version: 66.13
glider: 401
mission: 22
dive: 870
start: 8 11 117 13 51 35
data:
$ID,401
$MISSION,22
$DIVE,870
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,110817,130505,6108.6216,-17347.1348,8,0.8,17,7.0,0.8,89.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-0.5
$GPS2,110817,130505,6108.6216,-17347.1348,8,0.8,17,7.0,0.8,89.3,10,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.034271,0.436849
$KALMAN_X,73948.523438,-343.041901,196.304825,-264710.562500,-13.686127
$KALMAN_Y,-40040.089844,2156.057373,388.125214,247346.218750,-234.911255
$MHEAD_RNG_PITCHd_Wd,357.5,29820,-9.0,-10.000,-12.86,9915
$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,-1.54,-487.5,2402,1962,2343,4092,0.0,0.0,0,21,5.60,0.00,-3.95,0.000,20482,0.024,0.000,1842,1958,2771,2771,4094,0,0,0,0,0,0,26.22,28.83,26.27,10.35,54.96
$GC,24,-1.54,-487.5,1842,1957,2771,4094,0.0,0.0,1,34,0.00,1.48,-2.30,0.000,16644,0.000,1.284,1842,2478,3056,3056,4095,0,0,0,0,0,0,26.42,24.89,26.39,10.44,54.68
$GC,149,-1.54,-487.5,1841,2478,3059,4095,14.5,-11.8,19,158,0.00,1.30,0.00,0.000,1030,0.000,0.028,1842,1960,3059,3059,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.51,53.42
$GC,196,-1.54,-487.5,1842,1959,3060,4094,20.2,-12.7,25,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1959,3060,3060,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.49,53.03
$GC,243,-1.54,-487.5,1842,1960,3061,4095,24.9,-10.2,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1959,3061,3061,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.47,52.36
$GC,290,-1.54,-487.5,1841,1959,3062,4095,29.7,-9.8,37,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1959,3062,3062,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.44,51.33
$GC,335,-1.54,-487.5,1841,1959,3062,4094,34.1,-9.6,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1960,3063,3063,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.41,49.80
$GC,380,-1.54,-487.5,1841,1960,3063,4095,38.6,-9.8,49,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1960,3063,3063,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.40,49.01
$GC,425,-1.54,-487.5,1841,1959,3064,4095,43.2,-10.1,55,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1960,3065,3065,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.38,48.66
$GC,470,-1.54,-487.5,1841,1959,3065,4094,47.7,-10.1,61,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1960,3065,3065,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.38,47.75
$GC,516,-1.54,-487.5,1842,1959,3066,4095,52.3,-10.2,67,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1959,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.37,47.32
$GC,561,-1.54,-487.5,1841,1959,3067,4094,57.0,-10.5,73,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,1959,3067,3067,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.37,47.00
$STATE,589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,596,-0.45,0.0,1841,2152,3068,4095,60.2,-10.2,77,632,3.65,0.00,28.10,1.279,10244,0.053,0.000,2185,2152,2483,2483,4094,0,0,0,0,0,0,26.33,25.46,24.46,10.36,46.85
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,636,1.54,487.5,2185,2151,2484,4094,62.7,0.0,81,682,6.68,1.38,27.90,1.254,10500,0.035,0.054,2821,2664,1916,1916,4094,0,0,0,0,0,0,25.63,25.58,24.01,10.24,46.45
$GC,699,1.69,587.2,2821,2663,1915,4094,59.3,9.0,88,718,0.38,1.38,7.12,0.947,11270,0.028,0.025,2869,2123,1802,1802,4094,0,0,0,0,0,0,25.37,25.34,24.13,10.11,45.86
$GC,757,1.69,587.2,2868,2122,1801,4094,53.1,11.6,95,766,0.00,1.33,0.00,0.000,516,0.000,0.047,2868,1617,1801,1801,4094,0,0,0,0,0,0,25.73,25.45,25.75,10.08,45.70
$GC,874,1.69,587.2,2868,1616,1797,4094,39.4,11.3,112,884,0.00,1.23,0.00,0.000,1030,0.000,0.027,2869,2113,1797,1797,4094,0,0,0,0,0,0,25.82,25.79,25.85,10.06,45.74
$GC,921,1.69,587.2,2868,2112,1796,4094,34.3,10.8,118,930,0.00,1.52,0.00,0.000,260,0.000,0.056,2869,2675,1796,1796,4095,0,0,0,0,0,0,26.11,25.82,26.12,10.06,46.88
$GC,954,1.69,587.2,2868,2674,1795,4095,30.6,11.3,122,963,0.00,1.38,0.00,0.000,1030,0.000,0.027,2869,2124,1796,1796,4093,0,0,0,0,0,0,25.95,25.91,25.96,10.06,46.57
$GC,1000,1.69,587.2,2868,2123,1794,4093,25.5,10.7,128,1010,0.00,1.35,0.00,0.000,516,0.000,0.049,2869,1606,1794,1794,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.06,47.55
$GC,1099,1.81,664.9,2868,1606,1792,4094,15.4,9.2,142,1110,0.22,1.20,5.40,0.554,11270,0.039,0.028,2895,2098,1708,1708,4094,0,0,0,0,0,0,26.07,26.06,25.11,10.13,49.72
$GC,1149,2.02,801.9,2894,2098,1706,4094,11.3,8.6,148,1166,0.68,0.00,8.55,0.623,10246,0.034,0.000,2972,2098,1551,1551,4094,0,0,0,0,0,0,26.08,25.57,25.09,10.14,50.74
$GC,1205,2.08,843.3,2971,2098,1550,4094,5.9,9.6,155,1215,0.10,1.25,4.03,0.388,10756,0.075,0.038,2989,1606,1499,1499,4094,0,0,0,0,0,0,26.04,25.62,25.16,10.13,51.85
$STATE,1243,end climb,SURFACE_DEPTH_REACHED
$STATE,1243,begin surface coast
$FINISH,0.3,1.023811
$STATE,1264,end surface coast,CONTROL_FINISHED_OK
$STATE,1264,begin surface
$SM_CCo,1366,0.00,0.000,0,0,1496,849.16
$SM_GC,0.84,28.45,0.85,0.00,0.021,0.024,0.000,238,1976,1496,-6.55,-1.18,849.16,0,0,0,0,0,0,26.06,26.08,26.10
$IRIDIUM_FIX,6149.06,-17422.35,110817,113601
$TT8_MAMPS,0.025466,0.238931
$HUMID,53.54
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.01,23.729
$10V_AH,10.17,27.088
$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,45.750,16.975,81.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,456.750,60.783,160.272,678.640,72.456,33.419,421.768,0.000,394.584,0.000,0.542,0.000
$DEVICE_MAMPS,74.970,1283.670,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.623,442.855,350.513,519.807,676.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,14332,163
$CAP_FILE_SIZE,33691,0
$CFSIZE,1024409600,976732160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,141536,6108.756,-17347.453,4,1.0,38,7.0,0.5,124.7,9,5.0