version: 66.13
glider: 401
mission: 22
dive: 913
start: 8 12 117 8 25 27
data:
$ID,401
$MISSION,22
$DIVE,913
$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,41
$R_STBD_OVSHOOT,56
$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
$GPS1,120817,081332,6114.3965,-17350.4551,8,0.8,38,7.0,1.8,2.3,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-39.8
$GPS2,120817,082419,6114.4712,-17350.4375,5,0.9,22,7.0,0.9,28.3,9,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.010033,0.326179
$KALMAN_X,66702.578125,-841.546509,-387.735596,-259520.453125,139.909424
$KALMAN_Y,-46570.847656,2036.245239,736.520874,264455.812500,108.360474
$MHEAD_RNG_PITCHd_Wd,354.8,19673,-14.8,-10.526,-17.88,4442
$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,-1.81,-309.3,230,1986,1843,4092,0.0,0.0,0,18,6.88,0.00,0.00,0.000,2049,0.098,0.000,814,1987,1843,1843,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.28,50.66
$GC,21,-1.81,-309.3,814,1987,1843,4094,0.7,0.0,1,45,10.05,0.00,-9.02,0.000,18694,0.050,0.000,1752,1987,2850,2850,4094,0,0,0,0,0,0,25.99,24.95,26.06,10.29,50.23
$GC,78,-1.81,-309.3,1752,1981,2851,4094,3.8,-12.9,10,84,0.00,0.95,0.00,0.000,260,0.000,0.041,1752,2346,2851,2851,4094,0,0,0,0,0,0,26.22,25.96,26.24,10.50,50.27
$GC,92,-1.81,-309.3,1752,2346,2851,4094,6.3,-17.1,12,99,0.00,0.98,0.00,0.000,1030,0.000,0.031,1752,1962,2852,2852,4094,0,0,0,0,0,0,26.03,25.99,26.05,10.51,50.03
$GC,131,-1.81,-309.3,1752,1962,2853,4094,12.9,-17.1,18,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1962,2853,2853,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.51,50.15
$GC,169,-1.81,-309.3,1752,1962,2854,4094,19.1,-17.6,24,176,0.00,1.05,0.00,0.000,260,0.000,0.045,1753,2350,2854,2854,4094,0,0,0,0,0,0,26.32,26.03,26.33,10.51,49.56
$GC,316,-1.81,-309.3,1752,2350,2858,4094,39.3,-12.0,48,323,0.00,1.00,0.00,0.000,1030,0.000,0.029,1753,1945,2857,2857,4095,0,0,0,0,0,0,26.20,26.16,26.23,10.39,46.96
$GC,355,-1.81,-309.3,1752,1944,2858,4095,44.1,-12.5,54,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,2859,2859,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,45.90
$GC,393,-1.81,-309.3,1752,1945,2860,4094,49.1,-13.5,60,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,2860,2860,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,45.55
$GC,432,-1.81,-309.3,1752,1944,2860,4095,54.0,-12.7,66,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,2861,2861,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.37,45.19
$GC,470,-1.81,-309.3,1752,1945,2862,4094,59.2,-13.4,72,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,2861,2861,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.37,45.39
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,488,-0.45,0.0,1752,2122,2861,4095,61.0,-13.6,74,518,4.68,0.00,18.88,1.251,10244,0.060,0.000,2185,2122,2483,2483,4094,0,0,0,0,0,0,26.22,25.31,24.56,10.36,45.27
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,522,1.81,309.3,2184,2122,2483,4094,63.6,0.0,79,553,7.50,1.15,18.15,1.231,10500,0.031,0.049,2908,2557,2124,2124,4095,0,0,0,0,0,0,25.78,25.73,24.21,10.27,45.31
$GC,604,1.81,309.3,2907,2556,2121,4095,55.8,13.8,92,610,0.00,1.05,0.00,0.000,1030,0.000,0.024,2908,2132,2121,2121,4094,0,0,0,0,0,0,25.67,25.64,25.68,10.19,45.27
$GC,643,1.81,309.3,2907,2132,2120,4094,50.3,14.4,98,649,0.00,1.05,0.00,0.000,516,0.000,0.045,2908,1727,2120,2120,4094,0,0,0,0,0,0,25.96,25.67,25.97,10.18,44.40
$GC,790,1.81,309.3,2907,1727,2116,4094,30.0,13.7,122,796,0.00,0.88,0.00,0.000,1030,0.000,0.027,2908,2097,2115,2115,4095,0,0,0,0,0,0,26.00,25.98,26.02,10.16,45.94
$GC,829,1.81,309.3,2907,2097,2114,4095,24.8,13.4,128,835,0.00,1.23,0.00,0.000,260,0.000,0.048,2908,2556,2115,2115,4094,0,0,0,0,0,0,26.25,25.95,26.26,10.16,46.14
$GC,874,1.81,309.3,2907,2556,2113,4094,19.4,10.5,135,880,0.00,1.12,0.00,0.000,1030,0.000,0.026,2908,2103,2114,2114,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.19,46.73
$GC,913,1.96,409.3,2908,2103,2113,4094,16.2,8.2,141,927,0.38,1.20,6.43,0.619,10500,0.037,0.045,2950,2557,2006,2006,4094,0,0,0,0,0,0,26.10,25.62,25.08,10.22,48.34
$GC,977,1.96,409.3,2949,2557,2005,4094,9.3,10.6,151,984,0.00,1.05,0.00,0.000,1030,0.000,0.026,2950,2129,2005,2005,4094,0,0,0,0,0,0,26.10,26.08,26.11,10.23,50.90
$GC,1017,1.96,409.3,2950,2128,2003,4094,4.7,12.4,157,1023,0.00,1.05,0.00,0.000,516,0.000,0.050,2950,1722,2003,2003,4094,0,0,0,0,0,0,26.34,26.03,26.34,10.24,51.02
$STATE,1035,end climb,FINISH_DEPTH_REACHED
$STATE,1035,begin subsurface finish
$FINISH1,1.8,1.023972,113
$GC,1044,0.17,113.5,2950,2132,2002,4094,1.8,14.1,160,1057,5.72,0.00,-3.08,0.000,20998,0.032,0.000,2393,2134,2357,2357,4095,0,0,0,0,0,0,26.13,25.07,26.17,10.25,51.49
$FINISH2,0.2
$STATE,1058,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1059,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,081558
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.04
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,24.21,24.939
$10V_AH,10.34,28.173
$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,35.200,15.225,43.450,0.000,0.000,50.582,38.453,335.414,0.000,0.000,23.583,436.998,299.650,141.259,660.840,184.251,33.452,322.759,0.000,245.829,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,49.725,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,10810,162
$CAP_FILE_SIZE,35982,0
$CFSIZE,1024409600,974618624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120817,082419,6114.471,-17350.438,5,0.9,22,7.0,0.9,28.3,9,5.0