version: 66.13
glider: 401
mission: 22
dive: 919
start: 8 12 117 10 55 14
data:
$ID,401
$MISSION,22
$DIVE,919
$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,64
$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
$GPS1,120817,104616,6115.7632,-17348.6035,5,0.8,17,7.0,0.0,73.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-43.3
$GPS2,120817,105406,6115.7427,-17348.4551,5,1.0,24,7.0,0.3,103.1,9,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.066406,0.397368
$KALMAN_X,67779.859375,-486.084259,26.134102,-259489.484375,176.274979
$KALMAN_Y,-46896.066406,2242.277344,929.609009,266746.906250,-45.235229
$MHEAD_RNG_PITCHd_Wd,343.5,16948,-11.2,-10.526,-14.64,7308
$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,-1.75,-487.5,229,1924,1976,4092,0.0,0.0,0,18,6.97,0.00,0.00,0.000,2049,0.108,0.000,810,1924,1976,1976,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.31,50.94
$GC,21,-1.75,-487.5,809,1924,1975,4094,0.9,0.0,1,47,10.48,1.00,-9.88,0.000,18948,0.058,1.282,1772,1558,3056,3056,4094,0,0,0,0,0,0,25.98,24.71,26.06,10.31,50.63
$GC,55,-1.75,-487.5,1771,1557,3056,4094,0.4,0.8,6,61,0.00,0.93,0.00,0.000,1030,0.000,0.025,1772,1961,3056,3056,4095,0,0,0,0,0,0,26.04,26.02,26.06,10.55,51.45
$GC,94,-1.75,-487.5,1772,1966,3057,4095,5.0,-13.4,12,100,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1966,3057,3057,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.55,50.70
$GC,132,-1.75,-487.5,1771,1966,3058,4094,11.8,-17.5,18,138,0.00,1.05,0.00,0.000,260,0.000,0.041,1772,2366,3058,3058,4095,0,0,0,0,0,0,26.32,26.03,26.32,10.55,50.00
$GC,159,-1.75,-487.5,1771,2366,3060,4095,16.3,-16.7,22,166,0.00,0.95,0.00,0.000,1030,0.000,0.027,1772,1983,3059,3059,4094,0,0,0,0,0,0,26.10,26.11,26.15,10.55,49.96
$GC,198,-1.75,-487.5,1771,1983,3061,4094,22.8,-17.4,28,205,0.00,1.17,0.00,0.000,516,0.000,0.049,1772,1520,3061,3061,4095,0,0,0,0,0,0,26.37,26.07,26.38,10.55,49.96
$GC,297,-1.75,-487.5,1771,1520,3063,4095,36.3,-13.3,44,303,0.00,0.90,0.00,0.000,1030,0.000,0.024,1772,1920,3063,3063,4095,0,0,0,0,0,0,26.25,26.22,26.26,10.45,48.11
$GC,336,-1.75,-487.5,1771,1920,3064,4095,41.4,-12.9,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1920,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.43,47.71
$GC,374,-1.75,-487.5,1772,1919,3065,4094,46.5,-13.1,56,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1920,3065,3065,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.42,47.32
$GC,412,-1.75,-487.5,1772,1920,3066,4094,51.3,-13.0,62,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1920,3066,3066,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.42,45.90
$GC,450,-1.75,-487.5,1771,1920,3066,4095,56.2,-13.4,68,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1920,3067,3067,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.40,45.70
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,487,-0.45,0.0,1772,2135,3068,4094,60.4,-12.7,73,523,4.38,0.00,28.12,1.291,10244,0.054,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.25,25.37,24.37,10.39,45.35
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,527,1.75,487.5,2185,2135,2484,4094,63.0,0.0,79,570,7.28,1.12,27.77,1.271,10500,0.032,0.050,2884,2556,1915,1915,4094,0,0,0,0,0,0,25.56,25.50,23.95,10.27,44.88
$GC,596,1.75,487.5,2884,2556,1915,4094,57.3,12.8,90,603,0.00,1.08,0.00,0.000,1030,0.000,0.024,2885,2127,1914,1914,4094,0,0,0,0,0,0,25.39,25.36,25.40,10.14,44.64
$GC,635,1.75,487.5,2884,2127,1913,4094,52.3,13.1,96,642,0.00,1.05,0.00,0.000,516,0.000,0.043,2884,1723,1913,1913,4094,0,0,0,0,0,0,25.75,25.48,25.76,10.14,44.05
$GC,752,1.75,487.5,2884,1722,1910,4094,37.0,13.2,115,759,0.00,0.95,0.00,0.000,1030,0.000,0.028,2885,2112,1910,1910,4094,0,0,0,0,0,0,25.83,25.79,25.85,10.13,45.19
$GC,791,1.75,487.5,2884,2112,1908,4094,31.9,13.2,121,798,0.00,1.20,0.00,0.000,260,0.000,0.050,2885,2558,1908,1908,4095,0,0,0,0,0,0,26.10,25.80,26.11,10.12,45.31
$GC,825,1.75,487.5,2884,2557,1907,4095,27.8,12.9,126,831,0.00,1.10,0.00,0.000,1030,0.000,0.026,2884,2112,1908,1908,4094,0,0,0,0,0,0,25.95,25.92,25.96,10.12,46.29
$GC,864,1.75,487.5,2884,2111,1907,4094,23.4,10.8,132,870,0.00,1.00,0.00,0.000,516,0.000,0.047,2885,1721,1907,1907,4094,0,0,0,0,0,0,26.20,25.91,26.21,10.13,46.29
$GC,987,1.75,487.5,2884,1721,1903,4094,10.5,11.1,152,993,0.00,0.85,0.00,0.000,1030,0.000,0.025,2885,2090,1903,1903,4094,0,0,0,0,0,0,26.12,26.10,26.14,10.21,50.47
$GC,1026,2.23,808.8,2884,2090,1903,4094,8.0,6.0,158,1051,1.50,0.00,17.10,0.688,11014,0.028,0.000,3036,2091,1540,1540,4094,0,0,0,0,0,0,26.14,25.71,25.06,10.22,51.14
$STATE,1074,end climb,FINISH_DEPTH_REACHED
$STATE,1074,begin subsurface finish
$FINISH1,1.3,1.023993,112
$GC,1083,0.17,112.0,3036,2129,1539,4094,1.3,16.3,166,1102,6.70,0.00,-6.05,0.000,20742,0.042,0.000,2401,2127,2358,2358,4094,0,0,0,0,0,0,25.89,25.44,25.93,10.16,52.20
$FINISH2,0.7
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1103,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,093716
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.08
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.95,25.111
$10V_AH,10.34,28.318
$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,37.300,14.925,73.000,0.000,0.000,25.701,19.096,249.704,0.000,0.000,26.132,440.419,253.905,169.613,547.970,178.022,33.455,363.105,0.000,255.860,0.000,0.542,0.000
$DEVICE_MAMPS,107.865,1282.140,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,14371,169
$CAP_FILE_SIZE,35417,0
$CFSIZE,1024409600,974323712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120817,105406,6115.743,-17348.455,5,1.0,24,7.0,0.3,103.1,9,4.7