version: 66.13
glider: 401
mission: 22
dive: 852
start: 8 11 117 5 32 7
data:
$ID,401
$MISSION,22
$DIVE,852
$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,27
$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
$GPS1,110817,044011,6105.4570,-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,0.05
$_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,0.159167,0.490833
$KALMAN_X,72090.882812,-1031.710083,-386.149353,-264702.156250,-115.370697
$KALMAN_Y,-36885.093750,2142.259766,369.536896,238365.781250,-135.977875
$MHEAD_RNG_PITCHd_Wd,11.0,35996,-6.6,-10.000,-10.97,14894
$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,-1.33,-487.5,2399,1948,2346,4092,0.0,0.0,0,21,4.75,0.00,-5.18,0.000,20482,0.025,0.000,1928,1949,2913,2913,4095,0,0,0,0,0,0,26.17,28.83,26.19,10.37,53.26
$GC,24,-1.33,-487.5,1928,1948,2913,4095,0.0,0.0,1,34,0.00,1.45,-1.30,0.000,16900,0.000,1.274,1928,1417,3054,3054,4094,0,0,0,0,0,0,26.36,24.86,26.34,10.50,53.70
$GC,197,-1.33,-487.5,1928,1416,3057,4094,15.5,-9.9,26,206,0.00,1.27,0.00,0.000,1030,0.000,0.025,1928,1955,3058,3058,4095,0,0,0,0,0,0,26.20,26.17,26.20,10.54,52.83
$GC,244,-1.33,-487.5,1927,1955,3058,4095,20.0,-9.0,32,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1955,3058,3058,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.54,52.48
$GC,289,-1.33,-487.5,1927,1955,3059,4094,23.9,-8.6,38,299,0.00,1.38,0.00,0.000,260,0.000,0.045,1928,2477,3059,3059,4095,0,0,0,0,0,0,26.46,26.15,26.46,10.53,52.08
$GC,342,-1.33,-487.5,1927,2477,3060,4095,28.0,-7.5,45,352,0.00,1.30,0.00,0.000,1030,0.000,0.027,1928,1956,3060,3060,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.51,51.41
$GC,389,-1.33,-487.5,1927,1955,3060,4095,31.1,-6.6,51,398,0.00,1.40,0.00,0.000,516,0.000,0.054,1928,1412,3060,3060,4094,0,0,0,0,0,0,26.51,26.19,26.52,10.49,50.63
$GC,416,-1.33,-487.5,1927,1412,3060,4094,32.9,-6.6,54,425,0.00,1.30,0.00,0.000,1030,0.000,0.025,1928,1965,3060,3060,4095,0,0,0,0,0,0,26.32,26.30,26.32,10.47,49.88
$GC,462,-1.33,-487.5,1927,1965,3061,4095,36.0,-6.7,60,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1965,3061,3061,4095,0,0,0,0,0,0,26.55,26.55,26.55,10.46,49.21
$GC,508,-1.33,-487.5,1927,1965,3062,4095,39.2,-7.0,66,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1965,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.44,48.93
$GC,554,-1.33,-487.5,1927,1966,3062,4094,42.5,-7.3,72,562,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1966,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.42,47.67
$GC,599,-1.33,-487.5,1927,1966,3063,4095,45.8,-7.4,78,612,0.00,1.30,0.00,0.000,260,0.000,0.044,1928,2472,3063,3063,4095,0,0,0,0,0,0,26.60,26.30,26.62,10.42,47.12
$GC,630,-1.33,-487.5,1927,2472,3063,4095,48.1,-7.3,81,639,0.00,1.27,0.00,0.000,1030,0.000,0.028,1928,1959,3064,3064,4095,0,0,0,0,0,0,26.39,26.37,26.42,10.41,46.81
$GC,678,-1.33,-487.5,1928,1958,3064,4095,51.6,-7.6,87,686,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1959,3064,3064,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.40,46.65
$GC,722,-1.33,-487.5,1927,1958,3064,4094,55.0,-7.4,93,731,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1959,3064,3064,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.40,46.65
$GC,768,-1.33,-487.5,1928,1959,3065,4095,58.5,-7.6,99,777,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1959,3065,3065,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.38,46.57
$STATE,793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,793,begin apogee
$GC,800,-0.45,0.0,1928,2140,3066,4095,60.5,-7.7,102,835,2.70,0.00,27.85,1.264,10244,0.047,0.000,2186,2140,2484,2484,4095,0,0,0,0,0,0,26.39,25.52,24.54,10.38,46.37
$STATE,836,end apogee,CONTROL_FINISHED_OK
$STATE,836,begin climb
$GC,839,1.33,487.5,2186,2140,2484,4095,62.4,0.0,106,876,5.88,0.00,27.73,1.242,11270,0.036,0.000,2752,2140,1916,1916,4094,0,0,0,0,0,0,25.75,25.91,24.07,10.26,46.69
$GC,914,1.86,841.7,2752,2140,1915,4094,58.6,7.6,115,942,1.65,1.50,20.65,1.158,10756,0.026,0.046,2918,1601,1502,1502,4094,0,0,0,0,0,0,25.51,24.98,24.06,10.13,45.27
$GC,986,1.86,841.7,2918,1601,1501,4094,51.1,10.4,124,995,0.00,1.25,0.00,0.000,1030,0.000,0.026,2918,2103,1501,1501,4094,0,0,0,0,0,0,25.51,25.46,25.51,10.04,45.23
$GC,1032,1.86,841.7,2918,2103,1500,4094,46.5,10.1,130,1041,0.00,1.55,0.00,0.000,260,0.000,0.054,2918,2668,1500,1500,4094,0,0,0,0,0,0,25.84,25.56,25.86,10.03,45.39
$GC,1065,1.86,841.7,2918,2668,1499,4094,43.0,10.3,134,1075,0.00,1.45,0.00,0.000,1030,0.000,0.027,2918,2095,1500,1500,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.03,46.22
$GC,1112,1.99,926.9,2918,2094,1498,4094,38.5,9.4,140,1123,0.35,1.27,6.12,0.742,10756,0.037,0.047,2965,1608,1403,1403,4094,0,0,0,0,0,0,25.82,25.58,24.69,10.03,46.22
$GC,1186,1.99,926.9,2964,1608,1401,4094,31.1,10.3,150,1196,0.00,1.17,0.00,0.000,1030,0.000,0.026,2965,2089,1401,1401,4094,0,0,0,0,0,0,25.87,25.86,25.89,10.02,46.96
$GC,1233,1.99,926.9,2964,2089,1400,4094,26.2,10.9,156,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2089,1400,1400,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.05,47.40
$GC,1280,2.10,999.0,2964,2089,1399,4094,21.8,9.5,162,1289,0.17,0.00,5.35,0.586,10246,0.049,0.000,2990,2089,1318,1318,4094,0,0,0,0,0,0,26.04,25.74,24.99,10.08,49.48
$GC,1328,2.20,1070.6,2989,2089,1318,4094,17.2,9.5,168,1338,0.32,0.00,5.40,0.543,10246,0.044,0.000,3030,2089,1236,1236,4094,0,0,0,0,0,0,25.98,25.75,25.03,10.09,50.74
$GC,1377,2.39,1193.7,3029,2089,1235,4094,12.7,9.2,174,1395,0.50,0.00,8.05,0.607,10246,0.030,0.000,3088,2089,1091,1091,4094,0,0,0,0,0,0,26.03,25.51,25.05,10.08,51.85
$GC,1434,2.44,1230.1,3087,2089,1090,4094,7.1,9.7,181,1444,0.10,1.23,3.55,0.340,10756,0.077,0.045,3104,1609,1050,1050,4094,0,0,0,0,0,0,25.98,25.58,25.12,10.07,51.85
$STATE,1485,end climb,SURFACE_DEPTH_REACHED
$STATE,1485,begin surface coast
$FINISH,1.2,1.023896
$STATE,1493,end surface coast,CONTROL_FINISHED_OK
$STATE,1493,begin surface
$SM_CCo,1595,0.00,0.000,0,0,1047,1234.67
$SM_GC,0.44,29.50,0.85,0.00,0.020,0.025,0.000,240,1981,1047,-6.55,-1.28,1234.67,0,0,0,0,0,0,26.04,26.05,26.08
$IRIDIUM_FIX,6149.06,-17422.35,110817,043217
$TT8_MAMPS,0.025466,0.256907
$HUMID,52.59
$INTERNAL_PRESSURE,10.0235
$TCM_TEMP,3.90
$XPDR_PINGS,1
$24V_AH,24.06,23.175
$10V_AH,10.18,26.588
$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,45.925,21.825,104.700,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,530.277,60.178,185.778,791.827,89.458,33.417,497.673,0.000,455.607,0.000,0.544,0.000
$DEVICE_MAMPS,77.265,1273.725,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,128.923,513.526,406.333,602.742,788.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,17867,189
$CAP_FILE_SIZE,42257,0
$CFSIZE,1024409600,977600512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,599.77,0x236164,0,24
$GPS,110817,055947,6106.540,-17350.236,7,0.8,28,7.0,0.0,294.3,11,5.0