version: 66.13
glider: 401
mission: 22
dive: 899
start: 8 12 117 2 36 55
data:
$ID,401
$MISSION,22
$DIVE,899
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,120817,021456,6111.3838,-17348.9746,8,0.7,26,7.0,0.5,169.1,11,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-1.6
$GPS2,120817,021456,6111.3838,-17348.9746,8,0.7,26,7.0,0.5,169.1,11,4.2
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.182484,0.405304
$KALMAN_X,70545.835938,-460.234833,-101.891464,-262633.125000,-138.244751
$KALMAN_Y,-46603.265625,1752.567383,341.169525,259475.156250,-85.545776
$MHEAD_RNG_PITCHd_Wd,17.2,24955,-9.6,-10.526,-13.32,9276
$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,-1.61,-487.5,2395,1988,2353,4092,0.0,0.0,0,17,5.72,0.00,-0.93,0.000,20482,0.021,0.000,1825,1988,2458,2458,4094,0,0,0,0,0,0,26.14,28.83,26.17,10.35,52.36
$GC,21,-1.61,-487.5,1825,1988,2458,4094,0.3,0.0,1,28,0.00,0.00,-5.18,0.000,16390,0.000,0.000,1825,1988,3058,3058,4094,0,0,0,0,0,0,26.33,25.07,26.34,10.38,52.32
$GC,60,-1.61,-487.5,1824,1988,3059,4094,3.8,-12.2,7,66,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1988,3059,3059,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.51,51.89
$GC,98,-1.61,-487.5,1824,1987,3060,4094,8.7,-13.1,13,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1987,3060,3060,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.51,52.04
$GC,136,-1.61,-487.5,1824,1987,3061,4095,15.0,-15.8,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1987,3061,3061,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.52,51.49
$GC,174,-1.61,-487.5,1824,1987,3062,4095,20.1,-12.5,25,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1987,3062,3062,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.52,51.18
$GC,213,-1.61,-487.5,1824,1987,3062,4095,24.0,-10.8,31,219,0.00,0.98,0.00,0.000,260,0.000,0.043,1825,2357,3062,3062,4095,0,0,0,0,0,0,26.46,26.18,26.48,10.48,51.57
$GC,239,-1.61,-487.5,1824,2358,3063,4095,26.9,-10.9,35,246,0.00,0.98,0.00,0.000,1030,0.000,0.029,1825,1967,3063,3063,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.46,51.33
$GC,279,-1.61,-487.5,1824,1967,3064,4095,31.5,-12.0,41,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1967,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,50.11
$GC,317,-1.61,-487.5,1824,1966,3065,4095,35.8,-10.9,47,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1967,3065,3065,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.43,49.17
$GC,355,-1.61,-487.5,1824,1966,3066,4094,39.8,-10.3,53,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1967,3066,3066,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.40,48.58
$GC,394,-1.61,-487.5,1824,1967,3066,4094,44.1,-11.4,59,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1966,3066,3066,4094,0,0,0,0,0,0,26.55,26.55,26.56,10.39,47.63
$GC,432,-1.61,-487.5,1824,1966,3067,4094,48.2,-11.0,65,438,0.00,1.12,0.00,0.000,516,0.000,0.050,1825,1521,3067,3067,4095,0,0,0,0,0,0,26.56,26.26,26.57,10.38,47.40
$GC,465,-1.61,-487.5,1824,1521,3068,4095,51.8,-10.9,70,471,0.00,1.00,0.00,0.000,1030,0.000,0.024,1825,1957,3068,3068,4094,0,0,0,0,0,0,26.37,26.35,26.39,10.38,46.96
$GC,504,-1.61,-487.5,1823,1957,3068,4094,56.0,-10.9,76,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,1957,3069,3069,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.38,46.41
$STATE,539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,539,begin apogee
$GC,547,-0.45,0.0,1825,2132,3069,4095,60.1,-10.6,82,586,3.80,0.00,28.00,1.287,10244,0.053,0.000,2185,2132,2484,2484,4095,0,0,0,0,0,0,26.31,25.44,24.42,10.37,46.49
$STATE,587,end apogee,CONTROL_FINISHED_OK
$STATE,587,begin climb
$GC,590,1.61,487.5,2185,2132,2484,4095,62.3,0.0,88,632,6.85,0.00,27.80,1.268,11270,0.034,0.000,2840,2133,1915,1915,4094,0,0,0,0,0,0,25.68,25.84,23.98,10.24,46.18
$GC,664,1.61,487.5,2839,2132,1915,4094,56.9,10.6,100,671,0.00,1.12,0.00,0.000,516,0.000,0.043,2840,1714,1915,1915,4095,0,0,0,0,0,0,25.61,25.35,25.63,10.12,44.99
$GC,733,1.61,487.5,2839,1714,1913,4095,48.9,11.9,111,740,0.00,0.98,0.00,0.000,1030,0.000,0.028,2840,2110,1913,1913,4094,0,0,0,0,0,0,25.66,25.64,25.69,10.10,46.14
$GC,772,1.61,487.5,2839,2110,1912,4094,44.3,11.7,117,779,0.00,1.23,0.00,0.000,260,0.000,0.052,2840,2562,1912,1912,4094,0,0,0,0,0,0,25.96,25.67,25.98,10.09,45.94
$GC,805,1.61,487.5,2839,2561,1911,4094,40.6,11.3,122,812,0.00,1.17,0.00,0.000,1030,0.000,0.027,2840,2096,1911,1911,4095,0,0,0,0,0,0,25.82,25.79,25.84,10.10,46.06
$GC,844,1.63,504.4,2839,2095,1910,4095,36.4,10.3,128,852,0.00,1.00,2.58,0.267,8708,0.000,0.046,2840,1707,1896,1896,4094,0,0,0,0,0,0,26.09,25.70,24.72,10.09,46.22
$GC,945,1.69,544.8,2839,1706,1893,4094,25.9,10.1,144,953,0.17,0.90,3.90,0.496,11270,0.039,0.028,2869,2084,1848,1848,4094,0,0,0,0,0,0,25.98,25.97,24.91,10.09,47.59
$GC,985,1.69,544.8,2869,2084,1847,4094,21.5,10.6,150,992,0.00,1.30,0.00,0.000,260,0.000,0.052,2869,2564,1847,1847,4094,0,0,0,0,0,0,26.21,25.89,26.22,10.10,47.91
$GC,1127,1.99,743.9,2869,2564,1844,4094,8.5,8.3,173,1146,0.82,1.20,11.45,0.653,11270,0.027,0.027,2962,2080,1615,1615,4094,0,0,0,0,0,0,26.13,26.10,25.11,10.19,52.32
$GC,1179,1.99,743.9,2962,2080,1613,4094,3.0,12.2,181,1185,0.00,0.95,0.00,0.000,516,0.000,0.050,2962,1712,1613,1613,4094,0,0,0,0,0,0,26.23,25.94,26.24,10.15,52.83
$STATE,1190,end climb,FINISH_DEPTH_REACHED
$STATE,1190,begin subsurface finish
$FINISH1,0.9,1.023921,117
$GC,1200,0.18,117.0,2962,2137,1613,4094,0.9,13.8,183,1219,5.72,0.00,-5.70,0.000,20998,0.021,0.000,2397,2140,2357,2357,4094,0,0,0,0,0,0,26.05,25.48,26.08,10.16,52.87
$FINISH2,0.5
$STATE,1220,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1220,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,005127
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.62
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.98,24.538
$10V_AH,10.42,27.834
$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,23.100,16.025,73.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,481.414,285.232,169.626,271.051,71.335,33.432,375.203,0.000,277.970,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,52.020,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330896
$DATA_FILE_SIZE,14303,186
$CAP_FILE_SIZE,35109,0
$CFSIZE,1024409600,975306752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,576.12,0x236162,2,24
$GPS,120817,021456,6111.384,-17348.975,8,0.7,26,7.0,0.5,169.1,11,4.2