version: 66.13
glider: 401
mission: 22
dive: 814
start: 8 10 117 12 2 38
data:
$ID,401
$MISSION,22
$DIVE,814
$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,2105
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,32
$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
$GPS1,100817,115429,6100.9819,-17345.7285,5,0.8,18,7.1,0.3,155.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-40.5
$GPS2,100817,120131,6100.9243,-17345.7871,10,0.9,36,7.1,0.3,230.2,10,4.6
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W9N
$TGT_LATLONG,6103.960,-17349.740
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.124779,0.369089
$KALMAN_X,77452.093750,-742.471497,-307.035553,-266028.156250,-10.321930
$KALMAN_Y,-27830.701172,3029.210449,932.203064,219457.500000,-202.959106
$MHEAD_RNG_PITCHd_Wd,334.2,6645,-10.8,-10.000,-14.40,7444
$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,-1.71,-487.5,238,1947,1900,4092,0.0,0.0,0,21,10.00,0.00,0.00,0.000,2049,0.096,0.000,1097,1947,1900,1900,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.32,51.14
$GC,24,-1.71,-487.5,1097,1946,1900,4094,0.8,0.0,1,51,7.25,1.48,-10.30,0.000,18692,0.044,1.263,1786,2482,3055,3055,4094,0,0,0,0,0,0,26.03,24.82,26.10,10.32,50.74
$GC,305,-1.71,-487.5,1785,2482,3061,4094,31.4,-11.5,42,315,0.00,1.30,0.00,0.000,1030,0.000,0.026,1786,1958,3061,3061,4095,0,0,0,0,0,0,26.19,26.17,26.20,10.51,48.54
$GC,351,-1.71,-487.5,1785,1959,3061,4095,37.0,-12.2,48,361,0.00,1.40,0.00,0.000,260,0.000,0.044,1787,2481,3062,3062,4094,0,0,0,0,0,0,26.45,26.15,26.46,10.47,48.18
$STATE,534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,534,begin apogee
$GC,541,-0.45,0.0,1786,2091,3066,4095,60.2,-13.3,75,577,4.25,0.00,28.00,1.287,10244,0.055,0.000,2186,2089,2484,2484,4095,0,0,0,0,0,0,26.26,25.41,24.41,10.41,44.84
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,578,begin climb
$GC,580,1.71,487.5,2186,2090,2484,4095,63.3,0.0,79,624,7.20,0.00,27.55,1.254,11270,0.034,0.000,2875,2090,1921,1921,4094,0,0,0,0,0,0,25.65,25.79,24.01,10.30,44.99
$GC,662,1.71,487.5,2874,2090,1920,4094,56.7,12.3,89,672,0.00,0.00,0.93,0.003,8198,0.000,0.000,2875,2090,1920,1920,4094,0,0,0,0,0,0,25.67,25.66,25.65,10.17,43.81
$GC,710,1.71,487.5,2874,2090,1919,4094,50.7,12.7,95,719,0.00,1.33,0.00,0.000,516,0.000,0.047,2875,1583,1919,1919,4094,0,0,0,0,0,0,25.84,25.56,25.86,10.16,43.73
$GC,769,1.71,487.5,2875,1582,1917,4094,43.1,12.7,103,778,0.00,1.17,0.00,0.000,1030,0.000,0.025,2875,2068,1917,1917,4094,0,0,0,0,0,0,25.80,25.76,25.81,10.15,44.05
$GC,816,1.71,487.5,2875,2067,1916,4094,37.3,12.8,109,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2067,1915,1915,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.14,44.48
$GC,863,1.71,487.5,2874,2067,1914,4094,31.6,12.0,115,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2067,1914,1914,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.15,44.99
$GC,910,1.71,487.5,2874,2067,1913,4094,26.1,11.6,121,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2067,1913,1913,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.16,45.43
$GC,956,1.71,487.5,2874,2067,1912,4094,20.9,11.0,127,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2068,1911,1911,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.19,46.92
$GC,1003,1.71,487.5,2874,2067,1911,4094,15.7,10.8,133,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2068,1911,1911,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.21,48.50
$GC,1050,1.71,487.5,2874,2067,1909,4094,10.8,10.4,139,1059,0.00,1.27,0.00,0.000,516,0.000,0.050,2875,1584,1909,1909,4094,0,0,0,0,0,0,26.35,26.05,26.36,10.24,49.68
$GC,1089,1.71,487.5,2874,1583,1908,4094,6.6,10.6,144,1099,0.00,1.15,0.00,0.000,1030,0.000,0.024,2874,2073,1908,1908,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.25,50.11
$STATE,1133,end climb,FINISH_DEPTH_REACHED
$STATE,1133,begin subsurface finish
$FINISH1,1.7,1.024156,101
$GC,1141,0.15,100.6,2875,2073,1907,4094,1.7,10.6,150,1159,4.88,0.00,-4.00,0.000,20486,0.028,0.000,2391,2075,2369,2369,4094,0,0,0,0,0,0,26.17,25.63,26.23,10.26,50.63
$FINISH2,0.4
$STATE,1160,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1161,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,100817,104542
$TT8_MAMPS,0.025466,0.25466
$HUMID,50.86
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,24.01,21.960
$10V_AH,10.19,25.525
$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,33.575,10.050,56.475,0.000,0.000,22.825,17.475,212.354,0.000,0.000,37.887,424.528,0.000,112.776,910.669,153.671,33.455,346.892,0.000,370.611,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1263.015,1286.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.230,412.975,326.731,484.795,633.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,14274,152
$CAP_FILE_SIZE,28642,0
$CFSIZE,1024409600,979501056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100817,120131,6100.924,-17345.787,10,0.9,36,7.1,0.3,230.2,10,4.6