0,26.11,25.83,26.13,9.87,51.22
$STATE,1617,end climb,FINISH_DEPTH_REACHED
$STATE,1617,begin subsurface finish
$FINISH1,1.8,1.023880,120
$GC,1626,0.18,119.9,3552,2147,45,4094,1.8,12.1,200,1662,11.82,1.50,-19.23,0.000,21252,0.021,1.271,2398,2683,2352,2352,4094,0,0,0,0,0,0,25.95,24.70,25.97,9.88,51.73
$FINISH2,0.1
$STATE,1663,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1663,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,012150
$TT8_MAMPS,0.025466,0.247919
$HUMID,53.07
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.91,23.038
$10V_AH,10.21,26.466
$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,31.700,26.375,149.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,552.646,1.325,224.401,846.281,95.605,33.432,609.959,0.000,489.479,0.000,0.543,0.000
$DEVICE_MAMPS,58.140,1271.430,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.352,554.312,438.574,649.377,842.189,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,21142,204
$CAP_FILE_SIZE,46800,0
$CFSIZE,1024409600,977797120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,025911,6104.609,-17349.822,8,0.8,15,7.0,0.4,218.3,10,4.6