version: 66.13
glider: 401
mission: 22
dive: 849
start: 8 11 117 3 59 16
data:
$ID,401
$MISSION,22
$DIVE,849
$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,18
$R_STBD_OVSHOOT,24
$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,0.05
$_SM_ANGLEo,-2.6
$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,0.158451,0.462292
$KALMAN_X,72985.960938,-973.722290,-340.425781,-265123.718750,-146.192108
$KALMAN_Y,-36748.109375,2078.998047,254.137573,236838.921875,-250.323456
$MHEAD_RNG_PITCHd_Wd,11.9,37471,-7.4,-10.000,-11.56,12995
$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,-1.40,-487.5,2397,1963,2351,4092,0.0,0.0,0,18,4.97,0.00,-2.00,0.000,20482,0.024,0.000,1910,1963,2573,2573,4095,0,0,0,0,0,0,26.07,28.83,26.13,10.38,52.67
$GC,22,-1.40,-487.5,1909,1964,2572,4095,0.1,0.0,1,34,0.00,1.52,-4.45,0.000,16900,0.000,1.282,1909,1410,3056,3056,4094,0,0,0,0,0,0,26.29,24.79,26.31,10.43,53.15
$GC,127,-1.40,-487.5,1908,1410,3058,4094,7.7,-11.6,18,133,0.00,1.33,0.00,0.000,1030,0.000,0.025,1910,1962,3058,3058,4095,0,0,0,0,0,0,26.08,26.06,26.10,10.55,53.62
$GC,166,-1.40,-487.5,1909,1962,3058,4095,11.9,-10.4,24,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1962,3058,3058,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.55,52.44
$GC,204,-1.40,-487.5,1909,1962,3059,4095,15.8,-10.1,30,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1962,3060,3060,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.55,52.79
$GC,242,-1.40,-487.5,1909,1962,3060,4095,19.4,-9.2,36,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1962,3060,3060,4095,0,0,0,0,0,0,26.39,26.39,26.39,10.55,52.20
$GC,280,-1.40,-487.5,1909,1962,3061,4095,22.9,-9.2,42,287,0.00,1.35,0.00,0.000,260,0.000,0.046,1909,2473,3061,3061,4094,0,0,0,0,0,0,26.41,26.11,26.43,10.54,51.61
$GC,314,-1.40,-487.5,1909,2473,3061,4094,25.9,-8.6,47,320,0.00,1.38,0.00,0.000,1030,0.000,0.028,1909,1928,3061,3061,4094,0,0,0,0,0,0,26.21,26.17,26.23,10.53,51.73
$GC,353,-1.40,-487.5,1909,1927,3062,4094,29.0,-7.9,53,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1927,3061,3061,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.50,50.98
$GC,391,-1.40,-487.5,1909,1927,3062,4094,32.0,-7.5,59,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1928,3062,3062,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.49,50.82
$GC,430,-1.40,-487.5,1909,1927,3062,4095,34.9,-7.8,65,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1928,3063,3063,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.47,49.72
$GC,468,-1.40,-487.5,1909,1927,3063,4094,37.8,-7.5,71,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1928,3063,3063,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.46,49.68
$GC,506,-1.40,-487.5,1908,1927,3063,4094,40.8,-8.0,77,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1927,3064,3064,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.44,48.34
$GC,545,-1.40,-487.5,1909,1927,3064,4094,43.8,-7.8,83,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1927,3064,3064,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.43,48.18
$GC,584,-1.40,-487.5,1909,1927,3065,4094,46.8,-8.0,89,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1928,3065,3065,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.43,47.99
$GC,622,-1.40,-487.5,1909,1927,3066,4095,49.9,-8.0,95,628,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1928,3065,3065,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.41,47.12
$GC,661,-1.40,-487.5,1909,1927,3066,4095,53.1,-8.1,101,668,0.00,1.45,0.00,0.000,260,0.000,0.044,1909,2473,3066,3066,4094,0,0,0,0,0,0,26.60,26.30,26.62,10.41,46.77
$GC,700,-1.40,-487.5,1909,2473,3067,4094,56.2,-7.8,107,707,0.00,1.33,0.00,0.000,1030,0.000,0.028,1909,1943,3067,3067,4095,0,0,0,0,0,0,26.40,26.36,26.42,10.40,46.85
$GC,739,-1.40,-487.5,1909,1942,3067,4095,59.3,-7.8,113,745,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1943,3067,3067,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.39,47.40
$STATE,750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,750,begin apogee
$GC,757,-0.45,0.0,1909,2143,3067,4095,60.4,-8.0,115,793,2.88,0.00,27.83,1.251,10244,0.048,0.000,2187,2142,2484,2484,4094,0,0,0,0,0,0,26.35,25.51,24.53,10.39,46.88
$STATE,794,end apogee,CONTROL_FINISHED_OK
$STATE,794,begin climb
$GC,797,1.40,487.5,2187,2142,2483,4094,62.1,0.0,121,833,6.12,0.00,27.62,1.227,11270,0.035,0.000,2775,2143,1915,1915,4094,0,0,0,0,0,0,25.74,25.89,24.08,10.27,46.57
$GC,866,1.69,680.3,2774,2142,1915,4094,57.9,8.5,132,884,0.85,0.00,12.02,1.064,10246,0.032,0.000,2868,2143,1691,1691,4094,0,0,0,0,0,0,25.47,25.07,24.18,10.15,45.74
$GC,917,1.69,680.3,2867,2142,1690,4094,52.4,10.9,140,923,0.00,1.45,0.00,0.000,516,0.000,0.044,2868,1601,1689,1689,4094,0,0,0,0,0,0,25.70,25.41,25.70,10.10,45.70
$GC,967,1.69,680.3,2867,1601,1688,4094,46.9,10.7,148,974,0.00,1.25,0.00,0.000,1030,0.000,0.026,2868,2105,1689,1689,4094,0,0,0,0,0,0,25.67,25.65,25.70,10.08,46.25
$GC,1006,1.69,680.3,2868,2104,1688,4094,42.7,11.2,154,1013,0.00,1.52,0.00,0.000,260,0.000,0.055,2868,2676,1688,1688,4094,0,0,0,0,0,0,25.98,25.67,25.99,10.08,47.12
$GC,1047,1.69,680.3,2868,2676,1688,4094,38.4,11.1,160,1054,0.00,1.48,0.00,0.000,1030,0.000,0.027,2868,2093,1687,1687,4094,0,0,0,0,0,0,25.89,25.82,25.91,10.08,47.04
$GC,1086,1.69,680.3,2868,2093,1686,4094,34.2,10.3,166,1093,0.00,1.25,0.00,0.000,516,0.000,0.048,2868,1608,1686,1686,4094,0,0,0,0,0,0,26.12,25.83,26.13,10.08,47.20
$GC,1203,1.71,694.4,2868,1607,1684,4094,22.7,9.9,185,1211,0.00,1.15,2.35,0.158,9222,0.000,0.025,2868,2092,1674,1674,4094,0,0,0,0,0,0,26.08,26.05,25.08,10.12,49.09
$GC,1243,1.71,694.4,2868,2091,1673,4094,18.6,10.7,191,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2092,1673,1673,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.14,50.70
$GC,1281,1.71,694.4,2868,2091,1671,4094,14.5,10.4,197,1288,0.00,1.27,0.00,0.000,516,0.000,0.048,2868,1609,1672,1672,4094,0,0,0,0,0,0,26.34,26.03,26.34,10.15,51.37
$GC,1363,1.77,733.9,2868,1609,1670,4094,6.4,9.7,210,1371,0.12,1.02,3.67,0.351,11270,0.041,0.025,2888,2056,1627,1627,4094,0,0,0,0,0,0,26.17,26.19,25.35,10.17,53.15
$GC,1403,1.77,733.9,2887,2055,1626,4094,2.3,10.2,216,1410,0.00,1.60,0.00,0.000,260,0.000,0.051,2888,2665,1626,1626,4094,0,0,0,0,0,0,26.40,26.08,26.41,10.18,53.58
$STATE,1415,end climb,SURFACE_DEPTH_REACHED
$STATE,1415,begin surface coast
$FINISH,0.1,1.023857
$STATE,1434,end surface coast,CONTROL_FINISHED_OK
$STATE,1434,begin surface
$SM_CCo,1535,0.00,0.000,0,0,1625,738.40
$SM_GC,0.83,27.27,1.85,0.00,0.021,0.031,0.000,230,1958,1625,-6.59,1.32,738.40,0,0,0,0,0,0,26.08,26.14,26.19
$IRIDIUM_FIX,6149.06,-17422.35,110817,012150
$TT8_MAMPS,0.024717,0.110103
$HUMID,53.42
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.08,23.062
$10V_AH,10.46,26.481
$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,42.225,24.550,73.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,579.747,404.856,207.697,321.429,84.716,33.417,443.292,0.000,327.629,0.000,0.544,0.000
$DEVICE_MAMPS,48.195,1282.140,1250.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,148.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,17787,221
$CAP_FILE_SIZE,43718,0
$CFSIZE,1024409600,977747968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,627.15,0x2138e4,0,24
$GPS,110817,042600,6105.442,-17350.264,7,0.8,32,7.0,0.0,277.2,11,5.0