version: 66.13
glider: 401
mission: 22
dive: 890
start: 8 11 117 22 45 14
data:
$ID,401
$MISSION,22
$DIVE,890
$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,19
$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,25
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,110817,221901,6110.8701,-17348.1387,5,0.9,32,7.0,0.4,206.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-1.6
$GPS2,110817,221901,6110.8701,-17348.1387,5,0.9,32,7.0,0.4,206.1,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.035581,0.515707
$KALMAN_X,71709.414062,-435.047699,-26.637341,-263105.406250,35.798817
$KALMAN_Y,-44032.035156,1895.666260,408.517822,255748.093750,-70.030151
$MHEAD_RNG_PITCHd_Wd,356.9,25781,-7.4,-10.526,-11.51,13474
$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,-1.40,-487.5,2403,1958,2340,4092,0.0,0.0,0,21,5.12,0.00,-5.03,0.000,20482,0.027,0.000,1908,1959,2900,2900,4095,0,0,0,0,0,0,26.04,28.83,26.06,10.35,53.50
$GC,24,-1.40,-487.5,1907,1959,2900,4095,0.2,0.0,1,34,0.00,1.15,-1.33,0.000,16900,0.000,1.271,1908,1530,3051,3051,4094,0,0,0,0,0,0,26.25,24.72,26.22,10.47,53.42
$GC,77,-1.40,-487.5,1907,1529,3052,4094,4.8,-11.0,8,87,0.00,1.02,0.00,0.000,1030,0.000,0.025,1908,1965,3052,3052,4094,0,0,0,0,0,0,25.97,25.95,25.99,10.51,53.74
$GC,124,-1.40,-487.5,1907,1966,3053,4094,10.6,-12.6,14,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,1966,3053,3053,4094,0,0,0,0,0,0,26.23,26.24,26.24,10.52,53.78
$GC,169,-1.40,-487.5,1907,1966,3053,4094,15.8,-11.4,20,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1966,3054,3054,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.52,53.03
$GC,214,-1.40,-487.5,1907,1966,3055,4095,20.1,-8.9,26,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1966,3055,3055,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.50,52.20
$GC,260,-1.40,-487.5,1906,1965,3055,4094,23.8,-8.3,32,270,0.00,1.02,0.00,0.000,260,0.000,0.043,1907,2364,3056,3056,4095,0,0,0,0,0,0,26.36,26.05,26.36,10.47,51.77
$GC,287,-1.40,-487.5,1907,2363,3056,4095,26.1,-8.7,35,295,0.00,1.02,0.00,0.000,1030,0.000,0.028,1908,1952,3056,3056,4095,0,0,0,0,0,0,26.16,26.08,26.17,10.45,50.94
$GC,334,-1.40,-487.5,1907,1951,3056,4095,29.7,-7.7,41,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1951,3057,3057,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.43,50.66
$GC,381,-1.40,-487.5,1906,1951,3057,4095,33.4,-8.1,47,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1951,3058,3058,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.41,49.01
$GC,429,-1.40,-487.5,1907,1951,3058,4095,37.3,-8.0,53,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1951,3058,3058,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.40,48.18
$GC,473,-1.40,-487.5,1907,1951,3058,4094,41.1,-8.3,59,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1951,3059,3059,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.39,47.99
$GC,519,-1.40,-487.5,1907,1951,3060,4094,44.8,-7.8,65,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1951,3060,3060,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.38,47.12
$GC,565,-1.40,-487.5,1907,1952,3060,4094,48.6,-8.3,71,574,0.00,1.10,0.00,0.000,260,0.000,0.041,1908,2366,3060,3060,4095,0,0,0,0,0,0,26.53,26.23,26.54,10.37,46.88
$GC,598,-1.40,-487.5,1907,2366,3061,4095,51.3,-8.0,75,608,0.00,1.05,0.00,0.000,1030,0.000,0.029,1908,1942,3061,3061,4095,0,0,0,0,0,0,26.34,26.28,26.34,10.37,46.37
$GC,645,-1.40,-487.5,1907,1942,3062,4095,55.1,-8.3,81,654,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,1942,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.36,46.88
$GC,691,-1.40,-487.5,1907,1942,3062,4094,59.0,-8.2,87,701,0.00,1.05,0.00,0.000,516,0.000,0.052,1907,1524,3062,3062,4094,0,0,0,0,0,0,26.58,26.27,26.60,10.36,47.08
$STATE,708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,708,begin apogee
$GC,717,-0.45,0.0,1907,2133,3062,4094,60.7,-8.4,89,753,2.95,0.00,27.98,1.289,10244,0.050,0.000,2185,2134,2484,2484,4095,0,0,0,0,0,0,26.30,25.43,24.42,10.36,46.81
$STATE,754,end apogee,CONTROL_FINISHED_OK
$STATE,754,begin climb
$GC,757,1.40,487.5,2185,2133,2483,4095,62.8,0.0,93,802,6.20,1.15,27.73,1.272,10500,0.035,0.052,2775,2564,1919,1919,4094,0,0,0,0,0,0,25.60,25.56,23.97,10.24,46.57
$GC,826,1.81,757.6,2774,2564,1919,4094,59.0,8.5,101,854,1.23,1.10,16.42,1.156,11270,0.025,0.025,2897,2121,1603,1603,4094,0,0,0,0,0,0,25.41,25.38,24.01,10.11,45.27
$GC,892,1.81,757.6,2897,2120,1602,4094,52.3,10.7,109,902,0.00,1.02,0.00,0.000,516,0.000,0.044,2898,1726,1602,1602,4094,0,0,0,0,0,0,25.63,25.39,25.65,10.04,45.47
$GC,1005,1.81,757.6,2897,1726,1600,4094,40.2,10.8,125,1014,0.00,0.98,0.00,0.000,1030,0.000,0.027,2898,2124,1599,1599,4094,0,0,0,0,0,0,25.75,25.73,25.77,10.03,46.22
$GC,1053,1.87,796.6,2897,2124,1598,4094,35.3,10.2,131,1064,0.17,1.17,3.88,0.539,10500,0.057,0.051,2923,2572,1554,1554,4094,0,0,0,0,0,0,25.82,25.36,24.72,10.02,46.37
$GC,1088,1.87,796.6,2923,2572,1554,4094,31.4,10.6,135,1097,0.00,1.12,0.00,0.000,1030,0.000,0.027,2923,2119,1553,1553,4094,0,0,0,0,0,0,25.86,25.84,25.88,10.01,47.20
$GC,1134,1.87,796.6,2923,2118,1553,4094,26.4,10.8,141,1144,0.00,1.02,0.00,0.000,516,0.000,0.046,2924,1722,1552,1552,4094,0,0,0,0,0,0,26.13,25.84,26.14,10.01,46.69
$GC,1233,2.18,1005.7,2923,1721,1550,4094,16.8,8.9,155,1252,0.93,0.88,12.10,0.732,11270,0.025,0.026,3019,2096,1311,1311,4094,0,0,0,0,0,0,26.02,26.02,24.94,10.06,49.29
$GC,1291,2.47,1195.4,3019,2095,1310,4094,11.6,9.1,162,1310,0.80,1.25,11.32,0.664,10500,0.028,0.052,3103,2555,1090,1090,4094,0,0,0,0,0,0,25.91,25.63,24.91,10.06,50.90
$GC,1340,2.49,1211.0,3102,2554,1088,4094,6.4,10.4,168,1350,0.10,1.17,2.58,0.187,11270,0.053,0.028,3119,2085,1071,1071,4094,0,0,0,0,0,0,25.80,25.84,24.99,10.03,51.65
$STATE,1378,end climb,FINISH_DEPTH_REACHED
$STATE,1378,begin subsurface finish
$FINISH1,1.9,1.023784,127
$GC,1386,0.19,126.6,3119,2143,1069,4094,1.9,11.2,173,1413,7.57,0.00,-11.18,0.000,20998,0.038,0.000,2401,2151,2340,2340,4094,0,0,0,0,0,0,25.90,25.35,25.95,10.04,53.15
$FINISH2,0.2
$STATE,1414,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1414,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,210440
$TT8_MAMPS,0.026215,0.245672
$HUMID,53.46
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.97,24.288
$10V_AH,10.18,27.618
$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,25.075,20.375,102.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,486.522,0.000,170.584,734.414,81.619,33.430,482.562,0.000,426.266,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1270.665,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.778,478.144,378.433,560.582,730.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330880
$DATA_FILE_SIZE,17763,176
$CAP_FILE_SIZE,39153,0
$CFSIZE,1024409600,975732736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,221901,6110.870,-17348.139,5,0.9,32,7.0,0.4,206.1,9,4.9