version: 66.13
glider: 401
mission: 22
dive: 908
start: 8 12 117 6 19 1
data:
$ID,401
$MISSION,22
$DIVE,908
$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,34
$R_STBD_OVSHOOT,65
$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
$GPS1,120817,060023,6112.8237,-17351.3887,5,0.8,20,7.0,0.7,282.8,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.9
$GPS2,120817,060023,6112.8237,-17351.3887,5,0.8,20,7.0,0.7,282.8,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.195765,0.234923
$KALMAN_X,67031.046875,-883.377319,-493.266449,-260588.250000,-120.498840
$KALMAN_Y,-47230.570312,1770.732910,442.605133,262651.312500,61.041565
$MHEAD_RNG_PITCHd_Wd,32.8,22838,-16.1,-10.526,-18.99,3826
$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,-1.86,-265.9,2396,1972,2357,4092,0.0,0.0,0,20,6.57,0.00,-2.80,0.000,20482,0.021,0.000,1742,1973,2696,2696,4094,0,0,0,0,0,0,26.16,28.83,26.20,10.35,52.52
$GC,24,-1.86,-265.9,1741,1973,2695,4094,0.7,0.0,1,34,0.00,1.00,-0.80,0.000,16644,0.000,1.268,1741,2341,2800,2800,4094,0,0,0,0,0,0,26.36,24.84,26.29,10.43,52.16
$GC,72,-1.86,-265.9,1741,2341,2801,4094,5.7,-14.0,7,81,0.00,0.98,0.00,0.000,1030,0.000,0.031,1741,1953,2801,2801,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.45,52.36
$GC,119,-1.86,-265.9,1741,1952,2802,4095,12.2,-14.0,13,128,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,1953,2802,2802,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.46,51.92
$GC,166,-1.86,-265.9,1741,1952,2803,4095,18.8,-13.8,19,176,0.00,1.10,0.00,0.000,516,0.000,0.048,1741,1518,2803,2803,4094,0,0,0,0,0,0,26.34,26.03,26.34,10.46,51.73
$GC,186,-1.86,-265.9,1741,1517,2804,4094,22.1,-14.9,21,196,0.00,0.93,0.00,0.000,1030,0.000,0.024,1741,1926,2804,2804,4095,0,0,0,0,0,0,26.17,26.13,26.17,10.45,51.06
$GC,233,-1.86,-265.9,1741,1927,2805,4095,27.3,-10.7,27,241,0.00,1.15,0.00,0.000,260,0.000,0.041,1742,2370,2805,2805,4094,0,0,0,0,0,0,26.38,26.10,26.39,10.41,50.70
$GC,266,-1.93,-311.2,1741,2370,2805,4094,30.3,-9.3,31,276,0.00,1.08,-0.12,0.000,17414,0.000,0.030,1741,1940,2871,2871,4094,0,0,0,0,0,0,26.20,26.15,26.06,10.39,49.60
$GC,313,-2.09,-419.4,1741,1939,2872,4094,34.4,-7.6,37,324,0.50,1.10,-0.22,0.000,20996,0.033,1.250,1685,1527,2992,2992,4094,0,0,0,0,0,0,26.05,24.75,26.08,10.39,48.34
$STATE,537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,537,begin apogee
$GC,545,-0.45,0.0,1685,2128,2997,4095,60.0,-11.9,70,581,5.45,0.00,25.20,1.281,10244,0.062,0.000,2186,2129,2484,2484,4094,0,0,0,0,0,0,26.06,25.29,24.29,10.37,46.49
$STATE,582,end apogee,CONTROL_FINISHED_OK
$STATE,582,begin climb
$GC,585,2.09,419.4,2186,2128,2484,4094,62.9,0.0,74,629,8.45,1.15,24.35,1.263,10500,0.029,0.050,2988,2559,1995,1995,4094,0,0,0,0,0,0,25.50,25.44,23.94,10.26,46.10
$GC,779,2.09,419.4,2988,2559,1991,4094,41.2,13.0,101,789,0.00,1.05,0.00,0.000,1030,0.000,0.026,2988,2135,1990,1990,4094,0,0,0,0,0,0,25.78,25.75,25.79,10.13,46.06
$GC,827,2.09,419.4,2987,2135,1989,4094,35.4,12.3,107,837,0.00,1.08,0.00,0.000,516,0.000,0.047,2988,1721,1988,1988,4094,0,0,0,0,0,0,26.06,25.76,26.08,10.12,46.29
$GC,893,2.09,419.4,2988,1721,1987,4094,27.1,12.3,116,902,0.00,1.00,0.00,0.000,1030,0.000,0.028,2988,2131,1987,1987,4094,0,0,0,0,0,0,25.93,25.91,25.96,10.12,46.65
$GC,939,2.09,419.4,2987,2131,1986,4094,21.6,11.7,122,949,0.00,1.15,0.00,0.000,260,0.000,0.050,2989,2559,1986,1986,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.14,47.67
$GC,1077,2.09,419.4,2988,2559,1982,4094,7.1,12.3,142,1086,0.00,0.98,0.00,0.000,1030,0.000,0.027,2988,2161,1982,1982,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.22,51.10
$STATE,1122,end climb,FINISH_DEPTH_REACHED
$STATE,1122,begin subsurface finish
$FINISH1,1.9,1.023965,114
$GC,1130,0.17,114.0,2988,2153,1981,4094,1.9,11.8,148,1149,6.00,1.17,-2.97,0.000,20996,0.024,1.267,2394,1713,2358,2358,4095,0,0,0,0,0,0,26.17,24.84,26.21,10.23,52.04
$FINISH2,0.9
$STATE,1150,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1150,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,044316
$TT8_MAMPS,0.026215,0.256158
$HUMID,52.44
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.94,24.795
$10V_AH,10.16,28.063
$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,26.975,16.900,49.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.517,0.000,103.876,627.445,58.797,33.429,324.040,0.000,364.630,0.000,0.542,0.000
$DEVICE_MAMPS,61.965,1268.370,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.327,407.586,322.745,478.790,625.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,14243,150
$CAP_FILE_SIZE,25938,0
$CFSIZE,1024409600,974880768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,060023,6112.824,-17351.389,5,0.8,20,7.0,0.7,282.8,11,5.0