version: 66.13
glider: 401
mission: 22
dive: 877
start: 8 11 117 17 22 54
data:
$ID,401
$MISSION,22
$DIVE,877
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,110817,171039,6109.0068,-17348.6680,26,1.1,71,7.0,0.7,268.4,8,3.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-31.2
$GPS2,110817,172145,6108.9482,-17348.6992,8,0.8,17,7.0,0.0,207.8,11,4.8
$SPEED_LIMITS,0.100,0.386
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.173594,0.662695
$KALMAN_X,72185.906250,-501.272919,-60.057976,-264006.125000,-109.802055
$KALMAN_Y,-42770.808594,1894.072510,209.864532,251113.328125,-126.684769
$MHEAD_RNG_PITCHd_Wd,7.7,29375,-2.7,-10.000,-8.31,30651
$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,-0.98,-487.5,230,1966,1649,4092,0.0,0.0,0,18,6.95,0.00,0.00,0.000,2049,0.083,0.000,837,1960,1649,1649,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.27,50.47
$GC,21,-0.98,-487.5,836,1962,1649,4094,0.5,0.0,1,52,12.68,1.20,-13.00,0.000,18948,0.048,1.274,2018,1519,3056,3056,4094,0,0,0,0,0,0,25.92,24.66,25.96,10.27,50.35
$GC,283,-0.98,-487.5,2017,1518,3059,4094,13.0,-6.7,44,290,0.00,1.00,0.00,0.000,1030,0.000,0.024,2018,1965,3059,3059,4095,0,0,0,0,0,0,26.21,26.19,26.22,10.58,49.64
$GC,322,-0.98,-487.5,2017,1965,3059,4095,15.9,-7.3,50,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1965,3060,3060,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.58,49.72
$GC,361,-0.98,-487.5,2017,1965,3060,4094,19.0,-7.9,56,367,0.00,1.00,0.00,0.000,260,0.000,0.038,2018,2358,3060,3060,4094,0,0,0,0,0,0,26.45,26.17,26.46,10.57,49.37
$GC,382,-0.98,-487.5,2017,2357,3060,4094,20.7,-8.1,59,389,0.00,1.05,0.00,0.000,1030,0.000,0.028,2018,1931,3060,3060,4094,0,0,0,0,0,0,26.24,26.20,26.26,10.56,49.13
$GC,422,-0.98,-487.5,2018,1931,3061,4094,23.7,-7.8,65,428,0.00,1.02,0.00,0.000,516,0.000,0.053,2018,1526,3061,3061,4094,0,0,0,0,0,0,26.48,26.17,26.49,10.54,49.25
$GC,659,-0.98,-487.5,2017,1525,3064,4094,44.6,-9.3,104,666,0.00,0.82,0.00,0.000,1030,0.000,0.024,2018,1924,3064,3064,4095,0,0,0,0,0,0,26.41,26.41,26.44,10.42,45.11
$GC,698,-0.98,-487.5,2017,1924,3065,4095,48.3,-9.2,110,705,0.00,1.02,0.00,0.000,516,0.000,0.052,2018,1524,3066,3066,4094,0,0,0,0,0,0,26.60,26.29,26.61,10.41,44.32
$GC,744,-0.98,-487.5,2018,1524,3066,4094,52.6,-9.3,117,750,0.00,0.75,0.00,0.000,1030,0.000,0.026,2018,1903,3066,3066,4095,0,0,0,0,0,0,26.44,26.43,26.46,10.40,44.40
$GC,783,-0.98,-487.5,2018,1903,3066,4095,56.3,-9.4,123,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1904,3066,3066,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.40,44.21
$GC,822,-0.98,-487.5,2017,1903,3068,4095,60.0,-9.7,129,828,0.00,0.98,0.00,0.000,516,0.000,0.053,2018,1523,3067,3067,4094,0,0,0,0,0,0,26.64,26.33,26.65,10.39,44.13
$STATE,833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,833,begin apogee
$GC,842,-0.45,0.0,2017,2092,3069,4095,61.4,-9.3,131,878,1.65,0.10,28.02,1.290,10244,0.037,0.097,2188,2156,2483,2483,4094,0,0,0,0,0,0,26.39,25.47,24.46,10.39,44.95
$STATE,879,end apogee,CONTROL_FINISHED_OK
$STATE,879,begin climb
$GC,882,0.98,487.5,2188,2155,2483,4094,64.6,0.0,137,919,4.70,1.05,27.83,1.273,10500,0.035,0.049,2639,2553,1916,1916,4094,0,0,0,0,0,0,25.66,25.62,23.99,10.27,43.97
$GC,1150,0.98,487.5,2639,2552,1911,4094,41.3,10.5,181,1156,0.00,1.02,0.00,0.000,1030,0.000,0.025,2639,2136,1911,1911,4094,0,0,0,0,0,0,25.94,25.91,25.95,10.11,46.41
$GC,1189,1.11,574.2,2639,2136,1910,4094,37.4,9.7,187,1203,0.32,1.10,6.18,0.750,10500,0.038,0.045,2678,2552,1814,1814,4094,0,0,0,0,0,0,25.96,25.44,24.79,10.11,46.65
$GC,1434,1.26,675.5,2677,2552,1808,4094,12.5,9.7,227,1448,0.55,1.00,6.57,0.580,11270,0.037,0.026,2739,2132,1696,1696,4094,0,0,0,0,0,0,26.11,26.13,25.16,10.17,51.37
$GC,1480,1.26,675.5,2738,2132,1694,4094,7.0,12.4,234,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2132,1694,1694,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.17,53.66
$GC,1518,1.26,675.5,2738,2132,1693,4094,2.7,11.6,240,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2132,1693,1693,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.18,54.33
$STATE,1529,end climb,FINISH_DEPTH_REACHED
$STATE,1529,begin subsurface finish
$FINISH1,1.1,1.023595,140
$GC,1537,0.21,139.8,2739,2125,1692,4094,1.1,11.2,242,1550,3.15,0.00,-5.57,0.000,20742,0.022,0.000,2423,2131,2326,2326,4095,0,0,0,0,0,0,26.14,25.06,26.18,10.19,54.68
$FINISH2,0.2
$STATE,1551,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1551,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,171306
$TT8_MAMPS,0.025466,0.133322
$HUMID,54.68
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.99,23.977
$10V_AH,10.39,27.285
$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,30.000,14.525,68.600,0.000,0.000,48.559,43.668,345.192,0.000,0.000,18.499,619.259,476.695,151.774,790.556,195.855,33.453,381.864,0.000,361.648,0.000,0.542,0.000
$DEVICE_MAMPS,83.385,1274.490,1289.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,165.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,17691,244
$CAP_FILE_SIZE,41006,0
$CFSIZE,1024409600,976371712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110817,172145,6108.948,-17348.699,8,0.8,17,7.0,0.0,207.8,11,4.8