version: 66.13
glider: 401
mission: 22
dive: 931
start: 8 12 117 15 50 12
data:
$ID,401
$MISSION,22
$DIVE,931
$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,12
$R_STBD_OVSHOOT,65
$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
$GPS1,120817,154019,6116.2339,-17348.1699,5,0.7,19,7.0,0.0,89.4,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-45.8
$GPS2,120817,154903,6116.1182,-17348.3066,8,0.8,31,7.0,1.0,173.8,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.164433,0.358512
$KALMAN_X,67546.750000,-232.709351,142.680878,-259467.609375,-125.643539
$KALMAN_Y,-50393.078125,1945.504272,527.640991,271645.687500,-159.081726
$MHEAD_RNG_PITCHd_Wd,17.6,16241,-11.5,-10.526,-14.94,6944
$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,-1.78,-487.1,230,1981,2131,4092,0.0,0.0,0,18,7.10,0.00,0.00,0.000,2049,0.103,0.000,828,1974,2132,2132,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.33,50.90
$GC,21,-1.78,-487.1,827,1973,2131,4094,0.9,0.0,1,46,10.48,0.00,-8.50,0.000,18950,0.074,0.000,1762,1979,3057,3057,4094,0,0,0,0,0,0,25.94,24.93,26.02,10.34,50.59
$GC,78,-1.78,-487.5,1762,1973,3058,4094,2.5,-10.5,10,85,0.00,1.20,0.00,0.000,516,0.000,0.037,1763,1502,3057,3057,4095,0,0,0,0,0,0,26.20,25.92,26.22,10.54,50.27
$GC,141,-1.78,-487.5,1762,1502,3060,4095,14.4,-21.0,20,148,0.00,1.00,0.00,0.000,1030,0.000,0.031,1762,1922,3060,3060,4095,0,0,0,0,0,0,26.05,26.01,26.07,10.55,50.03
$GC,180,-1.78,-487.5,1762,1921,3061,4095,21.6,-18.6,26,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1921,3062,3062,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.55,50.07
$GC,219,-1.78,-487.5,1763,1922,3062,4095,26.1,-10.3,32,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1923,3062,3062,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.51,50.07
$GC,257,-1.78,-487.5,1762,1923,3063,4094,31.0,-13.5,38,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1924,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.48,48.66
$GC,295,-1.78,-487.5,1762,1925,3064,4095,35.8,-12.1,44,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1925,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.45,48.03
$GC,334,-1.78,-487.5,1762,1925,3065,4095,40.8,-13.1,50,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1925,3065,3065,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.44,47.24
$GC,372,-1.78,-487.5,1762,1924,3066,4094,46.1,-13.8,56,378,0.00,1.17,0.00,0.000,260,0.000,0.042,1763,2374,3066,3066,4094,0,0,0,0,0,0,26.46,26.16,26.46,10.42,46.65
$GC,405,-1.78,-487.5,1762,2374,3067,4094,50.5,-13.2,61,411,0.00,1.08,0.00,0.000,1030,0.000,0.028,1763,1938,3067,3067,4094,0,0,0,0,0,0,26.23,26.20,26.27,10.41,45.94
$GC,444,-1.78,-487.5,1762,1937,3069,4094,55.7,-13.1,67,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1938,3067,3067,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.39,46.10
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,481,-0.45,0.0,1763,2141,3067,4095,60.0,-13.6,72,516,4.50,0.00,28.15,1.292,10244,0.055,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.21,25.34,24.33,10.38,45.82
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,520,1.78,487.5,2185,2141,2484,4094,62.8,0.0,78,562,7.43,0.00,27.85,1.265,11270,0.033,0.000,2891,2141,1915,1915,4094,0,0,0,0,0,0,25.59,25.74,23.91,10.27,44.72
$GC,595,1.78,487.5,2890,2141,1914,4094,56.8,12.3,90,601,0.00,1.15,0.00,0.000,516,0.000,0.041,2891,1713,1914,1914,4094,0,0,0,0,0,0,25.58,25.32,25.59,10.13,43.62
$GC,645,1.78,487.5,2890,1713,1912,4094,50.4,12.8,98,652,0.00,1.02,0.00,0.000,1030,0.000,0.028,2891,2125,1912,1912,4095,0,0,0,0,0,0,25.59,25.56,25.60,10.13,44.36
$GC,685,1.78,487.5,2890,2125,1911,4095,45.3,12.9,104,691,0.00,1.20,0.00,0.000,260,0.000,0.053,2891,2565,1911,1911,4094,0,0,0,0,0,0,25.90,25.60,25.91,10.12,44.01
$GC,725,1.78,487.5,2890,2565,1909,4094,40.0,13.4,110,732,0.00,1.10,0.00,0.000,1030,0.000,0.025,2891,2122,1910,1910,4094,0,0,0,0,0,0,25.79,25.77,25.81,10.12,44.44
$GC,764,1.78,487.5,2890,2122,1908,4094,34.9,12.8,116,771,0.00,1.05,0.00,0.000,516,0.000,0.046,2891,1716,1908,1908,4093,0,0,0,0,0,0,26.06,25.77,26.07,10.11,45.51
$GC,863,1.78,487.5,2890,1715,1905,4093,22.1,12.4,132,870,0.00,0.95,0.00,0.000,1030,0.000,0.030,2891,2106,1905,1905,4094,0,0,0,0,0,0,25.98,25.95,25.99,10.13,46.61
$GC,902,1.78,487.5,2890,2106,1904,4094,17.3,12.2,138,909,0.00,1.23,0.00,0.000,260,0.000,0.047,2891,2567,1904,1904,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.18,48.18
$GC,983,1.93,587.2,2890,2566,1902,4094,9.9,9.1,151,997,0.40,1.10,6.30,0.555,11270,0.031,0.027,2940,2121,1798,1798,4094,0,0,0,0,0,0,26.10,26.07,25.15,10.21,50.59
$GC,1030,2.10,703.6,2940,2114,1797,4094,5.4,8.8,158,1044,0.47,1.02,7.53,0.550,10756,0.034,0.047,2993,1720,1662,1662,4094,0,0,0,0,0,0,26.07,25.84,25.15,10.20,51.22
$STATE,1056,end climb,FINISH_DEPTH_REACHED
$STATE,1056,begin subsurface finish
$FINISH1,1.6,1.024071,107
$GC,1065,0.16,106.6,2993,2144,1661,4094,1.6,13.5,162,1084,6.15,1.15,-6.05,0.000,20996,0.030,1.277,2399,1718,2364,2364,4095,0,0,0,0,0,0,25.95,24.68,25.98,10.18,51.49
$FINISH2,0.1
$STATE,1085,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,143000
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.55
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.91,25.435
$10V_AH,10.45,28.608
$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,36.525,17.075,69.825,0.000,0.000,25.992,24.650,291.605,0.000,0.000,32.931,437.306,243.274,169.563,596.136,182.258,33.449,361.694,0.000,250.270,0.000,0.542,0.000
$DEVICE_MAMPS,103.275,1276.785,1292.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,10779,165
$CAP_FILE_SIZE,36481,0
$CFSIZE,1024409600,973733888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120817,154903,6116.118,-17348.307,8,0.8,31,7.0,1.0,173.8,11,5.0