version: 66.13
glider: 401
mission: 22
dive: 861
start: 8 11 117 9 41 41
data:
$ID,401
$MISSION,22
$DIVE,861
$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,44
$R_STBD_OVSHOOT,22
$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
$GPS1,110817,085212,6108.3486,-17348.5293,5,0.8,24,7.0,0.4,99.5,10,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.5
$GPS2,110817,085212,6108.3486,-17348.5293,5,0.8,24,7.0,0.4,99.5,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.034492,0.485117
$KALMAN_X,72915.976562,-667.559326,0.715656,-264477.281250,100.906540
$KALMAN_Y,-36740.199219,2541.728760,798.992249,242748.031250,-147.438843
$MHEAD_RNG_PITCHd_Wd,348.9,30456,-7.4,-10.000,-11.62,12840
$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,-1.41,-487.5,2406,1953,2342,4092,0.0,0.0,0,17,5.20,0.00,-1.50,0.000,20482,0.024,0.000,1895,1959,2505,2505,4095,0,0,0,0,0,0,26.17,28.83,26.22,10.36,53.66
$GC,21,-1.41,-487.5,1894,1959,2505,4095,0.0,0.0,1,33,0.00,1.48,-5.12,0.000,16644,0.000,1.271,1894,2490,3057,3057,4095,0,0,0,0,0,0,26.39,24.87,26.41,10.40,53.74
$GC,138,-1.41,-487.5,1893,2489,3060,4095,11.7,-11.0,20,144,0.00,1.33,0.00,0.000,1030,0.000,0.028,1894,1962,3060,3060,4094,0,0,0,0,0,0,26.15,26.12,26.18,10.53,53.66
$GC,177,-1.41,-487.5,1894,1962,3060,4094,15.7,-10.6,26,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1962,3060,3060,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.53,52.99
$GC,215,-1.41,-487.5,1894,1962,3061,4095,19.5,-9.5,32,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1962,3061,3061,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.52,52.95
$GC,254,-1.41,-487.5,1894,1961,3062,4095,22.8,-8.3,38,260,0.00,1.40,0.00,0.000,516,0.000,0.054,1894,1419,3061,3061,4094,0,0,0,0,0,0,26.45,26.14,26.46,10.51,52.83
$GC,287,-1.41,-487.5,1894,1419,3062,4094,25.6,-8.5,43,293,0.00,1.27,0.00,0.000,1030,0.000,0.025,1894,1962,3062,3062,4095,0,0,0,0,0,0,26.27,26.24,26.28,10.50,52.20
$GC,326,-1.41,-487.5,1894,1962,3062,4095,28.9,-8.8,49,333,0.00,1.35,0.00,0.000,260,0.000,0.046,1894,2474,3063,3063,4094,0,0,0,0,0,0,26.49,26.18,26.51,10.48,51.41
$GC,347,-1.41,-487.5,1894,2474,3063,4094,30.7,-8.3,52,354,0.00,1.30,0.00,0.000,1030,0.000,0.028,1894,1954,3063,3063,4094,0,0,0,0,0,0,26.29,26.25,26.30,10.46,50.86
$GC,386,-1.41,-487.5,1894,1954,3064,4094,33.9,-7.9,58,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1954,3064,3064,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,50.03
$GC,425,-1.41,-487.5,1894,1954,3064,4095,36.9,-7.9,64,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1955,3064,3064,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.43,49.48
$GC,463,-1.41,-487.5,1893,1954,3064,4095,39.9,-7.7,70,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1954,3065,3065,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.41,49.17
$GC,502,-1.41,-487.5,1894,1954,3066,4095,42.8,-7.9,76,508,0.00,1.38,0.00,0.000,516,0.000,0.054,1894,1414,3066,3066,4094,0,0,0,0,0,0,26.57,26.25,26.58,10.40,49.09
$GC,523,-1.41,-487.5,1894,1414,3066,4094,44.6,-8.1,79,530,0.00,1.25,0.00,0.000,1030,0.000,0.025,1894,1950,3066,3066,4094,0,0,0,0,0,0,26.37,26.36,26.39,10.40,48.66
$GC,563,-1.41,-487.5,1894,1950,3067,4094,47.8,-7.9,85,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1950,3066,3066,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.39,47.51
$GC,601,-1.41,-487.5,1894,1950,3067,4095,50.9,-8.0,91,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1950,3067,3067,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.38,47.08
$GC,640,-1.41,-487.5,1893,1950,3067,4094,54.1,-8.2,97,646,0.00,1.38,0.00,0.000,260,0.000,0.046,1894,2475,3067,3067,4094,0,0,0,0,0,0,26.62,26.31,26.63,10.38,47.59
$GC,667,-1.41,-487.5,1894,2474,3068,4094,56.4,-8.4,101,673,0.00,1.27,0.00,0.000,1030,0.000,0.028,1894,1962,3068,3068,4094,0,0,0,0,0,0,26.40,26.38,26.43,10.37,47.00
$GC,706,-1.41,-487.5,1894,1962,3068,4094,59.6,-8.5,107,712,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1962,3069,3069,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.37,47.16
$STATE,717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,717,begin apogee
$GC,724,-0.45,0.0,1894,2139,3069,4095,60.7,-8.2,109,760,3.05,0.00,27.98,1.276,10244,0.048,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.36,25.48,24.49,10.36,47.40
$STATE,761,end apogee,CONTROL_FINISHED_OK
$STATE,761,begin climb
$GC,764,1.41,487.5,2186,2140,2484,4094,62.5,0.0,115,806,6.15,1.38,27.80,1.251,10500,0.036,0.054,2776,2653,1915,1915,4094,0,0,0,0,0,0,25.66,25.60,24.04,10.24,46.53
$GC,826,1.65,652.1,2775,2653,1914,4094,58.9,8.7,125,846,0.70,1.33,10.60,1.064,11270,0.028,0.024,2856,2126,1723,1723,4094,0,0,0,0,0,0,25.39,25.38,24.11,10.12,46.69
$GC,879,1.67,664.4,2855,2126,1722,4094,53.9,9.9,133,886,0.00,1.35,2.53,0.283,8708,0.000,0.046,2856,1616,1709,1709,4094,0,0,0,0,0,0,25.67,25.31,24.30,10.07,45.82
$GC,979,1.67,664.4,2854,1615,1707,4094,43.3,10.4,149,985,0.00,1.23,0.00,0.000,1030,0.000,0.027,2856,2111,1707,1707,4094,0,0,0,0,0,0,25.77,25.73,25.78,10.06,46.45
$GC,1018,1.67,664.4,2855,2111,1706,4094,39.4,10.3,155,1024,0.00,1.52,0.00,0.000,260,0.000,0.056,2856,2671,1706,1706,4094,0,0,0,0,0,0,26.04,25.73,26.06,10.05,47.08
$GC,1045,1.67,664.4,2855,2671,1706,4094,36.6,10.7,159,1051,0.00,1.40,0.00,0.000,1030,0.000,0.027,2856,2112,1706,1706,4094,0,0,0,0,0,0,25.89,25.86,25.90,10.05,46.85
$GC,1084,1.75,716.4,2855,2112,1705,4094,32.7,9.6,165,1098,0.20,1.30,4.45,0.591,10756,0.046,0.047,2885,1609,1648,1648,4095,0,0,0,0,0,0,25.96,25.72,24.82,10.05,47.40
$GC,1166,1.75,716.4,2885,1609,1646,4095,24.2,10.0,178,1173,0.00,1.17,0.00,0.000,1030,0.000,0.027,2886,2094,1646,1646,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.06,48.18
$GC,1205,1.75,716.4,2885,2093,1645,4094,20.1,10.6,184,1212,0.00,1.55,0.00,0.000,260,0.000,0.058,2885,2673,1645,1645,4094,0,0,0,0,0,0,26.24,25.92,26.25,10.09,49.17
$GC,1238,1.75,716.4,2885,2673,1644,4094,16.7,10.5,189,1245,0.00,1.48,0.00,0.000,1030,0.000,0.028,2886,2070,1644,1644,4094,0,0,0,0,0,0,26.09,26.03,26.11,10.11,50.86
$GC,1277,1.98,868.4,2885,2070,1644,4094,13.1,8.8,195,1291,0.65,1.20,9.20,0.653,10756,0.033,0.050,2960,1610,1471,1471,4094,0,0,0,0,0,0,26.10,25.83,25.08,10.14,52.00
$GC,1348,2.05,918.3,2959,1609,1469,4094,6.2,9.6,206,1361,0.12,1.15,4.35,0.420,11270,0.038,0.028,2982,2084,1411,1411,4094,0,0,0,0,0,0,26.03,26.01,25.17,10.12,53.89
$STATE,1391,end climb,SURFACE_DEPTH_REACHED
$STATE,1391,begin surface coast
$FINISH,0.4,1.023811
$STATE,1412,end surface coast,CONTROL_FINISHED_OK
$STATE,1412,begin surface
$SM_CCo,1513,0.00,0.000,0,0,1409,923.85
$SM_GC,0.50,28.33,0.32,0.00,0.021,0.050,0.000,239,1954,1409,-6.55,1.69,923.85,0,0,0,0,0,0,26.07,26.05,26.12
$IRIDIUM_FIX,6149.06,-17422.35,110817,072749
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.13
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,24.04,23.439
$10V_AH,10.43,26.828
$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,44.400,31.025,86.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,566.704,386.121,222.969,314.287,86.043,33.418,459.173,0.000,320.604,0.000,0.542,0.000
$DEVICE_MAMPS,48.195,1271.430,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,144.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,17818,216
$CAP_FILE_SIZE,46058,0
$CFSIZE,1024409600,977158144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,100811,6108.647,-17347.672,7,0.8,40,7.0,1.0,143.4,10,4.9