version: 66.13
glider: 401
mission: 22
dive: 887
start: 8 11 117 21 31 30
data:
$ID,401
$MISSION,22
$DIVE,887
$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,19
$R_STBD_OVSHOOT,41
$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
$GPS1,110817,210931,6110.5459,-17348.3926,8,0.8,15,7.0,0.8,279.4,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,1.7
$GPS2,110817,210931,6110.5459,-17348.3926,8,0.8,15,7.0,0.8,279.4,10,4.6
$SPEED_LIMITS,0.111,0.403
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.004268,0.277662
$KALMAN_X,71618.539062,-491.657654,-78.820183,-263147.656250,49.010078
$KALMAN_Y,-43506.171875,1933.696167,415.332611,254570.562500,49.713806
$MHEAD_RNG_PITCHd_Wd,353.9,26407,-19.2,-11.111,-21.81,2807
$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,-2.06,-205.1,2405,1963,2339,4092,0.0,0.0,0,24,7.20,0.00,-3.67,0.000,20486,0.022,0.000,1695,1963,2729,2729,4094,0,0,0,0,0,0,26.25,25.08,26.29,10.38,52.00
$GC,27,-2.06,-205.1,1694,1963,2729,4094,-0.0,-1.9,2,34,0.00,1.15,0.00,0.000,516,0.000,0.057,1695,1519,2729,2729,4094,0,0,0,0,0,0,26.40,26.09,26.41,10.46,51.65
$GC,144,-2.06,-205.1,1694,1518,2732,4094,16.1,-17.5,21,150,0.00,1.00,0.00,0.000,1030,0.000,0.028,1695,1940,2732,2732,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.47,51.29
$GC,183,-2.06,-205.1,1694,1939,2734,4094,21.9,-13.7,27,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,1940,2734,2734,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.45,51.10
$GC,221,-2.06,-205.1,1694,1941,2735,4095,27.2,-13.4,33,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,1942,2735,2735,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.42,50.74
$GC,259,-2.06,-205.1,1694,1942,2735,4094,32.1,-13.2,39,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,1942,2736,2736,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.39,49.52
$GC,297,-2.06,-205.1,1694,1943,2737,4094,36.9,-12.7,45,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,1942,2737,2737,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.38,49.48
$GC,335,-2.06,-205.1,1694,1943,2737,4095,41.6,-12.5,51,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,1943,2737,2737,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.36,47.95
$GC,373,-2.06,-205.1,1694,1942,2738,4094,46.4,-12.8,57,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,1943,2738,2738,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.36,47.16
$GC,411,-2.06,-205.1,1693,1943,2739,4094,51.3,-12.7,63,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,1943,2740,2740,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.34,46.81
$GC,449,-2.06,-205.1,1694,1943,2741,4094,56.1,-12.5,69,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,1943,2741,2741,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.33,46.92
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,486,-0.45,0.0,1694,2145,2741,4094,60.4,-13.0,74,510,5.35,0.00,13.43,1.184,10244,0.067,0.000,2184,2145,2484,2484,4094,0,0,0,0,0,0,26.31,25.84,24.77,10.33,46.14
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,514,2.06,205.1,2184,2145,2484,4094,62.9,0.0,78,540,8.20,1.08,12.68,1.174,10500,0.031,0.050,2983,2557,2245,2245,4094,0,0,0,0,0,0,26.03,25.98,24.53,10.27,45.78
$GC,623,2.06,205.1,2983,2556,2242,4094,50.9,14.9,95,629,0.00,1.08,0.00,0.000,1030,0.000,0.025,2984,2123,2242,2242,4094,0,0,0,0,0,0,25.95,25.93,25.97,10.20,45.51
$GC,662,2.06,205.1,2983,2122,2241,4094,44.7,14.5,101,668,0.00,1.05,0.00,0.000,516,0.000,0.047,2983,1716,2241,2241,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.20,45.62
$GC,857,2.08,220.3,2983,1715,2235,4094,18.9,10.6,133,864,0.00,0.95,2.33,0.150,9222,0.000,0.026,2984,2116,2226,2226,4094,0,0,0,0,0,0,26.20,26.17,25.14,10.21,47.99
$GC,897,2.10,232.5,2983,2116,2225,4094,14.3,10.7,139,905,0.00,1.17,2.47,0.186,8452,0.000,0.047,2984,2561,2212,2212,4094,0,0,0,0,0,0,26.42,26.03,25.20,10.25,48.85
$STATE,1026,end climb,FINISH_DEPTH_REACHED
$STATE,1027,begin subsurface finish
$FINISH1,1.7,1.023772,127
$GC,1036,0.19,127.4,2984,2122,2208,4094,1.7,11.6,160,1050,6.22,1.25,-1.15,0.000,20740,0.063,1.285,2409,2558,2343,2343,4094,0,0,0,0,0,0,26.22,24.89,26.25,10.30,52.40
$FINISH2,-0.0
$STATE,1051,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1051,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,195429
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.59
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,24.53,24.189
$10V_AH,10.44,27.528
$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,26.975,11.825,30.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.183,280.861,107.505,234.849,54.740,33.427,269.616,0.000,244.172,0.000,0.543,0.000
$DEVICE_MAMPS,67.320,1285.200,1184.220,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,10882,162
$CAP_FILE_SIZE,25304,0
$CFSIZE,1024409600,975912960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,210931,6110.546,-17348.393,8,0.8,15,7.0,0.8,279.4,10,4.6