version: 66.13
glider: 401
mission: 22
dive: 928
start: 8 12 117 14 36 17
data:
$ID,401
$MISSION,22
$DIVE,928
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,120817,142738,6116.1528,-17347.7129,5,0.8,41,7.1,0.5,160.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-30.0
$GPS2,120817,143509,6116.0352,-17347.7598,8,0.8,19,7.0,0.5,54.0,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.093764,0.427316
$KALMAN_X,68165.570312,-188.777557,234.644882,-259708.375000,-51.347748
$KALMAN_Y,-49612.433594,2059.572998,652.224915,270478.625000,-226.627502
$MHEAD_RNG_PITCHd_Wd,5.4,16289,-9.9,-10.526,-13.53,8923
$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,6,begin dive
$GC,9,-1.63,-487.5,237,1962,1675,4092,0.0,0.0,0,20,8.70,0.00,0.00,0.000,2049,0.093,0.000,981,1964,1675,1675,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.25,51.22
$GC,23,-1.63,-487.5,980,1962,1675,4094,0.7,0.0,1,51,8.93,1.17,-12.52,0.000,18948,0.051,1.278,1811,1532,3056,3056,4095,0,0,0,0,0,0,26.01,24.69,26.06,10.25,51.29
$GC,62,-1.63,-487.5,1810,1531,3056,4095,0.1,1.4,5,70,0.00,1.00,0.00,0.000,1030,0.000,0.030,1811,1958,3056,3056,4094,0,0,0,0,0,0,25.97,25.94,25.99,10.54,51.69
$GC,107,-1.63,-487.5,1810,1954,3057,4094,4.2,-12.2,11,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1954,3058,3058,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.55,51.26
$GC,152,-1.63,-487.5,1810,1954,3058,4094,11.3,-15.3,17,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,1954,3059,3059,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.55,50.35
$GC,199,-1.63,-487.5,1810,1954,3060,4095,17.9,-14.5,23,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1954,3060,3060,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.55,50.35
$GC,245,-1.63,-487.5,1810,1954,3061,4095,24.1,-11.7,29,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1954,3061,3061,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.53,50.19
$GC,293,-1.63,-487.5,1810,1954,3062,4095,28.7,-10.4,35,302,0.00,1.10,0.00,0.000,516,0.000,0.048,1811,1525,3062,3062,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.49,48.85
$GC,319,-1.63,-487.5,1810,1525,3062,4095,31.9,-11.0,38,329,0.00,1.02,0.00,0.000,1030,0.000,0.025,1811,1965,3062,3062,4095,0,0,0,0,0,0,26.25,26.19,26.24,10.47,48.34
$GC,367,-1.63,-487.5,1810,1965,3063,4095,37.0,-11.1,44,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1965,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.44,48.11
$GC,412,-1.63,-487.5,1810,1965,3064,4095,42.1,-11.1,50,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3064,3064,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.43,46.29
$GC,457,-1.63,-487.5,1810,1966,3065,4094,47.4,-11.8,56,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3065,3065,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.41,45.86
$GC,503,-1.63,-487.5,1810,1966,3066,4094,52.6,-11.5,62,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3066,3066,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.39,45.43
$GC,548,-1.63,-487.5,1810,1966,3067,4095,57.7,-11.3,68,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,1966,3067,3067,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.38,44.40
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,580,-0.45,0.0,1811,2139,3068,4095,60.7,-11.5,71,616,4.00,0.00,28.23,1.297,10244,0.054,0.000,2185,2139,2483,2483,4094,0,0,0,0,0,0,26.26,25.38,24.37,10.38,44.48
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,617,begin climb
$GC,620,1.63,487.5,2184,2138,2484,4094,63.5,0.0,75,664,6.97,0.00,27.90,1.271,11270,0.034,0.000,2849,2138,1915,1915,4094,0,0,0,0,0,0,25.63,25.78,23.94,10.26,44.05
$GC,702,1.63,487.5,2849,2138,1915,4094,57.5,11.0,85,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2139,1915,1915,4094,0,0,0,0,0,0,25.65,25.66,25.65,10.13,43.26
$GC,749,1.63,487.5,2848,2138,1913,4094,52.0,11.9,91,759,0.00,1.12,0.00,0.000,516,0.000,0.043,2849,1717,1913,1913,4094,0,0,0,0,0,0,25.82,25.55,25.83,10.12,43.85
$GC,835,1.63,487.5,2849,1716,1911,4094,41.9,11.4,103,844,0.00,1.00,0.00,0.000,1030,0.000,0.027,2849,2125,1911,1911,4094,0,0,0,0,0,0,25.82,25.77,25.83,10.12,44.52
$GC,881,1.63,487.5,2849,2125,1910,4094,36.7,11.5,109,890,0.00,1.17,0.00,0.000,260,0.000,0.053,2849,2560,1910,1910,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.11,45.23
$GC,914,1.63,487.5,2849,2560,1909,4094,32.9,11.4,113,923,0.00,1.12,0.00,0.000,1030,0.000,0.025,2849,2107,1909,1909,4095,0,0,0,0,0,0,25.94,25.91,25.96,10.11,45.11
$GC,960,1.63,487.5,2849,2107,1908,4095,27.7,11.0,119,970,0.00,1.00,0.00,0.000,516,0.000,0.047,2849,1716,1907,1907,4094,0,0,0,0,0,0,26.20,25.91,26.21,10.11,45.62
$GC,1226,1.92,682.0,2849,1715,1902,4094,3.2,8.3,158,1245,0.80,0.90,10.82,0.590,11270,0.026,0.027,2936,2107,1687,1687,4094,0,0,0,0,0,0,26.21,26.19,25.26,10.23,51.77
$STATE,1253,end climb,FINISH_DEPTH_REACHED
$STATE,1253,begin subsurface finish
$FINISH1,0.3,1.024073,106
$GC,1261,0.16,106.4,2936,2103,1687,4094,0.3,8.5,161,1279,5.38,1.02,-5.93,0.000,20996,0.024,1.284,2406,1717,2365,2365,4095,0,0,0,0,0,0,26.09,24.77,26.13,10.19,51.69
$FINISH2,0.1
$STATE,1280,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1280,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,131351
$TT8_MAMPS,0.025466,0.24717
$HUMID,51.77
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.94,25.358
$10V_AH,10.17,28.550
$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,34.775,12.050,66.950,0.000,0.000,22.766,18.914,241.436,0.000,0.000,21.140,454.046,0.000,141.219,968.857,185.552,33.448,417.535,0.000,397.019,0.000,0.542,0.000
$DEVICE_MAMPS,93.330,1284.435,1296.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.001,442.905,350.520,519.355,676.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,14419,163
$CAP_FILE_SIZE,34923,0
$CFSIZE,1024409600,973881344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120817,143509,6116.035,-17347.760,8,0.8,19,7.0,0.5,54.0,10,4.9