version: 66.13
glider: 401
mission: 22
dive: 858
start: 8 11 117 8 22 36
data:
$ID,401
$MISSION,22
$DIVE,858
$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,27
$R_STBD_OVSHOOT,51
$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,0.89
$_SM_ANGLEo,-4.0
$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,-0.023125,0.367227
$KALMAN_X,72338.554688,-838.148071,-163.166672,-264321.375000,81.879066
$KALMAN_Y,-36523.449219,2465.205811,733.931274,241384.687500,-92.175232
$MHEAD_RNG_PITCHd_Wd,349.4,31826,-11.7,-10.000,-15.20,6487
$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,-1.71,-432.3,2397,1982,2347,4092,0.0,0.0,0,21,6.07,0.00,-3.92,0.000,20482,0.023,0.000,1792,1984,2801,2801,4094,0,0,0,0,0,0,26.25,28.83,26.30,10.36,53.93
$GC,24,-1.71,-432.3,1793,1984,2801,4094,0.4,0.0,1,34,0.00,1.33,-1.50,0.000,16644,0.000,1.270,1792,2460,2990,2990,4094,0,0,0,0,0,0,26.46,24.93,26.46,10.46,54.09
$GC,97,-1.71,-432.3,1791,2460,2993,4094,10.1,-15.8,11,107,0.00,1.27,0.00,0.000,1030,0.000,0.029,1792,1954,2993,2993,4095,0,0,0,0,0,0,26.16,26.12,26.19,10.50,54.05
$GC,143,-1.71,-432.3,1791,1954,2994,4095,17.5,-16.2,17,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1954,2994,2994,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.50,53.15
$GC,190,-1.71,-432.3,1791,1954,2995,4095,24.1,-14.0,23,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1954,2995,2995,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.48,52.40
$GC,237,-1.71,-432.3,1791,1954,2996,4095,30.1,-12.6,29,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1954,2997,2997,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.44,51.53
$GC,284,-1.71,-432.3,1791,1954,2997,4095,36.0,-12.3,35,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1955,2997,2997,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.42,50.74
$GC,331,-1.71,-432.3,1791,1954,2998,4094,41.8,-12.5,41,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1954,2999,2999,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.40,49.56
$GC,378,-1.71,-432.3,1791,1954,2999,4095,47.7,-12.5,47,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1954,3000,3000,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.39,48.85
$GC,424,-1.71,-432.3,1792,1954,3000,4095,53.7,-12.8,53,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1954,3001,3001,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.38,47.75
$GC,471,-1.71,-432.3,1791,1954,3002,4095,59.7,-12.9,59,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1954,3002,3002,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.37,47.44
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,494,-0.45,0.0,1792,2129,3003,4095,62.4,-13.2,61,529,4.18,0.00,25.23,1.293,10244,0.057,0.000,2186,2130,2484,2484,4094,0,0,0,0,0,0,26.29,25.50,24.50,10.37,47.36
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,533,1.71,432.3,2185,2129,2484,4094,65.1,0.0,65,570,7.15,1.42,24.85,1.264,10500,0.034,0.053,2879,2659,1980,1980,4094,0,0,0,0,0,0,25.68,25.63,24.08,10.25,46.29
$GC,614,1.71,432.3,2878,2659,1979,4094,58.5,12.6,75,623,0.00,1.35,0.00,0.000,1030,0.000,0.026,2879,2127,1978,1978,4094,0,0,0,0,0,0,25.53,25.52,25.58,10.14,46.33
$GC,660,1.71,432.3,2878,2127,1977,4094,52.5,12.9,81,669,0.00,1.35,0.00,0.000,516,0.000,0.047,2880,1613,1977,1977,4094,0,0,0,0,0,0,25.89,25.60,25.90,10.14,46.06
$GC,758,1.71,432.3,2878,1613,1974,4094,39.9,12.9,95,769,0.00,1.23,0.03,0.004,9222,0.000,0.027,2879,2113,1974,1974,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.12,46.29
$GC,806,1.71,432.3,2878,2112,1973,4094,34.1,12.6,101,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2112,1973,1973,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.13,46.77
$GC,852,1.71,432.3,2878,2111,1972,4095,28.5,12.0,107,862,0.00,1.33,0.00,0.000,516,0.000,0.047,2879,1612,1972,1972,4094,0,0,0,0,0,0,26.22,25.91,26.24,10.13,47.08
$GC,965,1.71,432.3,2878,1611,1969,4094,15.9,10.6,123,974,0.00,1.23,0.00,0.000,1030,0.000,0.028,2879,2114,1969,1969,4094,0,0,0,0,0,0,26.13,26.09,26.13,10.20,50.55
$GC,1013,1.71,432.3,2878,2113,1968,4094,11.0,10.2,129,1022,0.00,1.48,0.00,0.000,260,0.000,0.054,2879,2667,1967,1967,4094,0,0,0,0,0,0,26.37,26.04,26.39,10.22,50.98
$GC,1085,1.71,432.3,2879,2667,1966,4094,3.5,10.1,139,1094,0.00,1.40,0.00,0.000,1030,0.000,0.026,2878,2101,1966,1966,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.24,51.96
$STATE,1102,end climb,SURFACE_DEPTH_REACHED
$STATE,1102,begin surface coast
$FINISH,0.0,1.014056
$STATE,1124,end surface coast,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$SM_CCo,1222,0.00,0.000,0,0,1965,446.47
$SM_GC,1.05,27.08,0.35,0.00,0.021,0.047,0.000,239,1938,1965,-6.55,1.50,446.47,0,0,0,0,0,0,26.23,26.22,26.27
$IRIDIUM_FIX,6149.06,-17422.35,110817,060217
$TT8_MAMPS,0.025466,0.244923
$HUMID,53.38
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.08,23.347
$10V_AH,10.20,26.756
$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,44.475,15.025,50.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,417.303,60.088,138.045,603.561,66.339,33.417,370.573,0.000,350.966,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1269.900,1292.850,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.579,391.185,309.596,459.396,600.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,14304,144
$CAP_FILE_SIZE,29027,0
$CFSIZE,1024409600,977338368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,084355,6108.345,-17348.656,7,0.8,20,7.0,0.5,28.1,10,4.8