version: 66.13
glider: 401
mission: 22
dive: 911
start: 8 12 117 7 32 23
data:
$ID,401
$MISSION,22
$DIVE,911
$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,38
$R_STBD_OVSHOOT,57
$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
$GPS1,120817,071100,6113.5889,-17351.3340,5,0.8,15,7.0,0.0,341.6,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-0.5
$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,0.172930,0.347725
$KALMAN_X,66476.937500,-917.080627,-484.663239,-259955.937500,-39.865753
$KALMAN_Y,-46992.421875,1855.155029,548.720520,263642.937500,78.445129
$MHEAD_RNG_PITCHd_Wd,19.4,21467,-11.8,-10.526,-15.17,6691
$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,-469.0,2399,1982,2356,4092,0.0,0.0,0,18,6.38,0.00,-0.50,0.000,20482,0.024,0.000,1771,1983,2413,2413,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.35,51.73
$GC,22,-1.77,-469.0,1771,1982,2413,4094,0.0,0.0,1,35,0.00,1.20,-5.15,0.000,16900,0.000,1.269,1771,1528,3039,3039,4095,0,0,0,0,0,0,26.28,24.77,26.29,10.37,52.44
$GC,85,-1.77,-469.0,1770,1528,3040,4095,7.9,-16.9,11,91,0.00,0.93,0.00,0.000,1030,0.000,0.027,1771,1926,3040,3040,4095,0,0,0,0,0,0,26.03,26.01,26.05,10.50,51.45
$GC,124,-1.77,-469.0,1770,1926,3042,4095,15.6,-19.8,17,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1926,3041,3041,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.51,51.89
$GC,162,-1.77,-469.0,1770,1926,3042,4094,22.1,-17.0,23,169,0.00,1.15,0.00,0.000,260,0.000,0.047,1771,2362,3043,3043,4095,0,0,0,0,0,0,26.31,26.02,26.32,10.51,51.89
$GC,279,-1.77,-469.0,1770,2362,3046,4095,37.7,-12.9,42,286,0.00,0.98,0.00,0.000,1030,0.000,0.028,1771,1972,3046,3046,4094,0,0,0,0,0,0,26.19,26.15,26.20,10.41,50.07
$GC,318,-1.77,-469.0,1770,1972,3046,4094,42.8,-12.9,48,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3047,3047,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,48.66
$GC,356,-1.77,-469.0,1770,1972,3048,4095,47.7,-13.5,54,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3048,3048,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.39,47.99
$GC,394,-1.77,-469.0,1770,1972,3049,4094,52.8,-13.5,60,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1973,3049,3049,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.38,48.11
$GC,433,-1.77,-469.0,1770,1972,3050,4094,57.8,-13.3,66,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1973,3050,3050,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.38,47.16
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,459,-0.45,0.0,1771,2137,3050,4094,60.5,-12.8,69,495,4.43,0.00,27.30,1.290,10244,0.056,0.000,2186,2137,2484,2484,4095,0,0,0,0,0,0,26.21,25.37,24.36,10.37,46.77
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,499,1.77,469.0,2186,2137,2484,4095,63.4,0.0,75,540,7.43,0.00,26.95,1.262,11270,0.032,0.000,2890,2137,1937,1937,4094,0,0,0,0,0,0,25.60,25.76,23.95,10.25,46.22
$GC,573,1.77,469.0,2890,2137,1935,4094,56.9,13.2,87,579,0.00,1.15,0.00,0.000,516,0.000,0.044,2890,1711,1935,1935,4094,0,0,0,0,0,0,25.60,25.32,25.61,10.12,45.98
$GC,630,1.77,469.0,2890,1710,1934,4094,49.2,13.3,96,636,0.00,1.00,0.00,0.000,1030,0.000,0.028,2890,2116,1934,1934,4094,0,0,0,0,0,0,25.63,25.58,25.65,10.11,45.86
$GC,669,1.77,469.0,2890,2115,1933,4094,44.1,13.5,102,675,0.00,1.23,0.00,0.000,260,0.000,0.052,2890,2565,1932,1932,4094,0,0,0,0,0,0,25.92,25.63,25.94,10.11,45.55
$GC,702,1.77,469.0,2890,2565,1931,4094,39.7,12.8,107,708,0.00,1.17,0.00,0.000,1030,0.000,0.026,2890,2100,1931,1931,4094,0,0,0,0,0,0,25.79,25.76,25.79,10.11,46.73
$GC,741,1.77,469.0,2890,2099,1931,4094,34.7,13.2,113,751,0.00,0.98,0.00,0.000,516,0.000,0.047,2890,1713,1930,1930,4094,0,0,0,0,0,0,26.06,25.77,26.07,10.10,46.14
$GC,825,1.77,469.0,2890,1713,1928,4094,24.4,11.7,126,832,0.00,0.90,0.00,0.000,1030,0.000,0.028,2890,2088,1928,1928,4094,0,0,0,0,0,0,25.98,25.95,25.99,10.11,46.77
$GC,864,1.78,470.9,2890,2088,1927,4094,20.0,10.5,132,871,0.00,1.27,0.00,0.000,260,0.000,0.049,2890,2564,1927,1927,4094,0,0,0,0,0,0,26.22,25.92,26.23,10.13,47.87
$GC,951,1.78,470.9,2890,2564,1925,4094,11.4,11.1,146,958,0.00,1.20,0.00,0.000,1030,0.000,0.028,2891,2088,1925,1925,4095,0,0,0,0,0,0,26.10,26.06,26.10,10.19,50.94
$GC,990,1.78,470.9,2890,2088,1924,4095,7.1,10.9,152,997,0.00,0.95,0.00,0.000,516,0.000,0.047,2890,1713,1924,1924,4095,0,0,0,0,0,0,26.34,26.05,26.34,10.20,51.26
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1051,begin subsurface finish
$FINISH1,1.3,1.023971,114
$GC,1060,0.17,113.6,2890,2152,1922,4094,1.3,7.8,162,1074,4.95,1.20,-3.58,0.000,20996,0.020,1.284,2393,1713,2357,2357,4094,0,0,0,0,0,0,26.19,24.85,26.22,10.22,52.48
$FINISH2,0.4
$STATE,1075,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1075,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,070420
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.03
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.95,24.879
$10V_AH,10.42,28.123
$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,23.175,17.300,54.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.727,260.569,142.185,238.362,60.812,33.425,321.010,0.000,247.034,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1283.670,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,10769,164
$CAP_FILE_SIZE,29430,0
$CFSIZE,1024409600,974733312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,740.86,0x236164,1,24
$GPS,120817,071100,6113.589,-17351.334,5,0.8,15,7.0,0.0,341.6,10,5.0