version: 66.13
glider: 401
mission: 22
dive: 910
start: 8 12 117 7 12 11
data:
$ID,401
$MISSION,22
$DIVE,910
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,120817,070158,6113.5273,-17351.2031,6,0.8,38,7.0,1.5,280.6,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-34.0
$GPS2,120817,071100,6113.5889,-17351.3340,5,0.8,15,7.0,0.0,341.6,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.162212,0.344339
$KALMAN_X,66610.828125,-895.667542,-488.055267,-260110.671875,-22.227783
$KALMAN_Y,-46825.179688,1915.793457,598.692261,263338.156250,99.109497
$MHEAD_RNG_PITCHd_Wd,18.2,21467,-12.1,-10.526,-15.46,6378
$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,-1.77,-446.6,238,1956,1769,4092,0.0,0.0,0,20,8.73,0.00,0.00,0.000,2049,0.086,0.000,995,1955,1769,1769,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.27,50.74
$GC,23,-1.77,-446.6,995,1957,1769,4094,0.5,0.0,1,51,8.23,1.12,-11.25,0.000,18948,0.047,1.271,1763,1537,3007,3007,4094,0,0,0,0,0,0,25.95,24.70,26.03,10.27,50.78
$GC,113,-1.77,-446.6,1763,1536,3008,4094,9.3,-20.0,13,123,0.00,0.98,0.00,0.000,1030,0.000,0.024,1763,1960,3009,3009,4095,0,0,0,0,0,0,26.01,26.00,26.04,10.54,50.35
$GC,160,-1.77,-446.6,1762,1959,3010,4095,18.0,-18.6,19,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1959,3010,3010,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.54,50.00
$GC,207,-1.77,-446.6,1762,1960,3012,4094,24.4,-12.8,25,216,0.00,1.05,0.00,0.000,260,0.000,0.042,1763,2367,3012,3012,4094,0,0,0,0,0,0,26.32,26.02,26.32,10.51,49.33
$GC,325,-1.77,-446.6,1763,2367,3015,4094,40.0,-12.9,42,334,0.00,0.98,0.00,0.000,1030,0.000,0.027,1763,1976,3015,3015,4094,0,0,0,0,0,0,26.19,26.17,26.22,10.43,47.04
$GC,371,-1.77,-446.6,1763,1976,3016,4094,46.3,-14.0,48,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1976,3016,3016,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.41,45.98
$GC,416,-1.77,-446.6,1763,1976,3016,4095,52.6,-14.2,54,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1976,3017,3017,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.40,46.02
$GC,461,-1.77,-446.6,1763,1976,3017,4094,58.8,-13.2,60,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1976,3018,3018,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.39,45.23
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,484,-0.45,0.0,1763,2142,3018,4094,61.2,-13.3,62,519,4.53,0.00,26.05,1.294,10244,0.057,0.000,2186,2142,2484,2484,4094,0,0,0,0,0,0,26.20,25.39,24.37,10.38,44.95
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,523,1.77,446.6,2186,2142,2484,4094,64.2,0.0,66,567,7.43,0.00,25.85,1.270,11270,0.033,0.000,2890,2142,1962,1962,4094,0,0,0,0,0,0,25.63,25.79,23.96,10.27,44.80
$GC,605,1.77,446.6,2889,2142,1960,4094,57.4,12.8,76,615,0.00,1.15,0.00,0.000,516,0.000,0.041,2890,1712,1960,1960,4094,0,0,0,0,0,0,25.66,25.39,25.67,10.16,43.93
$GC,645,1.77,446.6,2889,1712,1959,4094,51.7,13.8,81,655,0.00,1.00,0.00,0.000,1030,0.000,0.028,2890,2116,1959,1959,4094,0,0,0,0,0,0,25.61,25.58,25.65,10.14,43.85
$GC,691,1.77,446.6,2889,2116,1958,4094,45.5,13.1,87,701,0.00,1.20,0.00,0.000,260,0.000,0.050,2890,2559,1958,1958,4094,0,0,0,0,0,0,25.94,25.62,25.95,10.14,44.21
$GC,731,1.77,446.6,2889,2559,1956,4094,40.3,13.3,92,741,0.00,1.15,0.00,0.000,1030,0.000,0.025,2890,2101,1956,1956,4094,0,0,0,0,0,0,25.81,25.79,25.83,10.14,44.40
$GC,778,1.77,446.6,2889,2101,1955,4094,34.2,12.8,98,787,0.00,1.00,0.00,0.000,516,0.000,0.046,2890,1712,1955,1955,4094,0,0,0,0,0,0,26.09,25.81,26.10,10.13,44.92
$GC,870,1.77,446.6,2889,1711,1952,4094,23.3,11.2,111,879,0.00,0.93,0.00,0.000,1030,0.000,0.026,2889,2100,1952,1952,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.14,46.45
$GC,918,2.13,688.5,2889,2099,1952,4094,19.4,6.6,117,937,1.12,1.25,13.60,0.778,10500,0.028,0.049,3002,2564,1680,1680,4094,0,0,0,0,0,0,26.03,25.68,24.90,10.17,46.37
$GC,1020,2.13,688.5,3002,2563,1677,4094,7.1,15.3,131,1029,0.00,1.10,0.00,0.000,1030,0.000,0.026,3003,2115,1676,1676,4094,0,0,0,0,0,0,25.98,25.96,26.00,10.17,50.59
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,2.0,1.023975,113
$GC,1058,0.17,113.2,3003,2107,1675,4094,2.0,15.6,135,1077,6.20,1.02,-5.93,0.000,20996,0.025,1.277,2399,1724,2356,2356,4095,0,0,0,0,0,0,25.98,24.70,26.04,10.18,50.78
$FINISH2,0.1
$STATE,1078,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1079,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,070420
$TT8_MAMPS,0.025466,0.265895
$HUMID,51.14
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.96,24.858
$10V_AH,10.17,28.112
$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,36.225,14.325,65.500,0.000,0.000,51.009,42.280,243.323,0.000,0.000,16.503,388.181,44.474,127.150,909.839,172.531,33.454,369.449,0.000,336.392,0.000,0.542,0.000
$DEVICE_MAMPS,86.445,1276.785,1293.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.241,372.205,294.569,436.716,568.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,14321,137
$CAP_FILE_SIZE,31993,0
$CFSIZE,1024409600,974782464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120817,071100,6113.589,-17351.334,5,0.8,15,7.0,0.0,341.6,10,5.0