version: 66.13
glider: 401
mission: 22
dive: 868
start: 8 11 117 13 6 14
data:
$ID,401
$MISSION,22
$DIVE,868
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,110817,125731,6108.6924,-17347.1875,4,1.0,20,7.0,0.0,202.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-36.0
$GPS2,110817,130505,6108.6216,-17347.1348,8,0.8,17,7.0,0.8,89.3,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.036180,0.384746
$KALMAN_X,74005.359375,-360.544189,222.818878,-264777.281250,2.497269
$KALMAN_Y,-39451.855469,2301.124268,523.184998,246473.656250,-222.829712
$MHEAD_RNG_PITCHd_Wd,358.4,29820,-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,-487.5,237,1951,1728,4092,0.0,0.0,0,21,9.93,0.00,0.00,0.000,2049,0.086,0.000,1101,1952,1729,1729,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.28,51.57
$GC,24,-1.72,-487.5,1101,1951,1728,4094,0.6,0.0,1,52,7.22,1.48,-12.30,0.000,18948,0.045,1.279,1782,1412,3055,3055,4095,0,0,0,0,0,0,26.00,24.72,26.06,10.28,51.92
$GC,234,-1.72,-487.5,1781,1411,3060,4095,22.8,-12.4,31,243,0.00,1.27,0.00,0.000,1030,0.000,0.025,1782,1951,3060,3060,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.55,50.59
$GC,281,-1.72,-487.5,1782,1951,3061,4095,28.2,-11.5,37,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3061,3061,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.51,49.64
$GC,328,-1.72,-487.5,1782,1952,3062,4095,33.7,-11.8,43,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3062,3062,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.48,49.05
$GC,375,-1.72,-487.5,1782,1952,3063,4094,39.1,-11.6,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3063,3063,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.45,47.20
$GC,422,-1.72,-487.5,1782,1952,3064,4095,44.6,-11.9,55,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1952,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.43,46.33
$GC,468,-1.72,-487.5,1782,1953,3065,4094,50.3,-12.1,61,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1953,3065,3065,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.42,45.23
$GC,513,-1.72,-487.5,1782,1952,3066,4094,56.0,-12.7,67,522,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1953,3066,3066,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.41,44.76
$STATE,542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,542,begin apogee
$GC,549,-0.45,0.0,1782,2144,3066,4095,60.1,-12.7,71,585,4.28,0.00,28.15,1.277,10244,0.054,0.000,2186,2144,2484,2484,4095,0,0,0,0,0,0,26.25,25.39,24.39,10.40,44.56
$STATE,586,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,589,1.72,487.5,2185,2144,2484,4095,62.8,0.0,75,634,7.28,0.00,27.80,1.249,11270,0.034,0.000,2880,2144,1918,1918,4094,0,0,0,0,0,0,25.65,25.79,24.01,10.28,44.09
$GC,672,1.72,487.5,2879,2144,1917,4094,56.3,12.3,85,681,0.00,1.45,0.00,0.000,516,0.000,0.044,2880,1602,1916,1916,4094,0,0,0,0,0,0,25.66,25.40,25.67,10.15,43.46
$GC,744,1.72,487.5,2879,1602,1915,4094,46.9,12.6,95,754,0.00,1.25,0.00,0.000,1030,0.000,0.026,2880,2106,1915,1915,4094,0,0,0,0,0,0,25.69,25.67,25.73,10.14,44.56
$GC,791,1.72,487.5,2879,2106,1913,4094,41.0,12.4,101,803,0.00,1.52,0.00,0.000,260,0.000,0.053,2880,2677,1913,1913,4094,0,0,0,0,0,0,26.01,25.71,26.03,10.13,44.40
$GC,827,1.72,487.5,2880,2677,1912,4094,36.3,13.1,105,837,0.00,1.42,0.03,0.002,9222,0.000,0.026,2880,2107,1911,1911,4094,0,0,0,0,0,0,25.86,25.83,25.88,10.12,44.60
$GC,874,1.72,487.5,2879,2107,1911,4094,30.5,12.2,111,883,0.00,1.30,0.00,0.000,516,0.000,0.048,2880,1608,1911,1911,4094,0,0,0,0,0,0,26.15,25.84,26.16,10.12,45.35
$GC,991,1.72,487.5,2880,1607,1907,4094,16.8,11.8,128,1001,0.00,1.17,0.00,0.000,1030,0.000,0.027,2880,2093,1907,1907,4094,0,0,0,0,0,0,26.07,26.04,26.09,10.19,48.26
$GC,1038,1.72,487.5,2880,2093,1906,4094,12.0,10.5,134,1047,0.00,1.55,0.00,0.000,260,0.000,0.055,2880,2670,1906,1906,4094,0,0,0,0,0,0,26.32,26.05,26.34,10.21,49.44
$GC,1070,1.85,571.4,2879,2669,1905,4094,9.2,8.8,138,1081,0.28,1.48,5.68,0.516,11270,0.037,0.027,2915,2078,1816,1816,4094,0,0,0,0,0,0,26.12,26.10,25.20,10.22,50.51
$GC,1120,1.85,571.4,2914,2078,1815,4094,4.5,10.3,144,1128,0.00,1.23,0.00,0.000,516,0.000,0.050,2914,1605,1815,1815,4094,0,0,0,0,0,0,26.32,26.02,26.34,10.22,50.70
$STATE,1156,end climb,FINISH_DEPTH_REACHED
$STATE,1156,begin subsurface finish
$FINISH1,1.6,1.023808,125
$GC,1165,0.19,124.9,2914,2159,1814,4094,1.6,7.2,149,1183,5.50,1.52,-4.57,0.000,20996,0.060,1.278,2406,1609,2339,2339,4094,0,0,0,0,0,0,26.08,24.82,26.16,10.23,51.37
$FINISH2,0.3
$STATE,1184,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1184,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,113601
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.12
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,24.01,23.681
$10V_AH,10.18,27.039
$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,34.475,18.450,61.650,0.000,0.000,22.385,21.075,250.313,0.000,0.000,18.704,426.900,0.000,128.797,919.653,182.956,33.479,382.744,0.000,368.441,0.000,0.544,0.000
$DEVICE_MAMPS,85.680,1279.080,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.072,410.289,324.689,481.702,627.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,14282,151
$CAP_FILE_SIZE,33701,0
$CFSIZE,1024409600,976830464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,790.90,0x236162,1,24
$GPS,110817,130505,6108.622,-17347.135,8,0.8,17,7.0,0.8,89.3,10,4.8