version: 66.13
glider: 401
mission: 22
dive: 866
start: 8 11 117 12 12 37
data:
$ID,401
$MISSION,22
$DIVE,866
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,110817,114218,6108.6392,-17347.1660,8,0.8,17,7.0,0.5,156.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.1
$GPS2,110817,114218,6108.6392,-17347.1660,8,0.8,17,7.0,0.5,156.8,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.035887,0.384773
$KALMAN_X,74034.789062,-398.980591,208.577515,-264782.531250,58.685379
$KALMAN_Y,-38663.738281,2345.861816,570.519348,245632.796875,-211.642151
$MHEAD_RNG_PITCHd_Wd,358.3,29790,-10.9,-10.000,-14.51,7299
$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,-1.72,-487.5,2402,1955,2338,4092,0.0,0.0,0,21,6.18,0.00,-3.67,0.000,20482,0.021,0.000,1791,1955,2737,2737,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.37,53.42
$GC,25,-1.72,-487.5,1791,1955,2737,4094,0.1,0.0,1,34,0.00,1.45,-2.67,0.000,16900,0.000,1.280,1791,1419,3056,3056,4094,0,0,0,0,0,0,26.29,24.78,26.29,10.45,53.38
$GC,191,-1.72,-487.5,1790,1419,3060,4094,22.5,-13.9,25,201,0.00,1.27,0.00,0.000,1030,0.000,0.025,1791,1954,3060,3060,4094,0,0,0,0,0,0,26.17,26.14,26.18,10.52,52.44
$GC,239,-1.72,-487.5,1790,1954,3062,4094,28.3,-11.4,31,247,0.00,1.38,0.00,0.000,260,0.000,0.047,1791,2473,3061,3061,4095,0,0,0,0,0,0,26.40,26.07,26.41,10.49,52.04
$GC,271,-1.72,-487.5,1790,2473,3062,4095,32.2,-11.5,35,280,0.00,1.25,0.00,0.000,1030,0.000,0.027,1791,1970,3062,3062,4095,0,0,0,0,0,0,26.20,26.20,26.22,10.46,51.45
$GC,317,-1.72,-487.5,1790,1970,3063,4095,37.3,-11.2,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1970,3063,3063,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.43,50.35
$GC,361,-1.72,-487.5,1790,1970,3064,4095,42.4,-11.7,47,371,0.00,1.40,0.00,0.000,516,0.000,0.050,1790,1424,3064,3064,4095,0,0,0,0,0,0,26.48,26.18,26.48,10.41,49.25
$GC,389,-1.72,-487.5,1790,1424,3064,4095,45.6,-11.8,50,399,0.00,1.27,0.00,0.000,1030,0.000,0.025,1791,1958,3064,3064,4094,0,0,0,0,0,0,26.28,26.25,26.30,10.41,48.42
$GC,437,-1.72,-487.5,1790,1958,3066,4094,51.3,-12.1,56,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1958,3066,3066,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.40,47.71
$GC,484,-1.72,-487.5,1790,1958,3066,4095,57.0,-12.3,62,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1958,3067,3067,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.39,47.67
$STATE,507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,507,begin apogee
$GC,514,-0.45,0.0,1790,2143,3067,4094,60.2,-12.0,65,550,4.20,0.00,28.05,1.274,10244,0.054,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.25,25.40,24.41,10.38,46.73
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,554,1.72,487.5,2184,2143,2484,4094,63.2,0.0,69,599,7.28,0.00,27.85,1.248,11270,0.034,0.000,2878,2143,1915,1915,4094,0,0,0,0,0,0,25.65,25.79,23.99,10.26,46.77
$GC,637,1.72,487.5,2877,2143,1914,4094,56.4,12.5,79,647,0.00,1.42,0.00,0.000,516,0.000,0.044,2879,1615,1914,1914,4094,0,0,0,0,0,0,25.67,25.39,25.67,10.13,45.15
$GC,696,1.72,487.5,2878,1615,1912,4094,48.6,12.6,87,706,0.00,1.20,0.03,0.002,9222,0.000,0.027,2878,2100,1912,1912,4094,0,0,0,0,0,0,25.67,25.64,25.69,10.12,45.58
$GC,745,1.72,487.5,2878,2099,1911,4094,42.8,12.5,93,754,0.00,1.58,0.00,0.000,260,0.000,0.056,2878,2679,1911,1911,4094,0,0,0,0,0,0,25.99,25.68,26.00,10.11,46.33
$GC,784,1.72,487.5,2878,2678,1910,4094,37.6,13.2,98,794,0.00,1.45,0.00,0.000,1030,0.000,0.025,2878,2102,1910,1910,4095,0,0,0,0,0,0,25.86,25.82,25.88,10.10,45.74
$GC,831,1.72,487.5,2877,2102,1908,4095,31.9,12.1,104,840,0.00,1.30,0.00,0.000,516,0.000,0.048,2878,1603,1909,1909,4094,0,0,0,0,0,0,26.13,25.84,26.15,10.11,46.10
$GC,961,1.72,487.5,2878,1603,1905,4094,16.9,10.9,123,970,0.00,1.17,0.00,0.000,1030,0.000,0.026,2878,2088,1905,1905,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.19,49.96
$GC,1007,1.87,586.0,2878,2087,1904,4094,12.8,8.6,129,1019,0.30,1.27,6.35,0.574,10756,0.048,0.045,2914,1603,1800,1800,4094,0,0,0,0,0,0,26.11,25.90,25.15,10.20,50.98
$STATE,1133,end climb,FINISH_DEPTH_REACHED
$STATE,1133,begin subsurface finish
$FINISH1,1.6,1.023806,125
$GC,1142,0.19,125.1,2914,2144,1796,4094,1.6,7.7,147,1160,5.25,0.00,-4.85,0.000,20998,0.032,0.000,2402,2153,2342,2342,4094,0,0,0,0,0,0,26.14,25.58,26.19,10.22,52.83
$FINISH2,0.1
$STATE,1161,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1161,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,101034
$TT8_MAMPS,0.026215,0.251664
$HUMID,53.38
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.99,23.623
$10V_AH,10.19,26.987
$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,23.200,20.050,62.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.589,0.000,115.744,620.415,62.977,33.427,347.487,0.000,361.229,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1279.845,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.935,404.848,320.360,475.334,618.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,14460,149
$CAP_FILE_SIZE,27857,0
$CFSIZE,1024409600,976945152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,114218,6108.639,-17347.166,8,0.8,17,7.0,0.5,156.8,10,4.8