version: 66.13
glider: 401
mission: 22
dive: 878
start: 8 11 117 17 50 57
data:
$ID,401
$MISSION,22
$DIVE,878
$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,30
$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
$GPS1,110817,172145,6108.9482,-17348.6992,8,0.8,17,7.0,0.0,207.8,11,4.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-1.4
$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,0.151003,0.555612
$KALMAN_X,72059.914062,-529.412781,-99.063499,-263819.718750,-100.210411
$KALMAN_Y,-43174.617188,1756.695557,108.874069,251773.125000,-118.316376
$MHEAD_RNG_PITCHd_Wd,8.2,29375,-5.1,-10.000,-9.85,19657
$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,-1.19,-487.5,2422,1963,2326,4092,0.0,0.0,0,28,4.68,0.00,-6.82,0.000,20486,0.024,0.000,1958,1964,3055,3055,4094,0,0,0,0,0,0,26.20,25.65,26.22,10.35,55.04
$GC,32,-1.19,-487.5,1958,1963,3055,4094,-0.1,0.1,2,41,0.00,1.12,0.00,0.000,516,0.000,0.054,1958,1524,3056,3056,4095,0,0,0,0,0,0,26.24,25.93,26.25,10.51,55.47
$GC,171,-1.19,-487.5,1958,1524,3058,4095,12.4,-10.8,22,179,0.00,0.98,0.00,0.000,1030,0.000,0.024,1958,1951,3058,3058,4095,0,0,0,0,0,0,26.20,26.17,26.20,10.53,54.25
$GC,218,-1.19,-487.5,1957,1950,3059,4095,16.4,-7.6,28,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1950,3059,3059,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.52,53.74
$GC,263,-1.19,-487.5,1958,1950,3059,4095,19.8,-7.6,34,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1951,3060,3060,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.52,53.30
$GC,307,-1.19,-487.5,1957,1950,3060,4094,22.8,-6.2,40,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1951,3060,3060,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.50,52.63
$GC,353,-1.19,-487.5,1957,1951,3060,4094,25.6,-6.4,46,362,0.00,1.08,0.00,0.000,260,0.000,0.041,1958,2366,3060,3060,4094,0,0,0,0,0,0,26.50,26.20,26.51,10.48,52.16
$GC,386,-1.19,-487.5,1957,2367,3061,4094,27.6,-5.9,50,396,0.00,1.08,0.00,0.000,1030,0.000,0.029,1958,1935,3061,3061,4095,0,0,0,0,0,0,26.29,26.25,26.29,10.46,51.81
$GC,433,-1.19,-487.5,1958,1935,3062,4095,30.4,-6.1,56,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1935,3061,3061,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.43,49.88
$GC,479,-1.19,-487.5,1957,1935,3061,4094,33.4,-6.7,62,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1935,3062,3062,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.41,49.13
$GC,525,-1.19,-487.5,1957,1935,3062,4095,36.2,-6.3,68,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1935,3062,3062,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.40,48.18
$GC,571,-1.19,-487.5,1958,1935,3063,4095,39.0,-6.0,74,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1935,3063,3063,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.39,47.71
$GC,617,-1.19,-487.5,1958,1935,3063,4094,41.8,-6.3,80,626,0.00,1.15,0.00,0.000,260,0.000,0.040,1958,2371,3063,3063,4095,0,0,0,0,0,0,26.60,26.31,26.62,10.38,47.32
$GC,650,-1.19,-487.5,1958,2370,3064,4095,43.9,-6.2,84,660,0.00,1.10,0.00,0.000,1030,0.000,0.030,1958,1927,3064,3064,4095,0,0,0,0,0,0,26.39,26.37,26.41,10.38,47.16
$GC,697,-1.19,-487.5,1958,1927,3064,4095,46.9,-6.5,90,706,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1927,3063,3063,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.38,46.69
$GC,744,-1.19,-487.5,1958,1927,3065,4095,50.0,-6.8,96,753,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1928,3065,3065,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.38,46.57
$GC,791,-1.19,-487.5,1957,1927,3066,4095,53.2,-7.0,102,800,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1927,3066,3066,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.36,46.49
$GC,838,-1.19,-487.5,1958,1927,3066,4095,56.4,-6.7,108,847,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1927,3066,3066,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.36,46.49
$GC,886,-1.19,-487.5,1957,1927,3067,4094,59.6,-6.9,114,895,0.00,1.15,0.00,0.000,260,0.000,0.041,1958,2365,3067,3067,4095,0,0,0,0,0,0,26.67,26.39,26.70,10.35,46.96
$STATE,903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,903,begin apogee
$GC,910,-0.45,0.0,1958,2112,3067,4095,61.1,-7.0,116,945,2.38,0.00,28.05,1.284,10244,0.047,0.000,2186,2111,2484,2484,4095,0,0,0,0,0,0,26.41,25.52,24.51,10.36,46.92
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,946,begin climb
$GC,949,1.19,487.5,2186,2111,2484,4095,62.9,0.0,120,985,5.45,0.00,27.92,1.260,11270,0.038,0.000,2703,2111,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,24.03,10.23,46.45
$GC,1024,2.25,1192.2,2702,2111,1915,4094,59.7,6.3,129,1077,3.50,1.00,39.62,1.215,10756,0.024,0.041,3040,1736,1095,1095,4094,0,0,0,0,0,0,25.48,24.50,23.83,10.10,45.70
$GC,1116,2.25,1195.0,3039,1735,1094,4094,48.5,10.0,140,1125,0.00,0.93,0.00,0.000,1030,0.000,0.028,3040,2111,1094,1094,4095,0,0,0,0,0,0,25.33,25.31,25.31,9.93,45.51
$GC,1164,2.40,1289.3,3039,2111,1093,4095,44.0,9.5,146,1174,0.43,0.00,7.00,0.829,10502,0.031,0.000,3090,2111,981,981,4094,0,0,0,0,0,0,25.52,25.22,24.35,9.93,45.82
$GC,1213,2.41,1299.5,3090,2111,980,4094,39.1,9.9,152,1221,0.00,0.00,2.47,0.232,8198,0.000,0.000,3090,2111,969,969,4094,0,0,0,0,0,0,25.75,25.09,24.50,9.90,46.53
$GC,1260,2.57,1408.0,3090,2110,967,4094,34.6,9.4,158,1279,0.52,1.00,7.40,0.773,10756,0.034,0.044,3153,1733,844,844,4094,0,0,0,0,0,0,25.67,25.41,24.55,9.89,46.25
$GC,1318,2.61,1433.6,3152,1733,843,4094,28.9,9.9,165,1328,0.00,0.90,3.20,0.388,9222,0.000,0.028,3152,2107,813,813,4094,0,0,0,0,0,0,25.70,25.67,24.68,9.86,46.57
$GC,1367,2.63,1442.7,3152,2107,812,4094,23.9,10.0,171,1376,0.00,1.20,2.33,0.151,8452,0.000,0.052,3153,2566,803,803,4094,0,0,0,0,0,0,25.96,25.34,24.78,9.88,47.48
$GC,1400,2.77,1537.0,3152,2565,801,4094,20.6,9.5,175,1419,0.50,1.15,6.68,0.634,11270,0.026,0.028,3207,2096,693,693,4094,0,0,0,0,0,0,25.81,25.84,24.80,9.90,47.99
$GC,1457,3.41,1963.1,3207,2096,692,4094,16.1,7.8,182,1493,2.05,0.95,23.27,0.751,10756,0.025,0.043,3411,1733,196,196,4094,0,0,0,0,0,0,25.82,25.15,24.67,9.91,50.63
$STATE,1575,end climb,FINISH_DEPTH_REACHED
$STATE,1575,begin subsurface finish
$FINISH1,1.7,1.023747,129
$GC,1584,0.19,129.2,3411,2164,191,4094,1.7,19.9,198,1620,10.20,1.08,-18.58,0.000,21252,0.021,1.264,2416,2554,2339,2339,4094,0,0,0,0,0,0,25.80,24.55,25.81,9.86,53.30
$FINISH2,0.3
$STATE,1621,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1621,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,171306
$TT8_MAMPS,0.026215,0.265895
$HUMID,53.74
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.83,24.021
$10V_AH,10.16,27.330
$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,29.700,17.875,147.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,542.235,0.000,206.189,841.517,89.480,33.429,567.253,0.000,487.302,0.000,0.542,0.000
$DEVICE_MAMPS,47.430,1263.780,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,137.076,548.811,434.359,643.609,837.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,21263,202
$CAP_FILE_SIZE,42545,0
$CFSIZE,1024409600,976322560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,172145,6108.948,-17348.699,8,0.8,17,7.0,0.0,207.8,11,4.8