version: 66.13
glider: 401
mission: 22
dive: 874
start: 8 11 117 15 50 56
data:
$ID,401
$MISSION,22
$DIVE,874
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,110817,154130,6108.6592,-17348.0957,4,0.7,15,7.0,0.6,156.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-26.7
$GPS2,110817,154949,6108.6089,-17348.1211,5,0.8,34,7.0,0.3,214.2,10,5.0
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.109727,0.253841
$KALMAN_X,72950.515625,-418.090607,61.130302,-264426.687500,-122.698677
$KALMAN_Y,-41930.328125,1995.180664,264.452850,249497.421875,-233.463104
$MHEAD_RNG_PITCHd_Wd,16.4,29933,-17.0,-10.000,-19.88,3338
$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,-1.87,-220.2,239,1976,1242,4092,0.0,0.0,0,21,9.77,0.00,0.00,0.000,2049,0.088,0.000,1087,1976,1242,1242,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.17,51.89
$GC,24,-1.87,-220.2,1086,1975,1242,4094,0.5,0.0,1,51,6.90,1.25,-13.62,0.000,18948,0.047,1.294,1733,1534,2745,2745,4094,0,0,0,0,0,0,25.96,24.68,26.03,10.17,51.45
$GC,305,-1.87,-220.2,1732,1533,2751,4094,29.6,-11.9,42,314,0.00,1.00,0.00,0.000,1030,0.000,0.024,1733,1969,2750,2750,4094,0,0,0,0,0,0,26.22,26.18,26.22,10.44,49.44
$GC,351,-1.87,-220.2,1733,1968,2751,4094,35.1,-12.2,48,361,0.00,1.12,0.00,0.000,516,0.000,0.047,1733,1530,2751,2751,4094,0,0,0,0,0,0,26.44,26.15,26.45,10.41,48.62
$GC,423,-1.87,-220.2,1732,1530,2753,4094,43.9,-12.2,58,433,0.00,0.95,0.00,0.000,1030,0.000,0.024,1733,1951,2754,2754,4095,0,0,0,0,0,0,26.29,26.26,26.30,10.38,46.96
$GC,471,-1.87,-220.2,1733,1951,2754,4095,49.5,-12.2,64,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,1951,2755,2755,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.37,45.35
$GC,518,-1.87,-220.2,1733,1951,2756,4094,55.3,-12.3,70,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,1952,2756,2756,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.35,44.84
$STATE,554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,554,begin apogee
$GC,561,-0.45,0.0,1733,2138,2756,4094,60.2,-11.9,75,587,4.90,0.00,14.15,1.187,10244,0.066,0.000,2185,2138,2483,2483,4094,0,0,0,0,0,0,26.22,25.46,24.72,10.35,44.36
$STATE,588,end apogee,CONTROL_FINISHED_OK
$STATE,588,begin climb
$GC,591,1.87,220.2,2184,2138,2483,4094,62.9,0.0,78,619,7.68,0.00,13.60,1.167,11270,0.033,0.000,2926,2138,2225,2225,4095,0,0,0,0,0,0,25.97,26.17,24.46,10.29,44.84
$GC,657,1.87,220.2,2925,2138,2224,4095,58.0,11.9,86,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2138,2224,2224,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.22,44.09
$GC,704,1.87,220.2,2925,2138,2223,4094,51.6,14.2,92,713,0.00,1.10,0.00,0.000,516,0.000,0.043,2925,1721,2222,2222,4094,0,0,0,0,0,0,26.09,25.81,26.10,10.21,44.13
$GC,789,1.87,220.2,2925,1721,2220,4094,39.8,13.4,104,798,0.00,0.93,0.00,0.000,1030,0.000,0.027,2925,2111,2220,2220,4094,0,0,0,0,0,0,26.06,25.99,26.03,10.20,44.99
$GC,835,1.87,220.2,2925,2111,2219,4094,33.7,13.3,110,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2112,2219,2219,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.19,45.82
$GC,881,1.87,220.2,2925,2111,2218,4094,27.8,12.8,116,890,0.00,1.02,0.00,0.000,516,0.000,0.045,2926,1720,2217,2217,4095,0,0,0,0,0,0,26.32,26.02,26.32,10.19,45.58
$GC,959,1.87,220.2,2925,1720,2215,4095,18.5,10.9,127,969,0.00,0.85,0.00,0.000,1030,0.000,0.027,2926,2088,2215,2215,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.24,47.71
$GC,1006,1.87,220.2,2925,2087,2215,4094,13.7,11.1,133,1015,0.00,1.25,0.00,0.000,260,0.000,0.050,2926,2556,2215,2215,4094,0,0,0,0,0,0,26.41,26.10,26.42,10.27,49.40
$GC,1026,1.87,220.2,2925,2556,2214,4094,11.5,11.3,135,1035,0.00,1.30,0.00,0.000,1030,0.000,0.028,2925,2039,2214,2214,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.29,49.80
$GC,1074,1.96,276.8,2925,2039,2213,4094,7.5,8.3,141,1084,0.17,0.80,4.12,0.412,10756,0.054,0.049,2949,1719,2159,2159,4094,0,0,0,0,0,0,26.25,26.05,25.31,10.30,50.94
$STATE,1137,end climb,FINISH_DEPTH_REACHED
$STATE,1137,begin subsurface finish
$FINISH1,1.6,1.023823,124
$GC,1146,0.19,123.9,2949,2146,2157,4094,1.6,9.2,150,1165,5.78,1.15,-1.62,0.000,20996,0.050,1.278,2399,1718,2346,2346,4094,0,0,0,0,0,0,26.24,24.91,26.27,10.31,52.40
$FINISH2,0.4
$STATE,1166,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1166,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,141804
$TT8_MAMPS,0.025466,0.23968
$HUMID,52.08
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,24.46,23.860
$10V_AH,10.18,27.203
$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,35.200,14.175,31.875,0.000,0.000,24.263,19.888,274.555,0.000,0.000,35.467,432.517,0.000,107.314,966.709,175.357,33.452,338.389,0.000,371.092,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,1293.615,1186.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.353,412.967,326.832,485.027,632.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,14329,152
$CAP_FILE_SIZE,31664,0
$CFSIZE,1024409600,976551936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110817,154949,6108.609,-17348.121,5,0.8,34,7.0,0.3,214.2,10,5.0