version: 66.13
glider: 401
mission: 22
dive: 844
start: 8 11 117 1 28 52
data:
$ID,401
$MISSION,22
$DIVE,844
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,110817,011931,6104.4829,-17348.8281,7,0.8,26,7.0,0.0,247.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-13.9
$GPS2,110817,012743,6104.4365,-17348.9570,8,0.8,18,7.0,0.0,252.0,11,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.139206,0.634167
$KALMAN_X,74300.281250,-847.358948,-207.415955,-265868.687500,-103.786865
$KALMAN_Y,-34724.929688,2358.550781,464.648315,233998.453125,-237.855225
$MHEAD_RNG_PITCHd_Wd,5.4,37695,-3.5,-10.000,-8.76,26723
$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,-1.05,-487.5,240,1970,974,4092,0.0,0.0,0,21,10.18,0.00,0.00,0.000,2049,0.054,0.000,1175,1970,974,974,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.14,51.06
$GC,24,-1.05,-487.5,1175,1970,974,4094,0.2,0.0,1,60,8.68,1.55,-18.35,0.000,18948,0.041,1.284,1997,1416,3055,3055,4095,0,0,0,0,0,0,25.98,24.73,26.03,10.14,51.22
$GC,316,-1.05,-487.5,1996,1415,3055,4095,-0.1,0.0,43,325,0.00,1.25,0.00,0.000,1030,0.000,0.024,1997,1943,3055,3055,4095,0,0,0,0,0,0,26.20,26.20,26.23,10.60,50.00
$GC,364,-1.05,-487.5,1996,1950,3055,4095,-0.1,0.7,49,373,0.00,1.38,0.00,0.000,516,0.000,0.050,1997,1410,3055,3055,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.61,50.35
$GC,601,-1.05,-487.5,1996,1410,3055,4094,2.6,-8.0,84,611,0.00,1.27,0.00,0.000,1030,0.000,0.024,1997,1981,3055,3055,4095,0,0,0,0,0,0,26.39,26.37,26.40,10.61,48.93
$GC,648,-1.05,-487.5,1996,1981,3056,4095,6.6,-8.0,90,657,0.00,1.23,0.00,0.000,260,0.000,0.041,1997,2451,3056,3056,4094,0,0,0,0,0,0,26.59,26.30,26.60,10.61,49.09
$GC,689,-1.05,-487.5,1996,2451,3056,4094,9.8,-8.0,95,699,0.00,1.27,0.00,0.000,1030,0.000,0.024,1997,1930,3056,3056,4094,0,0,0,0,0,0,26.39,26.35,26.41,10.61,48.66
$GC,737,-1.05,-487.5,1996,1930,3057,4094,13.8,-8.4,101,746,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1930,3057,3057,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.61,49.01
$GC,785,-1.05,-487.5,1996,1930,3058,4094,17.7,-8.2,107,794,0.00,1.35,0.00,0.000,260,0.000,0.037,1997,2449,3058,3058,4094,0,0,0,0,0,0,26.64,26.34,26.65,10.61,47.99
$GC,922,-1.05,-487.5,1996,2449,3060,4094,29.4,-8.4,127,932,0.00,1.12,0.00,0.000,1030,0.000,0.025,1997,1986,3060,3060,4094,0,0,0,0,0,0,26.44,26.46,26.48,10.56,47.12
$GC,969,-1.05,-487.5,1996,1986,3061,4094,33.4,-8.4,133,978,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1987,3061,3061,4095,0,0,0,0,0,0,26.70,26.71,26.71,10.53,46.61
$STATE,985,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,986,begin apogee
$GC,993,-0.45,0.0,1997,2130,3061,4095,35.0,-8.4,135,1028,1.88,0.00,26.83,1.002,10244,0.034,0.000,2187,2131,2487,2487,4094,0,0,0,0,0,0,26.46,25.47,24.87,10.52,46.53
$STATE,1029,end apogee,CONTROL_FINISHED_OK
$STATE,1029,begin climb
$GC,1032,1.05,487.5,2187,2130,2487,4094,38.0,0.0,139,1068,4.82,1.35,26.95,0.995,10756,0.034,0.041,2659,1603,1916,1916,4094,0,0,0,0,0,0,25.91,25.85,24.46,10.38,44.68
$GC,1099,1.47,767.9,2658,1602,1914,4094,34.6,8.9,147,1127,1.33,1.27,16.38,0.890,11270,0.026,0.024,2790,2124,1588,1588,4094,0,0,0,0,0,0,25.63,25.60,24.42,10.25,43.03
$GC,1165,1.47,767.9,2789,2123,1586,4094,27.1,12.9,155,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2123,1586,1586,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.18,43.06
$GC,1212,1.47,767.9,2789,2123,1585,4094,21.1,12.7,161,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2124,1584,1584,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.20,43.66
$GC,1258,1.47,767.9,2789,2123,1583,4094,15.5,12.1,167,1268,0.00,1.35,0.00,0.000,516,0.000,0.044,2790,1612,1583,1583,4094,0,0,0,0,0,0,26.07,25.78,26.08,10.22,44.48
$STATE,1368,end climb,FINISH_DEPTH_REACHED
$STATE,1368,begin subsurface finish
$FINISH1,1.6,1.023705,132
$GC,1378,0.20,132.1,2790,2150,1579,4094,1.6,12.2,183,1397,3.75,1.42,-6.30,0.000,20740,0.022,1.265,2415,2666,2329,2329,4094,0,0,0,0,0,0,26.06,24.75,26.08,10.26,47.51
$FINISH2,-0.1
$STATE,1398,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1398,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,000140
$TT8_MAMPS,0.025466,0.240429
$HUMID,48.11
$INTERNAL_PRESSURE,10.3555
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,24.42,22.890
$10V_AH,10.23,26.341
$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,30.625,17.425,70.150,0.000,0.000,22.624,15.052,280.065,0.000,0.000,19.665,505.247,0.000,124.550,1103.935,175.240,33.479,391.858,0.000,447.628,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1284.435,1002.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.742,502.707,397.458,590.283,772.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,17887,185
$CAP_FILE_SIZE,34008,0
$CFSIZE,1024409600,977993728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110817,012743,6104.437,-17348.957,8,0.8,18,7.0,0.0,252.0,11,4.8