version: 66.13
glider: 401
mission: 22
dive: 851
start: 8 11 117 5 8 33
data:
$ID,401
$MISSION,22
$DIVE,851
$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,22
$R_STBD_OVSHOOT,55
$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
$GPS1,110817,044011,6105.4570,-17350.4316,8,1.0,15,7.0,0.5,241.4,9,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.5
$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,0.133568,0.419727
$KALMAN_X,72247.015625,-1033.732788,-392.671936,-264848.968750,-74.544800
$KALMAN_Y,-36422.558594,2130.256104,345.210114,237942.562500,9.863037
$MHEAD_RNG_PITCHd_Wd,10.7,35996,-8.9,-10.000,-12.79,10042
$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,-1.54,-487.5,2397,1956,2349,4092,0.0,0.0,0,18,5.57,0.00,-1.42,0.000,20482,0.024,0.000,1847,1956,2507,2507,4094,0,0,0,0,0,0,26.05,28.83,26.10,10.39,52.08
$GC,22,-1.54,-487.5,1847,1956,2507,4094,0.0,0.0,1,34,0.00,1.48,-5.05,0.000,16900,0.000,1.268,1847,1413,3057,3057,4095,0,0,0,0,0,0,26.27,24.77,26.27,10.41,51.96
$GC,145,-1.54,-487.5,1847,1412,3060,4095,14.2,-13.3,21,151,0.00,1.23,0.00,0.000,1030,0.000,0.025,1847,1929,3060,3060,4095,0,0,0,0,0,0,26.10,26.08,26.12,10.55,51.14
$GC,184,-1.54,-487.5,1846,1928,3061,4095,19.2,-12.2,27,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1928,3061,3061,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.55,51.73
$GC,222,-1.54,-487.5,1846,1928,3062,4094,23.7,-11.5,33,228,0.00,1.45,0.00,0.000,260,0.000,0.045,1847,2477,3062,3062,4095,0,0,0,0,0,0,26.36,26.06,26.38,10.55,50.78
$GC,266,-1.54,-487.5,1847,2477,3062,4095,28.2,-10.2,40,273,0.00,1.33,0.00,0.000,1030,0.000,0.027,1847,1950,3062,3062,4095,0,0,0,0,0,0,26.18,26.15,26.21,10.52,51.29
$GC,306,-1.54,-487.5,1847,1950,3063,4095,31.8,-9.4,46,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3063,3063,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.50,50.15
$GC,344,-1.54,-487.5,1846,1950,3064,4094,35.4,-9.4,52,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3064,3064,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.48,49.37
$GC,382,-1.54,-487.5,1846,1950,3064,4095,39.1,-9.7,58,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3065,3065,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.46,49.05
$GC,421,-1.54,-487.5,1846,1950,3065,4094,42.7,-9.5,64,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3066,3066,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,48.42
$GC,459,-1.54,-487.5,1847,1950,3066,4095,46.5,-9.7,70,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3066,3066,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,48.11
$GC,497,-1.54,-487.5,1847,1951,3067,4095,50.4,-10.3,76,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3067,3067,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.42,47.20
$GC,535,-1.54,-487.5,1846,1950,3067,4095,54.2,-10.3,82,541,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3068,3068,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.41,47.16
$GC,574,-1.54,-487.5,1847,1949,3068,4094,58.1,-10.3,88,580,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,1950,3067,3067,4095,0,0,0,0,0,0,26.57,26.59,26.58,10.40,46.45
$STATE,591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,591,begin apogee
$GC,598,-0.45,0.0,1847,2138,3068,4094,60.1,-9.9,91,634,3.55,0.00,27.90,1.252,10244,0.050,0.000,2187,2138,2484,2484,4094,0,0,0,0,0,0,26.29,25.46,24.48,10.40,46.25
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,638,1.54,487.5,2186,2138,2484,4094,62.2,0.0,97,679,6.57,0.00,27.67,1.229,11270,0.034,0.000,2816,2138,1915,1915,4094,0,0,0,0,0,0,25.68,25.84,24.06,10.28,46.18
$GC,712,1.55,494.7,2815,2138,1915,4094,56.9,9.9,109,720,0.00,1.45,2.30,0.187,8708,0.000,0.044,2816,1599,1906,1906,4094,0,0,0,0,0,0,25.66,25.31,24.31,10.15,45.35
$GC,764,1.55,494.7,2816,1598,1905,4094,51.4,10.5,117,771,0.00,1.27,0.00,0.000,1030,0.000,0.026,2816,2112,1905,1905,4095,0,0,0,0,0,0,25.66,25.63,25.67,10.14,45.55
$GC,803,1.55,496.5,2816,2112,1905,4095,47.5,10.0,123,810,0.00,1.50,0.00,0.000,260,0.000,0.053,2816,2684,1905,1905,4094,0,0,0,0,0,0,25.97,25.66,25.98,10.14,45.43
$GC,836,1.55,496.5,2816,2685,1904,4094,43.9,10.7,128,843,0.00,1.48,0.00,0.000,1030,0.000,0.026,2817,2101,1904,1904,4094,0,0,0,0,0,0,25.86,25.80,25.89,10.13,45.62
$GC,875,1.56,502.9,2817,2101,1903,4094,40.0,9.9,134,883,0.00,1.30,2.20,0.123,8708,0.000,0.047,2817,1601,1897,1897,4094,0,0,0,0,0,0,26.10,25.72,24.77,10.13,46.53
$GC,928,1.74,623.6,2816,1601,1896,4094,35.1,8.8,142,942,0.52,1.20,8.00,0.800,11270,0.026,0.025,2884,2108,1756,1756,4094,0,0,0,0,0,0,25.98,25.96,24.81,10.12,46.49
$GC,974,1.79,652.8,2883,2108,1755,4094,30.7,9.7,149,982,0.00,1.50,3.35,0.423,8452,0.000,0.054,2885,2662,1722,1722,4094,0,0,0,0,0,0,26.11,25.72,24.85,10.11,47.12
$GC,1009,1.79,652.8,2884,2661,1721,4094,26.6,11.8,154,1015,0.00,1.48,0.00,0.000,1030,0.000,0.027,2884,2079,1721,1721,4095,0,0,0,0,0,0,25.96,25.90,25.98,10.11,47.59
$GC,1047,1.79,652.8,2884,2079,1720,4095,22.3,10.9,160,1054,0.00,1.23,0.00,0.000,516,0.000,0.050,2885,1608,1720,1720,4094,0,0,0,0,0,0,26.20,25.89,26.20,10.13,48.85
$GC,1111,1.82,672.5,2884,1608,1719,4094,16.1,9.8,170,1119,0.10,1.10,2.78,0.254,11270,0.057,0.026,2898,2068,1699,1699,4094,0,0,0,0,0,0,26.01,26.03,25.13,10.17,51.61
$GC,1151,1.82,672.5,2898,2068,1698,4094,12.0,10.0,176,1158,0.00,1.58,0.00,0.000,260,0.000,0.054,2898,2662,1698,1698,4094,0,0,0,0,0,0,26.29,25.98,26.30,10.18,51.33
$GC,1190,1.82,672.5,2898,2661,1697,4094,8.1,10.7,182,1197,0.00,1.45,0.00,0.000,1030,0.000,0.028,2898,2084,1697,1697,4094,0,0,0,0,0,0,26.16,26.08,26.17,10.19,52.00
$GC,1229,1.91,733.3,2898,2084,1696,4094,4.3,9.4,188,1243,0.28,1.23,4.80,0.427,10756,0.044,0.045,2934,1600,1627,1627,4094,0,0,0,0,0,0,26.15,25.97,25.31,10.20,52.40
$STATE,1255,end climb,FINISH_DEPTH_REACHED
$STATE,1255,begin subsurface finish
$FINISH1,1.5,1.023884,120
$GC,1264,0.18,119.6,2934,2129,1626,4094,1.5,9.9,192,1283,5.60,0.00,-6.18,0.000,20998,0.045,0.000,2399,2132,2346,2346,4094,0,0,0,0,0,0,26.13,25.57,26.17,10.20,52.71
$FINISH2,0.1
$STATE,1284,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1284,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,043217
$TT8_MAMPS,0.026215,0.108605
$HUMID,53.70
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.06,23.144
$10V_AH,10.46,26.545
$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,22.200,26.800,79.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,508.253,292.268,185.890,283.215,72.561,33.433,401.913,0.000,290.849,0.000,0.544,0.000
$DEVICE_MAMPS,57.375,1267.605,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,130.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,14313,195
$CAP_FILE_SIZE,39585,0
$CFSIZE,1024409600,977666048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,044011,6105.457,-17350.432,8,1.0,15,7.0,0.5,241.4,9,4.8