version: 66.13
glider: 401
mission: 22
dive: 869
start: 8 11 117 13 28 11
data:
$ID,401
$MISSION,22
$DIVE,869
$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,70
$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
$GPS1,110817,130505,6108.6216,-17347.1348,8,0.8,17,7.0,0.8,89.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.8
$GPS2,110817,130505,6108.6216,-17347.1348,8,0.8,17,7.0,0.8,89.3,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.031133,0.425768
$KALMAN_X,73982.640625,-351.206970,203.057129,-264742.843750,-3.402374
$KALMAN_Y,-39655.410156,2195.035400,421.710907,246888.015625,-152.773956
$MHEAD_RNG_PITCHd_Wd,357.2,29820,-9.3,-10.000,-13.18,9299
$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,-1.58,-487.5,2405,2005,2339,4091,0.0,0.0,0,25,5.65,0.10,-6.72,0.000,20486,0.023,1.331,1841,1944,3056,3056,4095,0,0,0,0,0,0,26.16,24.84,26.20,10.37,52.08
$GC,28,-1.58,-487.5,1841,1942,3056,4095,0.1,-1.9,2,35,0.00,1.33,0.00,0.000,516,0.000,0.047,1841,1427,3056,3056,4095,0,0,0,0,0,0,26.34,26.06,26.36,10.52,52.87
$GC,201,-1.58,-487.5,1841,1426,3060,4095,22.0,-11.6,30,207,0.00,1.15,0.00,0.000,1030,0.000,0.024,1841,1922,3061,3061,4094,0,0,0,0,0,0,26.28,26.25,26.29,10.51,51.26
$GC,240,-1.58,-487.5,1840,1922,3061,4094,26.3,-10.2,36,246,0.00,1.42,0.00,0.000,260,0.000,0.046,1841,2464,3062,3062,4094,0,0,0,0,0,0,26.50,26.19,26.51,10.49,51.06
$GC,273,-1.58,-487.5,1840,2464,3062,4094,29.6,-10.1,41,279,0.00,1.23,0.00,0.000,1030,0.000,0.027,1841,1971,3062,3062,4095,0,0,0,0,0,0,26.28,26.25,26.31,10.47,50.66
$GC,312,-1.58,-487.5,1840,1971,3063,4095,33.5,-9.8,47,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1971,3063,3063,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.44,50.03
$GC,350,-1.58,-487.5,1840,1971,3064,4095,37.4,-10.0,53,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1971,3064,3064,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.42,49.13
$GC,389,-1.58,-487.5,1841,1971,3063,4095,41.2,-9.9,59,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1971,3064,3064,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.41,47.99
$GC,427,-1.58,-487.5,1841,1971,3065,4094,45.1,-10.1,65,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1972,3065,3065,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.40,47.79
$GC,465,-1.58,-487.5,1840,1971,3066,4094,49.0,-10.4,71,471,0.00,1.42,0.00,0.000,516,0.000,0.053,1840,1416,3066,3066,4095,0,0,0,0,0,0,26.59,26.28,26.60,10.39,47.44
$GC,486,-1.58,-487.5,1840,1416,3066,4095,51.3,-10.6,74,492,0.00,1.25,0.00,0.000,1030,0.000,0.025,1841,1947,3066,3066,4094,0,0,0,0,0,0,26.39,26.36,26.41,10.38,46.69
$GC,525,-1.58,-487.5,1840,1946,3067,4094,55.4,-10.5,80,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1946,3067,3067,4094,0,0,0,0,0,0,26.61,26.63,26.62,10.38,46.33
$GC,563,-1.58,-487.5,1840,1947,3068,4094,59.4,-10.3,86,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,1947,3068,3068,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.38,46.45
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,581,-0.45,0.0,1841,2140,3068,4095,60.8,-10.4,88,617,3.62,0.00,27.95,1.278,10244,0.051,0.000,2187,2140,2484,2484,4094,0,0,0,0,0,0,26.34,25.46,24.45,10.37,46.37
$STATE,618,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,620,1.58,487.5,2186,2140,2484,4094,63.0,0.0,94,662,6.72,0.00,27.75,1.252,11270,0.034,0.000,2831,2140,1915,1915,4095,0,0,0,0,0,0,25.70,25.86,24.01,10.25,45.74
$GC,694,1.58,487.5,2830,2140,1914,4095,57.5,10.4,106,701,0.00,1.42,0.00,0.000,516,0.000,0.045,2831,1611,1914,1914,4094,0,0,0,0,0,0,25.64,25.37,25.65,10.13,45.39
$GC,757,1.58,487.5,2830,1610,1913,4094,50.4,11.7,116,764,0.00,1.23,0.00,0.000,1030,0.000,0.027,2831,2105,1913,1913,4095,0,0,0,0,0,0,25.68,25.65,25.70,10.11,46.22
$GC,796,1.58,487.5,2830,2104,1912,4095,46.2,11.0,122,806,0.00,1.52,0.00,0.000,260,0.000,0.055,2831,2681,1911,1911,4094,0,0,0,0,0,0,25.97,25.67,25.98,10.10,45.90
$GC,838,1.58,487.5,2830,2681,1910,4094,41.4,11.2,128,845,0.00,1.45,0.00,0.000,1030,0.000,0.027,2831,2107,1911,1911,4094,0,0,0,0,0,0,25.89,25.82,25.91,10.10,46.61
$GC,878,1.58,487.5,2831,2106,1910,4094,37.2,10.6,134,884,0.00,1.30,0.00,0.000,516,0.000,0.049,2831,1609,1910,1910,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.10,46.45
$GC,982,1.58,487.5,2830,1609,1907,4094,26.5,10.0,151,989,0.00,1.17,0.00,0.000,1030,0.000,0.027,2831,2093,1907,1907,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.10,47.08
$GC,1021,1.58,487.5,2830,2092,1907,4094,22.5,10.3,157,1028,0.00,1.55,0.00,0.000,260,0.000,0.055,2831,2676,1906,1906,4095,0,0,0,0,0,0,26.29,25.97,26.30,10.12,47.83
$GC,1091,1.70,566.4,2830,2676,1905,4095,15.6,9.1,168,1104,0.25,1.40,5.40,0.550,11270,0.031,0.027,2870,2109,1822,1822,4094,0,0,0,0,0,0,26.14,26.10,25.15,10.17,50.11
$GC,1137,1.78,619.5,2870,2109,1821,4094,11.3,9.4,175,1151,0.12,1.27,4.43,0.457,10756,0.063,0.045,2890,1612,1760,1760,4094,0,0,0,0,0,0,26.13,25.92,25.18,10.17,51.49
$STATE,1249,end climb,FINISH_DEPTH_REACHED
$STATE,1249,begin subsurface finish
$FINISH1,2.0,1.023810,125
$GC,1258,0.19,124.8,2891,2145,1758,4094,2.0,7.8,193,1272,5.20,1.48,-4.40,0.000,20996,0.051,1.273,2403,1605,2343,2343,4095,0,0,0,0,0,0,26.11,24.84,26.17,10.19,53.07
$FINISH2,0.6
$STATE,1273,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1273,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,113601
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.80
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.01,23.703
$10V_AH,10.44,27.051
$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,21.575,24.325,65.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,502.650,314.593,162.229,283.062,69.314,33.430,369.761,0.000,290.898,0.000,0.542,0.000
$DEVICE_MAMPS,62.730,1331.100,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,14343,195
$CAP_FILE_SIZE,34772,0
$CFSIZE,1024409600,976781312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,796.65,0x236164,1,24
$GPS,110817,130505,6108.622,-17347.135,8,0.8,17,7.0,0.8,89.3,10,4.8