version: 66.13
glider: 401
mission: 22
dive: 884
start: 8 11 117 20 20 33
data:
$ID,401
$MISSION,22
$DIVE,884
$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,35
$R_STBD_OVSHOOT,47
$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
$GPS1,110817,195942,6110.1172,-17348.7617,5,0.9,22,7.0,0.6,114.3,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-1.9
$GPS2,110817,195942,6110.1172,-17348.7617,5,0.9,22,7.0,0.6,114.3,9,4.8
$SPEED_LIMITS,0.111,0.403
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.052951,0.237674
$KALMAN_X,71454.312500,-546.237305,-131.523041,-263224.500000,-15.166809
$KALMAN_Y,-43618.539062,1855.333252,307.725220,254079.843750,3.072906
$MHEAD_RNG_PITCHd_Wd,5.6,27240,-22.2,-11.111,-24.53,2117
$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,-2.25,-154.3,2408,1950,2341,4092,0.0,0.0,0,20,7.93,0.00,-1.55,0.000,20482,0.021,0.000,1621,1951,2506,2506,4094,0,0,0,0,0,0,26.22,28.83,26.25,10.37,52.48
$GC,24,-2.25,-154.3,1620,1950,2506,4094,0.0,0.0,1,33,0.00,1.12,-1.42,0.000,16900,0.000,1.279,1621,1529,2668,2668,4094,0,0,0,0,0,0,26.40,24.85,26.37,10.39,52.75
$GC,215,-2.25,-154.3,1620,1529,2674,4094,28.8,-15.4,29,224,0.00,0.95,0.00,0.000,1030,0.000,0.025,1621,1945,2674,2674,4094,0,0,0,0,0,0,26.25,26.21,26.25,10.39,51.49
$GC,263,-2.25,-154.3,1620,1945,2675,4094,34.6,-12.1,35,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,1945,2675,2675,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.37,50.51
$GC,310,-2.25,-154.3,1620,1946,2676,4094,40.5,-12.7,41,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,1947,2676,2676,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.35,49.13
$GC,357,-2.25,-154.3,1620,1946,2677,4095,46.4,-12.8,47,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,1947,2678,2678,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.33,48.14
$GC,403,-2.25,-154.3,1620,1947,2679,4095,52.3,-12.8,53,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,1947,2679,2679,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.32,47.12
$GC,450,-2.25,-154.3,1620,1947,2680,4094,58.6,-13.6,59,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,1947,2680,2680,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.31,46.81
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,474,-0.45,0.0,1621,2140,2680,4094,61.4,-13.5,61,500,6.25,0.00,10.68,1.146,10244,0.074,0.000,2184,2140,2484,2484,4094,0,0,0,0,0,0,26.23,25.55,24.78,10.31,46.29
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,504,2.25,154.3,2184,2140,2484,4094,64.4,0.0,64,531,8.85,0.00,9.85,1.125,11270,0.031,0.000,3039,2140,2309,2309,4094,0,0,0,0,0,0,26.09,26.27,24.60,10.27,46.92
$GC,569,2.25,154.3,3039,2140,2308,4094,59.1,12.5,72,579,0.00,0.00,0.28,0.003,8198,0.000,0.000,3039,2140,2308,2308,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.22,45.94
$GC,617,2.25,154.3,3038,2140,2306,4094,52.4,14.3,78,626,0.00,1.08,0.00,0.000,516,0.000,0.045,3039,1723,2306,2306,4095,0,0,0,0,0,0,26.22,25.92,26.22,10.21,45.55
$GC,774,2.25,154.3,3039,1723,2301,4095,29.1,14.1,101,784,0.00,0.80,0.00,0.000,1030,0.000,0.027,3039,2073,2301,2301,4094,0,0,0,0,0,0,26.17,26.16,26.20,10.20,47.40
$GC,822,2.25,154.3,3039,2072,2300,4094,23.1,12.6,107,831,0.00,1.27,0.00,0.000,260,0.000,0.047,3039,2553,2299,2299,4094,0,0,0,0,0,0,26.41,26.14,26.42,10.21,47.16
$GC,1085,2.45,290.3,3038,2553,2296,4094,4.9,4.5,146,1104,0.55,1.17,8.07,0.581,11270,0.033,0.029,3097,2077,2147,2147,4094,0,0,0,0,0,0,26.32,26.29,25.37,10.32,52.95
$STATE,1131,end climb,FINISH_DEPTH_REACHED
$STATE,1131,begin subsurface finish
$FINISH1,1.4,1.023778,127
$GC,1140,0.19,127.0,3097,2136,2146,4094,1.4,8.3,152,1158,7.12,1.20,-1.73,0.000,20740,0.031,1.285,2403,2564,2336,2336,4095,0,0,0,0,0,0,26.25,24.93,26.29,10.30,52.52
$FINISH2,-0.0
$STATE,1159,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1159,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,185306
$TT8_MAMPS,0.025466,0.237433
$HUMID,52.36
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,24.60,24.150
$10V_AH,10.19,27.468
$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,30.700,8.700,28.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.292,0.000,91.491,640.161,55.814,33.430,297.510,0.000,372.857,0.000,0.544,0.000
$DEVICE_MAMPS,74.205,1285.200,1145.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.131,418.423,331.133,491.813,639.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,14219,154
$CAP_FILE_SIZE,23842,0
$CFSIZE,1024409600,976060416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,195942,6110.117,-17348.762,5,0.9,22,7.0,0.6,114.3,9,4.8