version: 66.13
glider: 401
mission: 22
dive: 879
start: 8 11 117 18 20 14
data:
$ID,401
$MISSION,22
$DIVE,879
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,110817,172145,6108.9482,-17348.6992,8,0.8,17,7.0,0.0,207.8,11,4.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-2.2
$GPS2,110817,172145,6108.9482,-17348.6992,8,0.8,17,7.0,0.0,207.8,11,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.134661,0.407292
$KALMAN_X,71908.187500,-536.035217,-110.430710,-263650.968750,-133.377869
$KALMAN_Y,-43769.867188,1751.913086,121.069260,252355.656250,-297.777466
$MHEAD_RNG_PITCHd_Wd,11.3,29375,-9.3,-10.000,-13.12,9410
$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,8,-1.57,-487.5,2416,1959,2339,4092,0.0,0.0,0,28,5.85,0.00,-6.85,0.000,20486,0.031,0.000,1849,1953,3055,3055,4095,0,0,0,0,0,0,25.96,24.86,26.00,10.34,53.78
$GC,31,-1.57,-487.5,1849,1959,3055,4095,-0.1,-0.3,3,38,0.00,1.12,0.00,0.000,516,0.000,0.057,1849,1523,3055,3055,4094,0,0,0,0,0,0,26.05,25.76,26.06,10.50,54.25
$GC,204,-1.57,-487.5,1848,1522,3059,4094,19.4,-11.5,31,211,0.00,0.98,0.00,0.000,1030,0.000,0.025,1849,1943,3059,3059,4095,0,0,0,0,0,0,26.08,26.06,26.09,10.50,53.30
$GC,243,-1.57,-487.5,1848,1943,3060,4095,23.9,-10.7,37,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1943,3060,3060,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.49,53.03
$GC,281,-1.57,-487.5,1848,1943,3061,4095,28.1,-10.6,43,288,0.00,1.10,0.00,0.000,260,0.000,0.044,1849,2362,3061,3061,4095,0,0,0,0,0,0,26.34,26.06,26.35,10.46,52.52
$GC,326,-1.57,-487.5,1849,2362,3061,4095,32.3,-9.3,50,333,0.00,1.00,0.00,0.000,1030,0.000,0.029,1849,1963,3061,3061,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.43,51.69
$GC,365,-1.57,-487.5,1848,1963,3062,4095,36.1,-9.5,56,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3062,3062,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.41,50.59
$GC,404,-1.57,-487.5,1848,1963,3063,4094,39.8,-9.9,62,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3063,3063,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.39,50.15
$GC,442,-1.57,-487.5,1848,1963,3064,4095,43.5,-9.6,68,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,1964,3065,3065,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,48.97
$GC,481,-1.57,-487.5,1848,1962,3064,4095,47.3,-9.9,74,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3064,3064,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,48.58
$GC,519,-1.57,-487.5,1848,1964,3065,4095,51.1,-10.0,80,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3065,3065,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.37,48.93
$GC,557,-1.57,-487.5,1848,1963,3066,4095,55.0,-10.3,86,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1964,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.37,47.95
$GC,596,-1.57,-487.5,1848,1963,3066,4094,58.9,-10.3,92,601,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,1963,3066,3066,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.37,47.51
$STATE,606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,606,begin apogee
$GC,614,-0.45,0.0,1849,2137,3067,4095,60.3,-10.0,94,649,3.55,0.00,27.98,1.268,10244,0.052,0.000,2186,2137,2483,2483,4094,0,0,0,0,0,0,26.24,25.39,24.39,10.36,48.14
$STATE,650,end apogee,CONTROL_FINISHED_OK
$STATE,650,begin climb
$GC,653,1.57,487.5,2186,2137,2484,4094,62.4,0.0,100,695,6.72,0.00,27.73,1.245,11270,0.034,0.000,2828,2138,1916,1916,4094,0,0,0,0,0,0,25.62,25.78,23.98,10.23,47.48
$GC,727,1.57,487.5,2827,2137,1916,4094,57.0,10.2,112,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2137,1915,1915,4094,0,0,0,0,0,0,25.60,25.61,25.60,10.11,46.45
$GC,765,1.57,487.5,2827,2137,1915,4094,52.9,10.7,118,772,0.00,1.12,0.00,0.000,516,0.000,0.042,2828,1713,1915,1915,4094,0,0,0,0,0,0,25.76,25.48,25.77,10.11,46.37
$GC,840,1.57,487.5,2827,1713,1913,4094,44.7,10.9,130,847,0.00,1.00,0.00,0.000,1030,0.000,0.028,2828,2120,1913,1913,4094,0,0,0,0,0,0,25.75,25.72,25.78,10.09,46.57
$GC,879,1.57,487.5,2827,2120,1912,4094,40.6,10.6,136,886,0.00,1.20,0.00,0.000,260,0.000,0.052,2828,2563,1912,1912,4094,0,0,0,0,0,0,26.03,25.73,26.04,10.09,46.61
$GC,918,1.57,487.5,2827,2562,1911,4094,36.3,10.8,142,924,0.00,1.08,0.00,0.000,1030,0.000,0.026,2828,2127,1911,1911,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.09,47.51
$GC,957,1.57,487.5,2827,2127,1910,4094,32.2,10.1,148,963,0.00,1.05,0.00,0.000,516,0.000,0.045,2828,1720,1910,1910,4094,0,0,0,0,0,0,26.15,25.86,26.16,10.08,47.36
$GC,1032,1.64,528.9,2827,1719,1908,4094,24.8,9.5,160,1040,0.10,0.95,3.80,0.469,11270,0.050,0.028,2845,2115,1865,1865,4094,0,0,0,0,0,0,25.98,25.99,24.98,10.10,48.14
$GC,1073,1.68,556.6,2845,2115,1864,4094,20.9,9.7,166,1081,0.00,1.20,3.28,0.374,8452,0.000,0.053,2846,2563,1833,1833,4094,0,0,0,0,0,0,26.23,25.84,25.03,10.12,48.97
$GC,1108,1.79,632.6,2844,2562,1833,4094,17.8,9.2,171,1121,0.40,1.15,5.50,0.564,11270,0.028,0.028,2896,2098,1746,1746,4094,0,0,0,0,0,0,26.03,26.01,25.03,10.13,50.11
$GC,1154,1.79,632.6,2895,2097,1745,4094,13.2,10.3,178,1161,0.00,0.98,0.00,0.000,516,0.000,0.047,2896,1718,1745,1745,4094,0,0,0,0,0,0,26.22,25.93,26.23,10.14,52.16
$STATE,1280,end climb,SURFACE_DEPTH_REACHED
$STATE,1280,begin surface coast
$FINISH,0.9,1.023771
$STATE,1296,end surface coast,CONTROL_FINISHED_OK
$STATE,1296,begin surface
$SM_CCo,1395,0.00,0.000,0,0,1741,639.66
$SM_GC,0.67,27.42,0.55,0.00,0.023,0.031,0.000,237,1972,1741,-6.55,-1.46,639.66,0,0,0,0,0,0,26.15,26.15,26.18
$IRIDIUM_FIX,6149.06,-17422.35,110817,171306
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.64
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.98,24.043
$10V_AH,10.42,27.343
$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,44.050,16.450,68.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,522.391,388.124,183.626,291.583,73.772,33.418,392.167,0.000,299.351,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,56.610,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.070,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14346,201
$CAP_FILE_SIZE,36374,0
$CFSIZE,1024409600,976289792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,184429,6109.631,-17348.775,4,0.9,23,7.0,0.6,270.7,9,4.8