version: 66.13
glider: 401
mission: 22
dive: 850
start: 8 11 117 4 41 20
data:
$ID,401
$MISSION,22
$DIVE,850
$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,37
$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
$GPS1,110817,042600,6105.4424,-17350.2637,7,0.8,32,7.0,0.0,277.2,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-35.2
$GPS2,110817,044011,6105.4570,-17350.4316,8,1.0,15,7.0,0.5,241.4,9,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.129180,0.468255
$KALMAN_X,72375.351562,-1022.832458,-391.129395,-264982.718750,-62.630280
$KALMAN_Y,-36148.972656,2215.778076,404.712067,237492.656250,-7.326324
$MHEAD_RNG_PITCHd_Wd,8.4,35996,-7.4,-10.000,-11.63,12801
$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,-1.41,-487.5,230,1957,1624,4092,0.0,0.0,0,21,9.98,0.00,0.00,0.000,2049,0.086,0.000,1096,1957,1624,1624,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.29,50.15
$GC,24,-1.41,-487.5,1097,1957,1624,4094,0.5,0.0,1,52,8.25,1.45,-12.82,0.000,18948,0.039,1.270,1883,1405,3055,3055,4095,0,0,0,0,0,0,26.00,24.72,26.06,10.30,50.19
$GC,222,-1.41,-487.5,1882,1404,3057,4095,10.7,-13.4,29,232,0.00,1.27,0.00,0.000,1030,0.000,0.024,1882,1952,3057,3057,4095,0,0,0,0,0,0,26.18,26.15,26.19,10.61,48.77
$GC,270,-1.41,-487.5,1882,1951,3058,4095,15.8,-10.7,35,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1952,3058,3058,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.61,48.70
$GC,317,-1.41,-487.5,1881,1952,3059,4094,20.7,-10.2,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1952,3059,3059,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.60,48.58
$GC,363,-1.41,-487.5,1882,1952,3060,4094,25.3,-10.0,47,372,0.00,1.38,0.00,0.000,260,0.000,0.044,1882,2475,3060,3060,4094,0,0,0,0,0,0,26.47,26.17,26.48,10.58,48.62
$GC,415,-1.41,-487.5,1882,2474,3060,4094,30.1,-8.7,54,425,0.00,1.30,0.00,0.000,1030,0.000,0.025,1882,1950,3060,3060,4095,0,0,0,0,0,0,26.28,26.25,26.31,10.55,47.59
$GC,462,-1.41,-487.5,1882,1950,3062,4095,34.0,-8.0,60,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1950,3061,3061,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.53,47.12
$GC,508,-1.41,-487.5,1882,1950,3061,4095,37.8,-8.1,66,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1950,3063,3063,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.50,46.06
$GC,553,-1.41,-487.5,1882,1949,3063,4095,41.5,-8.6,72,562,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1950,3063,3063,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.48,45.78
$GC,599,-1.41,-487.5,1882,1950,3063,4095,45.5,-8.4,78,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1950,3063,3063,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.47,44.32
$GC,646,-1.41,-487.5,1882,1950,3064,4095,49.4,-8.7,84,655,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1950,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.45,44.01
$GC,693,-1.41,-487.5,1882,1949,3065,4094,53.5,-8.9,90,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1951,3066,3066,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.44,44.44
$GC,738,-1.41,-487.5,1882,1950,3065,4095,57.6,-8.8,96,746,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1950,3066,3066,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.43,43.73
$STATE,767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,767,begin apogee
$GC,775,-0.45,0.0,1882,2138,3066,4095,60.5,-8.9,100,809,3.17,0.00,27.92,1.254,10244,0.048,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.37,25.51,24.53,10.43,43.58
$STATE,810,end apogee,CONTROL_FINISHED_OK
$STATE,811,begin climb
$GC,813,1.41,487.5,2185,2137,2484,4094,62.4,0.0,104,856,6.18,0.00,27.70,1.232,11270,0.036,0.000,2776,2138,1915,1915,4094,0,0,0,0,0,0,25.75,25.91,24.08,10.31,44.01
$GC,894,1.64,643.1,2776,2137,1914,4094,57.6,8.8,114,914,0.62,1.42,9.98,1.022,10756,0.035,0.044,2843,1608,1735,1735,4094,0,0,0,0,0,0,25.53,24.94,24.25,10.17,43.30
$GC,977,1.64,643.1,2842,1607,1733,4094,49.1,10.1,125,986,0.00,1.25,0.00,0.000,1030,0.000,0.026,2843,2114,1733,1733,4095,0,0,0,0,0,0,25.67,25.63,25.69,10.13,43.30
$GC,1023,1.64,643.1,2842,2114,1733,4095,44.5,10.2,131,1033,0.00,1.50,0.00,0.000,260,0.000,0.054,2843,2668,1732,1732,4094,0,0,0,0,0,0,25.99,25.69,26.01,10.12,43.73
$GC,1056,1.64,643.1,2842,2668,1732,4094,41.0,10.3,135,1066,0.00,1.42,0.00,0.000,1030,0.000,0.026,2843,2098,1732,1732,4094,0,0,0,0,0,0,25.86,25.84,25.87,10.12,43.93
$GC,1103,1.71,687.2,2842,2098,1731,4094,36.5,9.6,141,1113,0.17,1.27,4.05,0.555,10756,0.050,0.046,2874,1605,1683,1683,4094,0,0,0,0,0,0,25.95,25.72,24.82,10.11,44.29
$GC,1189,1.71,687.2,2874,1605,1680,4094,27.6,10.5,153,1198,0.00,1.17,0.00,0.000,1030,0.000,0.027,2874,2089,1680,1680,4094,0,0,0,0,0,0,25.99,25.97,26.02,10.11,45.27
$GC,1235,1.71,687.2,2874,2089,1679,4094,22.8,10.2,159,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2089,1679,1679,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.14,46.49
$GC,1281,1.87,796.9,2874,2089,1678,4094,18.6,9.1,165,1292,0.40,0.00,7.22,0.637,10246,0.041,0.000,2921,2089,1553,1553,4094,0,0,0,0,0,0,26.10,25.82,25.09,10.17,48.26
$GC,1330,1.94,840.6,2921,2089,1552,4094,14.1,9.6,171,1340,0.15,0.00,4.03,0.425,10246,0.057,0.000,2945,2089,1503,1503,4094,0,0,0,0,0,0,26.07,25.62,25.14,10.16,49.68
$GC,1379,2.02,899.2,2944,2089,1501,4094,9.5,9.5,177,1390,0.17,1.27,4.70,0.451,10756,0.050,0.047,2976,1606,1434,1434,4094,0,0,0,0,0,0,26.10,25.89,25.19,10.17,50.51
$GC,1428,2.20,1017.2,2975,1606,1433,4094,4.8,9.1,183,1446,0.43,1.10,7.65,0.528,11270,0.032,0.026,3024,2069,1295,1295,4094,0,0,0,0,0,0,26.07,26.06,25.21,10.16,50.94
$STATE,1461,end climb,FINISH_DEPTH_REACHED
$STATE,1461,begin subsurface finish
$FINISH1,1.4,1.023881,120
$GC,1469,0.18,119.8,3024,2167,1294,4094,1.4,9.5,187,1497,6.35,1.35,-9.00,0.000,20740,0.023,1.279,2397,2651,2349,2349,4094,0,0,0,0,0,0,26.03,24.72,26.08,10.15,51.49
$FINISH2,0.1
$STATE,1498,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1498,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,043217
$TT8_MAMPS,0.024717,0.241178
$HUMID,52.12
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,24.08,23.120
$10V_AH,10.21,26.533
$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,35.875,17.775,93.250,0.000,0.000,74.637,67.945,411.356,0.000,0.000,16.614,528.200,90.089,166.680,1354.583,228.282,33.462,483.838,0.000,460.445,0.000,0.543,0.000
$DEVICE_MAMPS,86.445,1279.080,1253.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,129.213,516.216,408.461,605.746,786.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,17763,190
$CAP_FILE_SIZE,47867,0
$CFSIZE,1024409600,977698816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110817,044011,6105.457,-17350.432,8,1.0,15,7.0,0.5,241.4,9,4.8