version: 66.13
glider: 401
mission: 22
dive: 876
start: 8 11 117 16 42 42
data:
$ID,401
$MISSION,22
$DIVE,876
$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,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,25
$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
$GPS1,110817,154949,6108.6089,-17348.1211,5,0.8,34,7.0,0.3,214.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.9
$GPS2,110817,154949,6108.6089,-17348.1211,5,0.8,34,7.0,0.3,214.2,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.149531,0.594167
$KALMAN_X,72750.273438,-451.485535,-2.134728,-264138.437500,-119.832840
$KALMAN_Y,-42566.027344,1850.509277,156.168533,250388.984375,-240.507416
$MHEAD_RNG_PITCHd_Wd,7.1,29933,-4.2,-10.000,-9.27,23037
$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,-1.12,-487.5,2402,1956,2344,4092,0.0,0.0,0,28,4.38,0.00,-6.72,0.000,20486,0.042,0.000,1982,1956,3055,3055,4095,0,0,0,0,0,0,26.01,25.46,26.03,10.35,54.41
$GC,32,-1.12,-487.5,1982,1956,3056,4095,0.0,-1.6,2,41,0.00,1.15,0.00,0.000,516,0.000,0.050,1983,1510,3056,3056,4094,0,0,0,0,0,0,26.05,25.77,26.06,10.50,54.72
$GC,156,-1.12,-487.5,1982,1509,3058,4094,10.9,-7.6,20,166,0.00,1.08,0.00,0.000,1030,0.000,0.026,1982,1957,3058,3058,4095,0,0,0,0,0,0,26.03,26.00,26.04,10.52,54.17
$GC,203,-1.12,-487.5,1982,1957,3058,4095,14.3,-7.6,26,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1957,3058,3058,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.52,53.81
$GC,247,-1.12,-487.5,1982,1957,3059,4094,17.9,-8.0,32,257,0.00,1.17,0.00,0.000,516,0.000,0.052,1982,1510,3060,3060,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.52,53.78
$GC,276,-1.12,-487.5,1982,1510,3059,4095,19.5,-6.5,35,285,0.00,1.00,0.00,0.000,1030,0.000,0.025,1983,1951,3060,3060,4095,0,0,0,0,0,0,26.13,26.13,26.18,10.51,52.83
$GC,324,-1.12,-487.5,1982,1950,3060,4095,22.1,-5.1,41,332,0.00,1.08,0.00,0.000,260,0.000,0.041,1982,2366,3060,3060,4095,0,0,0,0,0,0,26.37,26.08,26.39,10.50,52.28
$GC,356,-1.12,-487.5,1982,2366,3060,4095,24.1,-5.9,45,366,0.00,1.10,0.00,0.000,1030,0.000,0.028,1982,1924,3060,3060,4094,0,0,0,0,0,0,26.17,26.17,26.20,10.48,51.92
$GC,403,-1.12,-487.5,1982,1923,3061,4094,28.3,-9.3,51,412,0.00,1.02,0.00,0.000,516,0.000,0.055,1982,1523,3061,3061,4094,0,0,0,0,0,0,26.42,26.11,26.44,10.45,51.14
$GC,443,-1.12,-487.5,1982,1523,3062,4094,32.3,-9.8,56,452,0.00,0.95,0.00,0.000,1030,0.000,0.025,1982,1954,3062,3062,4095,0,0,0,0,0,0,26.26,26.25,26.27,10.43,50.59
$GC,491,-1.12,-487.5,1982,1954,3062,4095,36.8,-9.9,62,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1954,3063,3063,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.41,48.42
$GC,538,-1.12,-487.5,1982,1954,3064,4094,41.7,-10.4,68,547,0.00,1.00,0.00,0.000,260,0.000,0.040,1982,2342,3064,3064,4094,0,0,0,0,0,0,26.50,26.22,26.51,10.40,47.40
$GC,618,-1.12,-487.5,1982,2342,3065,4094,49.9,-10.4,79,626,0.00,0.98,0.00,0.000,1030,0.000,0.030,1982,1950,3065,3065,4094,0,0,0,0,0,0,26.31,26.27,26.33,10.38,46.53
$GC,665,-1.12,-487.5,1982,1949,3066,4094,54.7,-10.3,85,673,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1950,3066,3066,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.38,46.33
$GC,711,-1.12,-487.5,1982,1950,3067,4094,59.6,-10.4,91,720,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1950,3067,3067,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.37,46.33
$STATE,728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,728,begin apogee
$GC,735,-0.45,0.0,1982,2124,3067,4095,61.7,-10.4,93,770,2.08,0.00,28.20,1.298,10244,0.034,0.000,2189,2124,2484,2484,4094,0,0,0,0,0,0,26.34,25.41,24.41,10.37,46.06
$STATE,771,end apogee,CONTROL_FINISHED_OK
$STATE,771,begin climb
$GC,774,1.12,487.5,2189,2124,2483,4094,65.4,0.0,97,818,5.15,1.05,27.90,1.290,10756,0.035,0.041,2681,1717,1916,1916,4094,0,0,0,0,0,0,25.61,25.55,23.94,10.24,45.58
$GC,1072,1.12,487.5,2681,1717,1910,4094,40.0,10.2,140,1081,0.00,1.00,0.00,0.000,1030,0.000,0.028,2682,2127,1910,1910,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.09,46.45
$GC,1118,1.12,487.5,2681,2127,1909,4094,35.4,10.0,146,1131,0.00,1.08,0.00,0.000,516,0.000,0.046,2681,1711,1909,1909,4094,0,0,0,0,0,0,26.20,25.94,26.22,10.08,46.53
$GC,1302,1.45,709.5,2681,1710,1905,4094,19.1,9.0,172,1322,1.17,1.02,12.62,0.763,11270,0.033,0.026,2798,2138,1655,1655,4094,0,0,0,0,0,0,26.13,26.14,25.03,10.12,48.89
$GC,1361,1.45,709.5,2797,2137,1654,4094,13.3,10.2,179,1369,0.00,1.15,0.00,0.000,260,0.000,0.056,2798,2559,1654,1654,4094,0,0,0,0,0,0,26.22,25.88,26.24,10.11,50.86
$GC,1425,1.45,709.5,2797,2559,1652,4094,5.6,12.7,188,1435,0.00,1.12,0.03,0.007,9222,0.000,0.028,2798,2100,1652,1652,4094,0,0,0,0,0,0,26.09,26.08,26.11,10.14,53.26
$STATE,1456,end climb,SURFACE_DEPTH_REACHED
$STATE,1456,begin surface coast
$FINISH,0.8,1.023672
$STATE,1471,end surface coast,CONTROL_FINISHED_OK
$STATE,1471,begin surface
$SM_CCo,1569,0.00,0.000,0,0,1650,716.93
$SM_GC,0.82,26.58,0.32,0.00,0.023,0.047,0.000,230,1966,1650,-6.59,2.00,716.93,0,0,0,0,0,0,26.04,26.10,26.12
$IRIDIUM_FIX,6149.06,-17422.35,110817,141804
$TT8_MAMPS,0.025466,0.250166
$HUMID,54.09
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.94,23.929
$10V_AH,10.16,27.262
$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,39.350,19.325,68.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,533.399,60.600,153.417,806.173,79.030,33.415,430.604,0.000,467.051,0.000,0.542,0.000
$DEVICE_MAMPS,42.075,55.845,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.826,527.066,417.221,618.282,805.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,17790,194
$CAP_FILE_SIZE,35541,0
$CFSIZE,1024409600,976420864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1118.33,0x236164,1,24
$GPS,110817,171039,6109.007,-17348.668,26,1.1,71,7.0,0.7,268.4,8,3.0