version: 66.13
glider: 401
mission: 22
dive: 857
start: 8 11 117 8 1 15
data:
$ID,401
$MISSION,22
$DIVE,857
$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,23
$R_STBD_OVSHOOT,53
$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
$GPS1,110817,073340,6107.6543,-17349.3281,8,0.9,53,7.0,0.0,63.0,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.3
$GPS2,110817,073340,6107.6543,-17349.3281,8,0.9,53,7.0,0.0,63.0,8,3.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.038841,0.296953
$KALMAN_X,72358.023438,-875.062073,-201.354355,-264264.781250,113.004105
$KALMAN_Y,-36132.812500,2419.165771,688.494812,241092.906250,71.018311
$MHEAD_RNG_PITCHd_Wd,345.5,31826,-15.4,-10.000,-18.46,4001
$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,-1.80,-264.5,2400,1950,2351,4092,0.0,0.0,0,24,6.43,0.00,-4.05,0.000,20486,0.024,0.000,1769,1950,2798,2798,4094,0,0,0,0,0,0,26.03,24.98,26.09,10.38,52.36
$GC,27,-1.80,-264.5,1768,1949,2798,4094,0.1,-1.0,2,33,0.00,1.40,0.00,0.000,516,0.000,0.052,1769,1408,2798,2798,4094,0,0,0,0,0,0,26.22,25.93,26.23,10.48,52.52
$GC,264,-1.80,-264.5,1768,1407,2802,4094,23.7,-13.2,41,271,0.00,1.25,0.00,0.000,1030,0.000,0.024,1768,1939,2803,2803,4095,0,0,0,0,0,0,26.25,26.23,26.27,10.47,51.61
$GC,303,-1.80,-264.5,1768,1939,2803,4095,28.4,-11.7,47,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1940,2803,2803,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.43,51.57
$GC,341,-1.80,-264.5,1767,1940,2804,4094,32.9,-11.8,53,348,0.00,1.38,0.00,0.000,516,0.000,0.051,1769,1412,2805,2805,4095,0,0,0,0,0,0,26.49,26.18,26.51,10.41,50.31
$GC,386,-1.80,-264.5,1768,1412,2806,4095,38.4,-12.4,60,393,0.00,1.30,0.00,0.000,1030,0.000,0.025,1769,1961,2806,2806,4095,0,0,0,0,0,0,26.32,26.29,26.33,10.39,49.13
$GC,425,-1.80,-264.5,1768,1961,2807,4095,43.2,-12.0,66,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1961,2806,2806,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.38,48.70
$GC,463,-1.80,-264.5,1767,1961,2807,4095,47.8,-12.0,72,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1961,2808,2808,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.38,48.62
$GC,501,-1.80,-264.5,1768,1961,2808,4094,52.4,-11.8,78,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1961,2808,2808,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.37,48.22
$GC,539,-1.80,-264.5,1768,1961,2809,4094,57.1,-12.1,84,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1961,2810,2810,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.36,46.88
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,570,-0.45,0.0,1768,2138,2810,4094,60.3,-12.6,88,595,4.47,0.00,16.42,1.203,10244,0.061,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.29,25.75,24.74,10.35,47.55
$STATE,596,end apogee,CONTROL_FINISHED_OK
$STATE,596,begin climb
$GC,599,1.80,264.5,2185,2138,2484,4094,62.6,0.0,92,630,7.38,1.40,15.75,1.180,10500,0.033,0.053,2905,2668,2175,2175,4094,0,0,0,0,0,0,25.92,25.86,24.42,10.28,47.04
$GC,700,1.80,264.5,2905,2668,2173,4094,52.4,14.0,108,707,0.00,1.35,0.00,0.000,1030,0.000,0.025,2905,2129,2173,2173,4094,0,0,0,0,0,0,25.83,25.81,25.85,10.20,46.61
$GC,739,1.80,264.5,2904,2128,2172,4094,46.8,13.2,114,746,0.00,1.35,0.00,0.000,516,0.000,0.049,2905,1612,2171,2171,4095,0,0,0,0,0,0,26.11,25.82,26.13,10.19,46.18
$GC,850,1.80,264.5,2904,1612,2168,4095,32.5,13.1,132,857,0.00,1.23,0.00,0.000,1030,0.000,0.027,2905,2114,2168,2168,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.19,47.12
$GC,889,1.80,264.5,2905,2114,2167,4094,27.6,12.2,138,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2114,2167,2167,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.18,47.59
$GC,927,1.80,264.5,2904,2114,2166,4094,22.9,12.1,144,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2114,2166,2166,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.19,48.03
$GC,965,1.80,264.5,2904,2114,2165,4095,18.4,11.4,150,972,0.00,1.35,0.00,0.000,516,0.000,0.048,2905,1604,2165,2165,4094,0,0,0,0,0,0,26.37,26.07,26.39,10.22,48.34
$GC,1046,1.80,264.5,2905,1604,2163,4094,10.0,10.5,163,1052,0.00,1.12,0.00,0.000,1030,0.000,0.026,2905,2077,2163,2163,4094,0,0,0,0,0,0,26.22,26.19,26.25,10.26,51.69
$GC,1085,1.81,269.7,2904,2077,2162,4094,6.2,9.9,169,1092,0.00,1.55,0.00,0.000,260,0.000,0.054,2905,2672,2162,2162,4094,0,0,0,0,0,0,26.46,26.14,26.47,10.28,52.24
$STATE,1127,end climb,FINISH_DEPTH_REACHED
$STATE,1127,begin subsurface finish
$FINISH1,1.5,1.023863,121
$GC,1136,0.18,121.1,2905,2131,2161,4095,1.5,10.5,176,1150,5.28,1.38,-1.52,0.000,21252,0.047,1.278,2398,1599,2347,2347,4095,0,0,0,0,0,0,26.27,24.93,26.31,10.29,53.03
$FINISH2,0.6
$STATE,1151,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1151,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,060217
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.18
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.42,23.328
$10V_AH,10.45,26.723
$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,23.550,19.625,32.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,468.841,303.427,121.424,258.483,57.825,33.430,301.721,0.000,266.814,0.000,0.543,0.000
$DEVICE_MAMPS,61.200,1278.315,1202.580,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,14289,178
$CAP_FILE_SIZE,28536,0
$CFSIZE,1024409600,977387520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,073340,6107.654,-17349.328,8,0.9,53,7.0,0.0,63.0,8,3.0