version: 66.13
glider: 401
mission: 22
dive: 854
start: 8 11 117 6 33 26
data:
$ID,401
$MISSION,22
$DIVE,854
$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,31
$R_STBD_OVSHOOT,49
$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
$GPS1,110817,060825,6106.5723,-17350.2461,5,0.8,19,7.0,0.0,343.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-0.7
$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,0.091055,0.510182
$KALMAN_X,71966.617188,-1010.395203,-351.674438,-264457.031250,10.447174
$KALMAN_Y,-36194.789062,2263.574707,519.389526,239473.531250,83.823242
$MHEAD_RNG_PITCHd_Wd,3.1,33930,-6.5,-10.000,-10.92,15057
$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,-1.32,-487.5,2404,1977,2350,4092,0.0,0.0,0,20,4.90,0.00,-4.43,0.000,20482,0.023,0.000,1921,1977,2841,2841,4095,0,0,0,0,0,0,26.15,28.83,26.17,10.38,53.07
$GC,23,-1.32,-487.5,1920,1977,2841,4095,0.0,0.0,1,33,0.00,1.35,-1.95,0.000,16644,0.000,1.261,1920,2460,3052,3052,4095,0,0,0,0,0,0,26.36,24.85,26.34,10.50,53.18
$GC,109,-1.32,-487.5,1920,2460,3052,4095,6.4,-10.3,13,118,0.00,1.27,0.00,0.000,1030,0.000,0.027,1921,1956,3052,3052,4095,0,0,0,0,0,0,26.10,26.06,26.11,10.55,52.32
$GC,155,-1.32,-487.5,1920,1956,3053,4095,11.1,-10.3,19,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3053,3053,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.55,52.79
$GC,201,-1.32,-487.5,1920,1956,3054,4095,15.5,-9.5,25,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1956,3054,3054,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.55,52.52
$GC,246,-1.32,-487.5,1920,1956,3055,4095,19.4,-8.9,31,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3055,3055,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.54,51.85
$GC,292,-1.32,-487.5,1920,1955,3055,4095,23.5,-8.8,37,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3056,3056,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.53,51.14
$GC,338,-1.32,-487.5,1920,1955,3055,4094,27.0,-7.6,43,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3056,3056,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.51,50.63
$GC,385,-1.32,-487.5,1920,1956,3057,4095,30.3,-7.0,49,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1955,3057,3057,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.48,50.31
$GC,432,-1.32,-487.5,1920,1956,3057,4095,33.7,-7.1,55,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3057,3057,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.47,49.37
$GC,477,-1.32,-487.5,1920,1956,3058,4094,37.1,-7.6,61,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3058,3058,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.45,48.11
$GC,523,-1.32,-487.5,1920,1956,3058,4095,40.6,-7.7,67,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3058,3058,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.44,47.32
$GC,568,-1.32,-487.5,1920,1955,3060,4095,44.0,-7.6,73,577,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3059,3059,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.43,46.92
$GC,614,-1.32,-487.5,1920,1956,3060,4095,47.4,-7.5,79,623,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3060,3060,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.41,46.37
$GC,660,-1.32,-487.5,1920,1956,3061,4095,50.8,-7.4,85,669,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1956,3061,3061,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.40,46.14
$GC,705,-1.32,-487.5,1920,1956,3061,4095,54.1,-7.2,91,714,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,1956,3061,3061,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.40,45.94
$GC,751,-1.32,-487.5,1920,1956,3061,4095,57.5,-7.3,97,760,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,1956,3062,3062,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.39,45.90
$STATE,787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,787,begin apogee
$GC,794,-0.45,0.0,1920,2129,3062,4095,60.4,-7.3,102,829,2.78,0.00,27.67,1.262,10244,0.048,0.000,2185,2129,2484,2484,4095,0,0,0,0,0,0,26.39,25.53,24.55,10.38,46.18
$STATE,830,end apogee,CONTROL_FINISHED_OK
$STATE,830,begin climb
$GC,833,1.32,487.5,2185,2129,2484,4095,62.2,0.0,106,870,5.90,0.00,27.67,1.238,11270,0.036,0.000,2752,2129,1916,1916,4094,0,0,0,0,0,0,25.75,25.93,24.08,10.27,45.55
$GC,908,1.79,796.6,2751,2129,1915,4094,58.2,7.9,115,936,1.40,1.42,18.12,1.138,10756,0.025,0.044,2893,1605,1559,1559,4094,0,0,0,0,0,0,25.51,24.82,24.10,10.14,45.66
$GC,986,1.81,813.7,2893,1604,1557,4094,50.0,9.9,125,996,0.00,1.27,2.92,0.401,9222,0.000,0.027,2893,2115,1534,1534,4094,0,0,0,0,0,0,25.52,25.51,24.40,10.06,45.86
$GC,1035,1.81,813.7,2893,2114,1534,4094,45.2,10.0,131,1044,0.00,1.52,0.00,0.000,260,0.000,0.054,2893,2671,1533,1533,4094,0,0,0,0,0,0,25.87,25.58,25.89,10.04,45.39
$GC,1068,1.81,813.7,2893,2670,1533,4094,41.6,10.5,135,1077,0.00,1.42,0.00,0.000,1030,0.000,0.026,2893,2105,1532,1532,4094,0,0,0,0,0,0,25.77,25.76,25.77,10.05,46.25
$GC,1114,1.92,882.5,2893,2104,1531,4094,37.0,9.5,141,1125,0.40,1.30,5.25,0.678,10756,0.037,0.047,2941,1606,1455,1455,4094,0,0,0,0,0,0,25.85,25.62,24.72,10.04,46.25
$GC,1201,1.92,882.5,2940,1606,1453,4094,27.7,10.8,153,1211,0.00,1.23,0.00,0.000,1030,0.000,0.027,2941,2104,1453,1453,4094,0,0,0,0,0,0,25.92,25.90,25.94,10.04,46.92
$GC,1248,1.92,882.5,2940,2103,1452,4094,22.6,11.3,159,1257,0.00,1.55,0.00,0.000,260,0.000,0.058,2941,2673,1452,1452,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.06,48.07
$GC,1274,1.92,882.5,2940,2672,1451,4094,19.8,10.6,162,1283,0.00,1.50,0.00,0.000,1030,0.000,0.028,2941,2079,1451,1451,4094,0,0,0,0,0,0,25.98,25.97,26.01,10.08,48.58
$GC,1321,1.96,911.1,2940,2079,1450,4094,15.2,9.8,168,1331,0.00,1.20,3.20,0.329,8708,0.000,0.047,2941,1603,1420,1420,4094,0,0,0,0,0,0,26.27,25.65,25.13,10.11,49.92
$GC,1381,2.29,1130.7,2940,1603,1419,4094,9.9,8.5,176,1400,1.10,1.12,12.62,0.652,11270,0.025,0.025,3058,2077,1166,1166,4094,0,0,0,0,0,0,26.10,26.08,25.10,10.12,51.61
$GC,1439,2.29,1130.7,3057,2077,1164,4094,4.4,10.1,183,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2077,1164,1164,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.08,51.81
$STATE,1462,end climb,FINISH_DEPTH_REACHED
$STATE,1462,begin subsurface finish
$FINISH1,1.8,1.023899,119
$GC,1471,0.18,118.6,3058,2171,1163,4095,1.8,9.6,186,1490,6.85,0.00,-9.80,0.000,20486,0.036,0.000,2397,2171,2352,2352,4094,0,0,0,0,0,0,26.03,24.98,26.07,10.09,52.20
$FINISH2,0.3
$STATE,1491,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1491,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,043543
$TT8_MAMPS,0.026215,0.244923
$HUMID,53.03
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.08,23.248
$10V_AH,10.20,26.650
$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,23.325,17.575,97.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,515.436,0.000,165.908,784.262,84.118,33.425,482.987,0.000,453.030,0.000,0.543,0.000
$DEVICE_MAMPS,48.195,1261.485,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,127.953,510.800,404.173,599.174,780.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,17831,188
$CAP_FILE_SIZE,39805,0
$CFSIZE,1024409600,977502208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,060825,6106.572,-17350.246,5,0.8,19,7.0,0.0,343.8,11,4.9