version: 66.13
glider: 401
mission: 22
dive: 853
start: 8 11 117 6 9 35
data:
$ID,401
$MISSION,22
$DIVE,853
$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,15
$R_STBD_OVSHOOT,56
$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
$GPS1,110817,055947,6106.5396,-17350.2363,7,0.8,28,7.0,0.0,294.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-27.7
$GPS2,110817,060825,6106.5723,-17350.2461,5,0.8,19,7.0,0.0,343.8,11,4.9
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.055117,0.418984
$KALMAN_X,72037.992188,-1019.927307,-371.105957,-264503.218750,34.626709
$KALMAN_Y,-35968.343750,2332.472168,576.731567,239083.750000,83.486694
$MHEAD_RNG_PITCHd_Wd,0.5,33930,-9.5,-10.000,-13.31,9071
$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,-1.60,-487.5,239,1964,1046,4092,0.0,0.0,0,18,7.38,0.00,0.00,0.000,2049,0.076,0.000,892,1965,1047,1047,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.16,50.86
$GC,21,-1.60,-487.5,891,1964,1046,4094,0.5,0.0,1,57,9.88,1.55,-17.92,0.000,18948,0.047,1.283,1823,1403,3057,3057,4095,0,0,0,0,0,0,25.98,24.72,26.06,10.16,50.86
$GC,240,-1.60,-487.5,1822,1403,3060,4095,15.1,-14.4,37,246,0.00,1.25,0.00,0.000,1030,0.000,0.024,1823,1928,3061,3061,4095,0,0,0,0,0,0,26.16,26.14,26.17,10.59,50.27
$GC,279,-1.60,-487.5,1822,1927,3061,4095,20.4,-12.9,43,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1928,3062,3062,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.59,49.56
$GC,317,-1.60,-487.5,1822,1928,3062,4095,25.1,-12.5,49,323,0.00,1.45,0.00,0.000,260,0.000,0.045,1823,2476,3062,3062,4094,0,0,0,0,0,0,26.42,26.12,26.43,10.57,49.29
$GC,356,-1.60,-487.5,1822,2476,3063,4094,29.4,-10.6,55,362,0.00,1.33,0.00,0.000,1030,0.000,0.026,1822,1945,3063,3063,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.55,48.74
$GC,395,-1.60,-487.5,1822,1945,3064,4094,33.4,-10.3,61,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1945,3064,3064,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.53,48.62
$GC,433,-1.60,-487.5,1822,1945,3064,4095,37.3,-10.1,67,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1945,3064,3064,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.50,47.71
$GC,471,-1.60,-487.5,1822,1945,3065,4095,41.3,-10.8,73,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1945,3065,3065,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.48,47.16
$GC,509,-1.60,-487.5,1822,1945,3066,4095,45.4,-11.1,79,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1945,3066,3066,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.47,46.06
$GC,547,-1.60,-487.5,1822,1945,3067,4095,49.6,-11.2,85,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1945,3066,3066,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.45,45.86
$GC,585,-1.60,-487.5,1822,1945,3067,4095,53.7,-10.9,91,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,1945,3068,3068,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.44,45.11
$GC,623,-1.60,-487.5,1822,1945,3069,4095,57.8,-11.0,97,630,0.00,1.42,0.00,0.000,260,0.000,0.044,1823,2478,3068,3068,4095,0,0,0,0,0,0,26.58,26.28,26.59,10.43,45.27
$STATE,641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,641,begin apogee
$GC,649,-0.45,0.0,1823,2112,3068,4094,60.0,-10.7,100,685,3.80,0.00,27.95,1.258,10244,0.052,0.000,2185,2112,2484,2484,4094,0,0,0,0,0,0,26.30,25.45,24.46,10.43,44.76
$STATE,686,end apogee,CONTROL_FINISHED_OK
$STATE,686,begin climb
$GC,689,1.60,487.5,2185,2112,2484,4094,62.3,0.0,106,730,6.78,0.00,27.67,1.235,11270,0.034,0.000,2837,2112,1915,1915,4094,0,0,0,0,0,0,25.68,25.84,24.05,10.30,44.64
$GC,763,1.60,487.5,2837,2112,1914,4094,56.6,10.8,118,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2112,1914,1914,4095,0,0,0,0,0,0,25.65,25.67,25.66,10.18,44.17
$GC,801,1.60,487.5,2837,2112,1913,4095,52.1,12.1,124,807,0.00,1.27,0.00,0.000,516,0.000,0.045,2837,1627,1913,1913,4094,0,0,0,0,0,0,25.82,25.55,25.83,10.17,43.69
$GC,846,1.60,487.5,2837,1626,1912,4094,46.7,11.8,131,852,0.00,1.20,0.00,0.000,1030,0.000,0.026,2837,2113,1912,1912,4094,0,0,0,0,0,0,25.74,25.72,25.77,10.16,44.44
$GC,885,1.60,487.5,2837,2112,1910,4094,42.1,11.6,137,891,0.00,1.52,0.00,0.000,260,0.000,0.054,2837,2675,1911,1911,4094,0,0,0,0,0,0,26.03,25.72,26.05,10.16,44.64
$GC,925,1.60,487.5,2837,2675,1910,4094,37.5,11.8,143,932,0.00,1.33,0.00,0.000,1030,0.000,0.025,2837,2140,1910,1910,4094,0,0,0,0,0,0,25.90,25.89,25.92,10.16,45.23
$GC,964,1.60,487.5,2837,2140,1909,4094,32.9,11.5,149,970,0.00,1.35,0.00,0.000,516,0.000,0.047,2838,1617,1908,1908,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.15,45.15
$GC,1087,1.66,528.5,2837,1616,1906,4094,19.5,9.5,169,1096,0.08,1.17,3.60,0.416,11270,0.062,0.025,2856,2105,1866,1866,4095,0,0,0,0,0,0,26.03,26.08,25.11,10.20,48.30
$GC,1129,1.67,539.3,2854,2104,1866,4095,15.4,9.9,175,1136,0.00,1.50,2.42,0.167,8452,0.000,0.051,2855,2670,1854,1854,4094,0,0,0,0,0,0,26.31,25.94,25.18,10.22,50.74
$GC,1181,1.67,539.3,2855,2669,1852,4094,10.2,10.1,183,1187,0.00,1.40,0.00,0.000,1030,0.000,0.025,2855,2104,1852,1852,4094,0,0,0,0,0,0,26.14,26.12,26.16,10.24,51.37
$GC,1220,1.77,605.6,2855,2104,1851,4094,6.5,9.3,189,1234,0.25,1.25,5.03,0.459,10756,0.041,0.049,2890,1613,1776,1776,4094,0,0,0,0,0,0,26.18,25.98,25.29,10.24,51.49
$STATE,1269,end climb,FINISH_DEPTH_REACHED
$STATE,1269,begin subsurface finish
$FINISH1,1.7,1.023880,120
$GC,1278,0.18,119.9,2889,2138,1775,4094,1.7,8.8,197,1298,5.20,1.45,-4.88,0.000,20996,0.056,1.274,2404,1605,2350,2350,4094,0,0,0,0,0,0,26.09,24.85,26.17,10.24,52.04
$FINISH2,0.2
$STATE,1299,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1299,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,043543
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.87
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,24.05,23.218
$10V_AH,10.38,26.607
$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,33.350,22.675,66.675,0.000,0.000,23.439,25.919,299.385,0.000,0.000,20.723,516.497,311.053,182.311,632.896,192.191,33.454,400.987,0.000,299.468,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,1282.905,1258.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14297,200
$CAP_FILE_SIZE,40891,0
$CFSIZE,1024409600,977567744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110817,060825,6106.572,-17350.246,5,0.8,19,7.0,0.0,343.8,11,4.9