version: 66.13
glider: 401
mission: 22
dive: 880
start: 8 11 117 18 56 35
data:
$ID,401
$MISSION,22
$DIVE,880
$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,18
$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,34
$R_STBD_OVSHOOT,51
$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
$GPS1,110817,184429,6109.6309,-17348.7754,4,0.9,23,7.0,0.6,270.7,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-35.0
$GPS2,110817,185522,6109.6313,-17348.7871,9,0.8,16,7.0,0.0,85.1,10,4.7
$SPEED_LIMITS,0.111,0.403
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.042636,0.104572
$KALMAN_X,71697.593750,-546.768188,-124.816513,-263498.281250,-30.144562
$KALMAN_Y,-43375.882812,1880.415771,265.103149,252928.265625,-11.832184
$MHEAD_RNG_PITCHd_Wd,15.2,28134,-43.1,-11.111,-44.53,564
$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,-3.98,-40.8,237,1975,1740,4092,0.0,0.0,0,20,9.35,0.00,-0.22,0.000,18434,0.081,0.000,1056,1974,1765,1765,4094,0,0,0,0,0,0,25.91,28.83,26.02,10.29,50.98
$GC,24,-3.98,-40.8,1056,1976,1765,4094,0.4,0.0,1,34,0.00,1.23,-7.12,0.000,16900,0.000,1.277,1056,1527,2538,2538,4094,0,0,0,0,0,0,26.22,24.68,26.23,10.30,50.51
$GC,73,-4.07,-98.4,1056,1525,2538,4094,0.1,-0.6,7,82,0.00,0.95,-0.50,0.000,17414,0.000,0.022,1057,1967,2601,2601,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.45,50.59
$GC,120,-4.07,-98.4,1056,1967,2603,4094,8.1,-22.5,13,130,0.00,1.12,0.00,0.000,516,0.000,0.044,1057,1524,2603,2603,4095,0,0,0,0,0,0,26.18,25.89,26.19,10.47,50.11
$GC,384,-4.07,-98.4,1056,1524,2613,4095,59.0,-16.2,52,393,0.00,0.93,0.00,0.000,1030,0.000,0.024,1057,1935,2614,2614,4095,0,0,0,0,0,0,26.24,26.23,26.25,10.35,45.15
$STATE,401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,401,begin apogee
$GC,409,-0.45,0.0,1057,2137,2614,4094,62.4,-17.0,54,436,13.02,0.00,7.85,1.060,10244,0.094,0.000,2184,2138,2484,2484,4094,0,0,0,0,0,0,26.10,25.48,24.69,10.33,45.15
$STATE,437,end apogee,CONTROL_FINISHED_OK
$STATE,437,begin climb
$GC,440,4.07,98.4,2184,2137,2484,4094,66.5,0.0,57,468,14.93,1.08,7.12,1.014,10500,0.030,0.049,3621,2547,2370,2370,4094,0,0,0,0,0,0,26.00,25.94,24.59,10.31,44.56
$GC,724,4.07,98.4,3621,2547,2358,4094,12.9,13.7,98,733,0.00,1.00,0.00,0.000,1030,0.000,0.028,3621,2140,2358,2358,4094,0,0,0,0,0,0,26.18,26.16,26.20,10.32,47.28
$GC,771,4.11,128.3,3621,2139,2357,4094,9.6,5.7,104,782,0.10,1.10,2.97,0.281,10500,0.087,0.041,3636,2555,2332,2332,4095,0,0,0,0,0,0,26.20,25.78,25.27,10.34,49.52
$STATE,883,end climb,FINISH_DEPTH_REACHED
$STATE,885,begin subsurface finish
$FINISH1,1.7,1.023744,0
$GC,894,0.00,0.0,3636,2133,2329,4094,1.7,9.4,120,921,15.40,1.12,-1.27,0.000,21252,0.112,1.279,2349,1718,2485,2485,4094,0,0,0,0,0,0,26.09,24.87,26.22,10.36,51.14
$FINISH2,0.0
$STATE,922,end subsurface finish,CONTROL_FINISHED_OK
$STATE,922,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,184656
$TT8_MAMPS,0.025466,0.235186
$HUMID,51.18
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,24.59,24.074
$10V_AH,10.19,27.378
$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,52.800,10.025,17.950,0.000,0.000,49.783,39.156,343.596,0.000,0.000,17.390,366.798,44.405,70.831,939.938,176.592,33.459,235.834,0.000,302.875,0.000,0.543,0.000
$DEVICE_MAMPS,111.690,1279.080,1060.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.043,334.220,264.451,392.890,512.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329356
$DATA_FILE_SIZE,10853,123
$CAP_FILE_SIZE,25705,0
$CFSIZE,1024409600,976257024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110817,185522,6109.631,-17348.787,9,0.8,16,7.0,0.0,85.1,10,4.7