version: 66.13
glider: 401
mission: 22
dive: 932
start: 8 12 117 16 10 30
data:
$ID,401
$MISSION,22
$DIVE,932
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,120817,154903,6116.1182,-17348.3066,8,0.8,31,7.0,1.0,173.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-5.4
$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,0.179921,0.431497
$KALMAN_X,67441.640625,-260.321411,94.771164,-259293.375000,-110.379723
$KALMAN_Y,-50578.886719,1860.363525,444.230194,272007.437500,-110.114563
$MHEAD_RNG_PITCHd_Wd,15.6,16241,-8.9,-10.526,-12.69,10500
$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,-1.54,-487.5,2399,1989,2364,4091,0.0,0.0,0,20,5.57,0.00,-3.30,0.000,20482,0.021,0.000,1845,1989,2747,2747,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.35,52.12
$GC,24,-1.54,-487.5,1845,1989,2746,4094,0.3,0.0,1,34,0.00,1.25,-2.55,0.000,16900,0.000,1.277,1845,1532,3060,3060,4095,0,0,0,0,0,0,26.29,24.76,26.29,10.43,52.52
$GC,72,-1.54,-487.5,1844,1531,3061,4095,6.1,-15.6,7,81,0.00,0.93,0.00,0.000,1030,0.000,0.026,1845,1938,3061,3061,4094,0,0,0,0,0,0,26.02,26.01,26.05,10.50,52.32
$GC,120,-1.54,-487.5,1844,1938,3062,4094,12.4,-13.3,13,128,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1938,3062,3062,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.50,51.73
$GC,167,-1.54,-487.5,1844,1938,3063,4095,18.3,-12.6,19,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1938,3064,3064,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.51,51.77
$GC,214,-1.54,-487.5,1844,1939,3064,4095,23.5,-9.4,25,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1939,3064,3064,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.49,51.92
$GC,261,-1.54,-487.5,1844,1940,3065,4095,28.0,-9.9,31,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1940,3065,3065,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.46,50.47
$GC,308,-1.54,-487.5,1844,1940,3066,4095,32.7,-9.6,37,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1940,3066,3066,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.43,50.00
$GC,356,-1.54,-487.5,1845,1941,3067,4095,37.6,-10.3,43,365,0.00,1.08,0.00,0.000,260,0.000,0.042,1845,2358,3067,3067,4095,0,0,0,0,0,0,26.46,26.17,26.46,10.41,48.62
$GC,389,-1.54,-487.5,1844,2357,3067,4095,41.2,-10.5,47,398,0.00,1.02,0.00,0.000,1030,0.000,0.029,1845,1945,3068,3068,4094,0,0,0,0,0,0,26.23,26.20,26.27,10.40,48.77
$GC,435,-1.54,-487.5,1844,1945,3068,4094,46.1,-10.5,53,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1945,3069,3069,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.39,47.67
$GC,481,-1.54,-487.5,1844,1945,3069,4094,50.9,-10.4,59,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,1945,3070,3070,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.38,46.88
$GC,525,-1.54,-487.5,1844,1945,3070,4095,55.6,-10.6,65,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,1945,3070,3070,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.38,46.41
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,576,-0.45,0.0,1844,2132,3071,4095,60.4,-10.7,71,611,3.60,0.00,28.38,1.295,10244,0.053,0.000,2185,2133,2484,2484,4094,0,0,0,0,0,0,26.27,25.39,24.38,10.37,46.10
$STATE,612,end apogee,CONTROL_FINISHED_OK
$STATE,612,begin climb
$GC,615,1.54,487.5,2184,2132,2484,4094,62.8,0.0,75,658,6.70,0.00,27.92,1.270,11270,0.035,0.000,2818,2132,1917,1917,4094,0,0,0,0,0,0,25.62,25.78,23.94,10.24,45.94
$GC,697,1.55,499.6,2817,2132,1915,4094,57.6,10.4,85,707,0.00,1.10,2.45,0.264,8708,0.000,0.040,2818,1718,1904,1904,4094,0,0,0,0,0,0,25.64,24.96,24.21,10.11,44.88
$GC,750,1.59,521.9,2817,1717,1903,4094,51.8,10.3,92,760,0.00,0.95,3.17,0.487,9222,0.000,0.028,2818,2106,1875,1875,4094,0,0,0,0,0,0,25.65,25.60,24.39,10.09,44.72
$GC,798,1.59,521.9,2817,2106,1875,4094,46.9,10.7,98,808,0.00,1.23,0.00,0.000,260,0.000,0.051,2818,2561,1875,1875,4094,0,0,0,0,0,0,25.92,25.62,25.93,10.08,45.66
$GC,838,1.60,527.0,2817,2560,1874,4094,42.5,10.5,103,849,0.08,1.17,0.22,0.004,11270,0.057,0.026,2834,2091,1874,1874,4095,0,0,0,0,0,0,25.76,25.77,25.79,10.08,45.47
$GC,886,1.68,580.4,2834,2090,1872,4095,37.7,10.0,109,898,0.17,0.95,4.80,0.661,10756,0.054,0.045,2864,1718,1807,1807,4094,0,0,0,0,0,0,25.88,25.65,24.69,10.08,45.94
$GC,980,1.68,580.4,2864,1717,1805,4094,27.6,11.0,122,990,0.00,0.90,0.00,0.000,1030,0.000,0.028,2864,2093,1805,1805,4094,0,0,0,0,0,0,25.95,25.91,25.97,10.07,47.12
$GC,1028,1.72,608.1,2863,2093,1804,4094,22.8,10.3,128,1039,0.00,1.25,3.22,0.374,8452,0.000,0.048,2864,2571,1773,1773,4094,0,0,0,0,0,0,26.21,25.55,24.96,10.09,47.55
$GC,1143,1.79,656.6,2863,2570,1770,4094,11.3,10.1,144,1154,0.28,1.17,4.10,0.434,11270,0.033,0.028,2897,2098,1717,1717,4094,0,0,0,0,0,0,26.09,26.06,25.14,10.16,51.06
$GC,1192,2.24,953.5,2896,2097,1717,4094,7.3,7.6,150,1219,1.40,0.98,16.55,0.672,10756,0.029,0.045,3038,1718,1370,1370,4094,0,0,0,0,0,0,26.09,25.51,25.03,10.16,51.81
$STATE,1240,end climb,FINISH_DEPTH_REACHED
$STATE,1240,begin subsurface finish
$FINISH1,1.7,1.024069,107
$GC,1250,0.16,106.7,3038,2155,1368,4094,1.7,12.4,156,1277,6.62,1.23,-8.40,0.000,20996,0.021,1.272,2390,1721,2365,2365,4094,0,0,0,0,0,0,25.93,24.61,25.97,10.10,52.28
$FINISH2,0.1
$STATE,1278,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1278,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,143000
$TT8_MAMPS,0.026215,0.253162
$HUMID,52.24
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.94,25.462
$10V_AH,10.17,28.644
$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,24.425,17.300,90.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,455.828,0.371,146.784,659.241,74.525,33.431,418.284,0.000,384.089,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,1276.785,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.278,431.992,341.952,506.578,656.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330768
$DATA_FILE_SIZE,14322,159
$CAP_FILE_SIZE,34979,0
$CFSIZE,1024409600,973684736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,154903,6116.118,-17348.307,8,0.8,31,7.0,1.0,173.8,11,5.0