version: 66.13
glider: 401
mission: 22
dive: 860
start: 8 11 117 9 16 59
data:
$ID,401
$MISSION,22
$DIVE,860
$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,42
$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
$GPS1,110817,085212,6108.3486,-17348.5293,5,0.8,24,7.0,0.4,99.5,10,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.1
$GPS2,110817,085212,6108.3486,-17348.5293,5,0.8,24,7.0,0.4,99.5,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.045638,0.442578
$KALMAN_X,72913.171875,-701.131287,-28.435081,-264411.812500,129.555939
$KALMAN_Y,-36276.660156,2534.444580,796.402893,242295.437500,15.153809
$MHEAD_RNG_PITCHd_Wd,347.1,30456,-8.7,-10.000,-12.67,10295
$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,-1.52,-487.5,2403,1974,2346,4092,0.0,0.0,0,19,5.53,0.00,-2.95,0.000,20482,0.021,0.000,1845,1974,2666,2666,4094,0,0,0,0,0,0,26.16,28.83,26.20,10.38,53.26
$GC,23,-1.52,-487.5,1845,1971,2666,4094,0.1,0.0,1,33,0.00,1.35,-3.65,0.000,16644,0.000,1.262,1845,2471,3054,3054,4094,0,0,0,0,0,0,26.35,24.84,26.36,10.44,53.46
$GC,288,-1.52,-487.5,1844,2471,3059,4094,27.3,-9.2,40,298,0.00,1.30,0.00,0.000,1030,0.000,0.028,1845,1947,3060,3060,4095,0,0,0,0,0,0,26.25,26.21,26.27,10.50,51.57
$GC,336,-1.52,-487.5,1844,1947,3060,4095,31.7,-9.4,46,346,0.00,1.40,0.00,0.000,260,0.000,0.044,1845,2470,3060,3060,4095,0,0,0,0,0,0,26.50,26.19,26.51,10.47,51.18
$GC,389,-1.52,-487.5,1844,2469,3061,4095,36.7,-9.5,53,398,0.00,1.25,0.00,0.000,1030,0.000,0.028,1845,1964,3061,3061,4094,0,0,0,0,0,0,26.30,26.27,26.32,10.45,49.52
$GC,434,-1.52,-487.5,1844,1964,3062,4094,41.0,-9.3,59,444,0.00,1.40,0.00,0.000,516,0.000,0.054,1845,1420,3062,3062,4095,0,0,0,0,0,0,26.55,26.22,26.55,10.43,49.44
$GC,514,-1.52,-487.5,1844,1419,3063,4095,48.7,-9.8,70,523,0.00,1.38,0.00,0.000,1030,0.000,0.024,1845,1999,3063,3063,4095,0,0,0,0,0,0,26.38,26.37,26.39,10.41,47.95
$GC,560,-1.52,-487.5,1844,1999,3064,4095,53.3,-10.0,76,570,0.00,1.25,0.00,0.000,260,0.000,0.046,1845,2477,3064,3064,4095,0,0,0,0,0,0,26.60,26.29,26.61,10.39,46.85
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,631,-0.45,0.0,1845,2123,3066,4094,60.0,-10.2,85,666,3.55,0.00,27.95,1.283,10244,0.046,0.000,2187,2119,2484,2484,4095,0,0,0,0,0,0,26.34,25.47,24.47,10.38,46.69
$STATE,667,end apogee,CONTROL_FINISHED_OK
$STATE,667,begin climb
$GC,670,1.52,487.5,2187,2119,2485,4095,63.7,0.0,89,712,6.53,0.00,27.90,1.268,11270,0.033,0.000,2810,2119,1915,1915,4094,0,0,0,0,0,0,25.67,25.86,24.03,10.27,46.10
$GC,752,1.57,515.3,2810,2118,1913,4094,59.6,9.7,99,761,0.00,0.00,3.35,0.549,8198,0.000,0.000,2810,2119,1883,1883,4094,0,0,0,0,0,0,25.68,24.98,24.27,10.14,45.74
$GC,799,1.57,515.3,2810,2118,1882,4094,54.6,10.3,105,808,0.00,1.50,0.00,0.000,260,0.000,0.050,2810,2666,1882,1882,4094,0,0,0,0,0,0,25.83,25.55,25.84,10.13,45.27
$GC,917,1.57,515.3,2810,2665,1880,4094,41.7,11.2,122,926,0.00,1.27,0.00,0.000,1030,0.000,0.026,2810,2153,1879,1879,4095,0,0,0,0,0,0,25.90,25.85,25.91,10.11,46.37
$GC,963,1.57,515.3,2810,2152,1878,4095,36.8,10.6,128,973,0.00,1.42,0.00,0.000,516,0.000,0.050,2810,1608,1878,1878,4094,0,0,0,0,0,0,26.17,25.86,26.17,10.11,47.04
$GC,1062,1.60,536.0,2810,1608,1876,4094,26.5,9.8,142,1073,0.15,1.25,2.67,0.268,11270,0.041,0.027,2834,2122,1859,1859,4094,0,0,0,0,0,0,26.05,26.04,25.01,10.13,47.75
$GC,1110,1.62,554.7,2833,2121,1857,4094,21.8,9.8,148,1120,0.00,1.42,2.90,0.311,8452,0.000,0.051,2834,2673,1835,1835,4094,0,0,0,0,0,0,26.31,25.65,25.08,10.15,48.89
$GC,1283,1.72,619.9,2833,2672,1831,4094,5.7,9.3,173,1295,0.32,1.30,4.80,0.445,11270,0.029,0.027,2878,2129,1759,1759,4094,0,0,0,0,0,0,26.22,26.22,25.34,10.21,52.48
$STATE,1322,end climb,FINISH_DEPTH_REACHED
$STATE,1322,begin subsurface finish
$FINISH1,1.5,1.023790,126
$GC,1330,0.19,126.2,2878,2128,1758,4094,1.5,9.9,178,1348,5.10,1.38,-5.15,0.000,20996,0.062,1.275,2407,1614,2343,2343,4094,0,0,0,0,0,0,26.12,24.88,26.20,10.21,53.34
$FINISH2,0.1
$STATE,1349,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1349,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,072749
$TT8_MAMPS,0.026215,0.244174
$HUMID,54.48
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,24.03,23.412
$10V_AH,10.20,26.814
$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,21.175,20.575,69.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,490.604,1.720,108.320,746.651,60.861,33.436,348.430,0.000,435.899,0.000,0.543,0.000
$DEVICE_MAMPS,61.965,1275.255,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.091,489.087,387.252,574.195,745.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,17689,180
$CAP_FILE_SIZE,29619,0
$CFSIZE,1024409600,977223680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,085212,6108.349,-17348.529,5,0.8,24,7.0,0.4,99.5,10,5.0