version: 66.13
glider: 401
mission: 22
dive: 859
start: 8 11 117 8 53 19
data:
$ID,401
$MISSION,22
$DIVE,859
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,110817,084355,6108.3447,-17348.6562,7,0.8,20,7.0,0.5,28.1,10,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-41.1
$GPS2,110817,085212,6108.3486,-17348.5293,5,0.8,24,7.0,0.4,99.5,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.088307,0.407878
$KALMAN_X,72873.554688,-748.254883,-70.459656,-264294.968750,173.892883
$KALMAN_Y,-36067.195312,2610.970459,883.450134,241897.234375,5.585510
$MHEAD_RNG_PITCHd_Wd,340.8,30456,-9.7,-10.000,-13.48,8797
$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,-1.61,-487.5,239,1938,1964,4092,0.0,0.0,0,18,6.95,0.00,0.00,0.000,2049,0.097,0.000,832,1938,1965,1965,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.34,51.81
$GC,21,-1.61,-487.5,832,1938,1965,4094,0.7,0.0,1,47,10.48,1.38,-10.15,0.000,18948,0.047,1.274,1820,1429,3057,3057,4095,0,0,0,0,0,0,26.03,24.73,26.09,10.34,51.33
$GC,153,-1.61,-487.5,1819,1429,3059,4095,13.0,-15.0,22,159,0.00,1.25,0.00,0.000,1030,0.000,0.024,1820,1949,3060,3060,4095,0,0,0,0,0,0,26.18,26.13,26.17,10.58,50.51
$GC,192,-1.61,-487.5,1819,1949,3060,4095,18.7,-13.7,28,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,1949,3061,3061,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.56,50.35
$GC,230,-1.61,-487.5,1819,1949,3062,4095,23.7,-12.6,34,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,1949,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.56,49.17
$GC,268,-1.61,-487.5,1819,1950,3062,4095,27.4,-9.0,40,275,0.00,1.35,0.00,0.000,516,0.000,0.052,1820,1429,3062,3062,4094,0,0,0,0,0,0,26.44,26.12,26.45,10.52,48.85
$GC,301,-1.61,-487.5,1819,1429,3062,4094,30.7,-10.0,45,308,0.00,1.25,0.00,0.000,1030,0.000,0.024,1820,1966,3062,3062,4094,0,0,0,0,0,0,26.26,26.24,26.28,10.51,48.14
$GC,340,-1.61,-487.5,1819,1966,3064,4094,34.6,-10.0,51,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,1966,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.48,48.14
$GC,378,-1.61,-487.5,1819,1966,3064,4095,38.4,-10.3,57,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,1966,3063,3063,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.47,47.36
$GC,417,-1.61,-487.5,1819,1966,3065,4094,42.2,-9.8,63,424,0.00,1.40,0.00,0.000,516,0.000,0.051,1820,1429,3065,3065,4095,0,0,0,0,0,0,26.52,26.21,26.53,10.45,46.49
$GC,444,-1.61,-487.5,1819,1429,3066,4095,44.9,-10.1,67,450,0.00,1.17,0.00,0.000,1030,0.000,0.024,1820,1947,3066,3066,4094,0,0,0,0,0,0,26.34,26.32,26.36,10.44,46.22
$GC,483,-1.61,-487.5,1819,1949,3066,4094,48.7,-9.5,73,489,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,1949,3066,3066,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.43,45.55
$GC,521,-1.61,-487.5,1819,1949,3067,4094,52.5,-10.0,79,528,0.00,1.35,0.00,0.000,516,0.000,0.050,1820,1428,3067,3067,4095,0,0,0,0,0,0,26.56,26.25,26.58,10.42,45.94
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,608,-0.45,0.0,1820,2118,3068,4095,60.5,-10.1,92,644,3.85,0.00,28.08,1.287,10244,0.049,0.000,2187,2119,2484,2484,4094,0,0,0,0,0,0,26.32,25.44,24.44,10.40,45.07
$STATE,645,end apogee,CONTROL_FINISHED_OK
$STATE,645,begin climb
$GC,648,1.61,487.5,2187,2118,2484,4094,63.7,0.0,98,690,6.80,1.48,27.77,1.265,10500,0.031,0.051,2846,2671,1915,1915,4094,0,0,0,0,0,0,25.61,25.56,24.01,10.29,44.60
$GC,710,1.61,487.5,2845,2670,1915,4094,60.1,10.4,108,717,0.00,1.33,0.00,0.000,1030,0.000,0.024,2845,2144,1915,1915,4095,0,0,0,0,0,0,25.39,25.37,25.40,10.16,44.52
$GC,749,1.61,487.5,2845,2144,1914,4095,55.9,11.0,114,756,0.00,1.40,0.00,0.000,516,0.000,0.047,2846,1614,1914,1914,4094,0,0,0,0,0,0,25.76,25.48,25.77,10.16,44.13
$GC,830,1.61,487.5,2845,1614,1912,4094,46.5,12.1,127,837,0.00,1.25,0.00,0.000,1030,0.000,0.027,2846,2121,1912,1912,4094,0,0,0,0,0,0,25.78,25.75,25.79,10.14,45.07
$GC,869,1.61,487.5,2845,2120,1911,4094,41.8,12.2,133,876,0.00,1.48,0.00,0.000,260,0.000,0.054,2846,2667,1911,1911,4094,0,0,0,0,0,0,26.06,25.76,26.08,10.14,46.25
$GC,902,1.61,487.5,2846,2667,1910,4094,38.0,12.0,138,909,0.00,1.33,0.00,0.000,1030,0.000,0.025,2846,2131,1909,1909,4095,0,0,0,0,0,0,25.91,25.89,25.94,10.14,45.86
$GC,941,1.61,487.5,2845,2131,1909,4095,33.6,11.1,144,948,0.00,1.35,0.00,0.000,516,0.000,0.047,2846,1612,1909,1909,4094,0,0,0,0,0,0,26.17,25.87,26.18,10.14,46.10
$GC,1046,1.61,487.5,2845,1611,1906,4094,22.4,10.8,161,1052,0.00,1.17,0.00,0.000,1030,0.000,0.027,2845,2096,1906,1906,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.17,47.71
$GC,1085,1.64,504.8,2845,2096,1905,4094,18.5,9.8,167,1092,0.00,0.00,2.35,0.159,8198,0.000,0.000,2846,2096,1895,1895,4094,0,0,0,0,0,0,26.32,25.90,25.13,10.20,49.52
$GC,1125,1.73,568.9,2845,2095,1894,4094,14.8,9.3,173,1132,0.25,0.00,5.10,0.529,10246,0.041,0.000,2882,2096,1819,1819,4094,0,0,0,0,0,0,26.15,25.88,25.15,10.21,51.06
$GC,1165,1.80,610.0,2881,2095,1819,4094,11.0,9.5,179,1174,0.10,1.55,3.88,0.405,10500,0.077,0.052,2898,2675,1771,1771,4094,0,0,0,0,0,0,26.13,25.94,25.19,10.21,52.52
$GC,1206,1.80,610.0,2897,2674,1770,4094,6.8,10.1,185,1213,0.00,1.45,0.00,0.000,1030,0.000,0.027,2898,2094,1770,1770,4094,0,0,0,0,0,0,26.16,26.09,26.17,10.21,52.83
$GC,1245,1.82,626.2,2897,2093,1769,4094,2.9,9.8,191,1253,0.00,1.27,2.58,0.181,8708,0.000,0.054,2898,1606,1751,1751,4094,0,0,0,0,0,0,26.36,26.00,25.32,10.22,52.63
$STATE,1258,end climb,FINISH_DEPTH_REACHED
$STATE,1258,begin subsurface finish
$FINISH1,1.5,1.023825,124
$GC,1267,0.19,123.7,2897,2142,1751,4094,1.5,9.0,193,1287,5.25,1.48,-5.15,0.000,20996,0.052,1.281,2403,1608,2346,2346,4095,0,0,0,0,0,0,26.10,24.82,26.16,10.23,53.03
$FINISH2,0.0
$STATE,1288,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1288,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,072749
$TT8_MAMPS,0.025466,0.160286
$HUMID,53.38
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,24.01,23.389
$10V_AH,10.35,26.774
$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,33.675,28.725,69.750,0.000,0.000,22.215,24.482,282.266,0.000,0.000,25.575,518.304,301.645,178.976,621.043,181.982,33.455,397.041,0.000,293.877,0.000,0.544,0.000
$DEVICE_MAMPS,97.155,1280.610,1286.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,131.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,14370,196
$CAP_FILE_SIZE,42692,0
$CFSIZE,1024409600,977272832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110817,085212,6108.349,-17348.529,5,0.8,24,7.0,0.4,99.5,10,5.0