version: 66.13
glider: 401
mission: 22
dive: 912
start: 8 12 117 7 52 29
data:
$ID,401
$MISSION,22
$DIVE,912
$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,29
$R_STBD_OVSHOOT,55
$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,1.33
$_SM_ANGLEo,0.9
$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,0.181086,0.340186
$KALMAN_X,66274.859375,-910.005920,-465.618134,-259780.859375,-99.967499
$KALMAN_Y,-47369.992188,1876.396118,572.979614,263972.812500,-66.373413
$MHEAD_RNG_PITCHd_Wd,21.0,21467,-11.9,-10.526,-15.28,6569
$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,-460.3,2393,1979,2357,4092,0.0,0.0,0,21,6.30,0.00,-3.38,0.000,20482,0.026,0.000,1774,1979,2722,2722,4095,0,0,0,0,0,0,26.19,28.83,26.25,10.33,53.11
$GC,25,-1.77,-460.3,1773,1979,2722,4095,0.1,0.0,1,35,0.00,1.00,-2.78,0.000,16644,0.000,1.268,1774,2346,3024,3024,4095,0,0,0,0,0,0,26.41,24.89,26.41,10.41,53.07
$GC,45,-1.77,-460.3,1773,2346,3024,4095,0.7,-2.3,3,53,0.00,1.00,0.00,0.000,1030,0.000,0.034,1773,1956,3025,3025,4094,0,0,0,0,0,0,26.08,26.04,26.11,10.48,53.78
$GC,90,-1.77,-460.3,1773,1955,3026,4094,7.2,-14.8,9,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3026,3026,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.49,52.79
$GC,135,-1.77,-460.3,1773,1956,3028,4094,14.9,-16.4,15,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3028,3028,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.49,53.22
$GC,182,-1.77,-460.3,1773,1956,3029,4094,22.5,-17.2,21,192,0.00,1.05,0.00,0.000,260,0.000,0.043,1774,2346,3029,3029,4094,0,0,0,0,0,0,26.41,26.13,26.43,10.46,52.12
$GC,328,-1.81,-482.0,1773,2346,3031,4094,36.7,-10.2,42,339,0.00,1.02,-0.05,0.000,17414,0.000,0.031,1773,1932,3068,3068,4095,0,0,0,0,0,0,26.27,26.23,25.18,10.39,49.13
$GC,377,-1.81,-482.0,1773,1932,3069,4095,42.3,-12.1,48,385,0.00,1.02,0.00,0.000,516,0.000,0.052,1773,1526,3069,3069,4094,0,0,0,0,0,0,26.36,26.07,26.37,10.38,49.01
$GC,416,-1.81,-482.0,1773,1526,3069,4094,47.6,-13.2,53,424,0.00,0.93,0.00,0.000,1030,0.000,0.025,1774,1930,3070,3070,4095,0,0,0,0,0,0,26.19,26.17,26.20,10.38,48.14
$GC,462,-1.81,-482.0,1773,1930,3070,4095,53.5,-13.2,59,471,0.00,1.12,0.00,0.000,260,0.000,0.044,1774,2360,3071,3071,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.38,47.67
$STATE,512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,512,begin apogee
$GC,519,-0.45,0.0,1773,2112,3072,4095,60.5,-12.9,66,555,4.43,0.00,28.55,1.297,10244,0.057,0.000,2186,2110,2484,2484,4094,0,0,0,0,0,0,26.17,25.30,24.29,10.37,47.16
$STATE,556,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,559,1.81,482.0,2185,2109,2484,4094,63.5,0.0,70,603,7.60,0.00,27.73,1.274,11270,0.034,0.000,2899,2110,1923,1923,4094,0,0,0,0,0,0,25.54,25.70,23.90,10.24,46.88
$GC,641,1.81,482.0,2899,2110,1922,4094,56.6,13.2,80,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2110,1921,1921,4094,0,0,0,0,0,0,25.61,25.63,25.62,10.11,45.51
$GC,688,1.81,482.0,2899,2109,1920,4094,50.0,14.1,86,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2110,1920,1920,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.11,45.90
$GC,735,1.81,482.0,2899,2110,1919,4094,43.8,13.0,92,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2110,1919,1919,4094,0,0,0,0,0,0,25.92,25.93,25.93,10.10,46.25
$GC,782,1.81,482.0,2899,2109,1917,4094,37.3,13.8,98,791,0.00,0.98,0.00,0.000,516,0.000,0.045,2900,1736,1917,1917,4094,0,0,0,0,0,0,26.01,25.73,26.03,10.09,46.57
$GC,879,1.81,482.0,2899,1736,1914,4094,25.0,12.2,112,889,0.00,0.88,0.00,0.000,1030,0.000,0.028,2900,2100,1914,1914,4094,0,0,0,0,0,0,25.95,25.93,25.97,10.09,47.08
$GC,926,1.90,544.0,2899,2099,1913,4094,20.2,9.6,118,937,0.22,1.25,4.70,0.541,10500,0.048,0.048,2930,2566,1849,1849,4094,0,0,0,0,0,0,26.02,25.79,24.97,10.12,47.51
$GC,1008,1.90,544.0,2929,2565,1845,4094,10.9,12.9,129,1017,0.00,1.08,0.00,0.000,1030,0.000,0.027,2930,2122,1846,1846,4094,0,0,0,0,0,0,26.05,26.03,26.07,10.17,50.70
$GC,1056,1.90,544.0,2929,2122,1845,4094,4.4,13.5,135,1065,0.00,1.02,0.00,0.000,516,0.000,0.046,2930,1725,1844,1844,4094,0,0,0,0,0,0,26.29,25.99,26.30,10.18,51.69
$STATE,1073,end climb,SURFACE_DEPTH_REACHED
$STATE,1073,begin surface coast
$FINISH,0.0,1.001628
$STATE,1088,end surface coast,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$SM_CCo,1188,0.00,0.000,0,0,1843,551.22
$SM_GC,0.93,28.02,0.55,0.00,0.021,0.029,0.000,230,1984,1843,-6.59,-1.18,551.22,0,0,0,0,0,0,26.03,26.13,26.10
$IRIDIUM_FIX,6149.06,-17422.35,120817,070420
$TT8_MAMPS,0.025466,0.235935
$HUMID,52.20
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.90,24.900
$10V_AH,10.17,28.155
$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,46.575,14.025,60.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,407.851,60.289,138.722,577.870,66.829,33.417,361.638,0.000,338.547,0.000,0.544,0.000
$DEVICE_MAMPS,56.610,1267.605,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.220,377.675,298.904,443.130,575.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,14297,139
$CAP_FILE_SIZE,29317,0
$CFSIZE,1024409600,974684160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,081332,6114.396,-17350.455,8,0.8,38,7.0,1.8,2.3,11,4.9