version: 66.13
glider: 401
mission: 22
dive: 935
start: 8 12 117 17 24 58
data:
$ID,401
$MISSION,22
$DIVE,935
$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,47
$R_STBD_OVSHOOT,38
$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
$GPS1,120817,170112,6116.5093,-17348.9043,6,0.9,22,7.0,1.4,230.7,9,4.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-5.0
$GPS2,120817,170112,6116.5093,-17348.9043,6,0.9,22,7.0,1.4,230.7,9,4.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.206853,0.309567
$KALMAN_X,66544.687500,-363.466492,-38.123260,-258725.406250,-141.733978
$KALMAN_Y,-50981.664062,1824.878784,423.860901,273192.625000,-36.671631
$MHEAD_RNG_PITCHd_Wd,26.8,15670,-12.5,-10.526,-15.79,6051
$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,8,-1.77,-423.4,2391,1960,2362,4092,0.0,0.0,0,18,6.25,0.00,-1.23,0.000,20482,0.024,0.000,1775,1956,2498,2498,4095,0,0,0,0,0,0,26.11,28.83,26.16,10.36,51.85
$GC,22,-1.77,-423.4,1774,1961,2498,4095,0.1,0.0,1,35,0.00,1.15,-4.45,0.000,16900,0.000,1.274,1775,1539,2983,2983,4095,0,0,0,0,0,0,26.32,24.79,26.33,10.38,51.41
$GC,121,-1.77,-423.4,1774,1539,2986,4095,12.7,-18.8,17,128,0.00,0.95,0.00,0.000,1030,0.000,0.028,1775,1938,2986,2986,4095,0,0,0,0,0,0,26.09,26.06,26.10,10.50,51.29
$GC,160,-1.77,-423.4,1774,1938,2987,4095,19.0,-15.8,23,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1938,2987,2987,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.50,51.29
$GC,199,-1.79,-437.4,1774,1939,2988,4095,23.6,-10.3,29,205,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1775,1939,3015,3015,4095,0,0,0,0,0,0,26.36,25.05,25.33,10.48,52.00
$GC,238,-1.79,-437.4,1774,1941,3015,4095,28.4,-12.7,35,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1941,3015,3015,4095,0,0,0,0,0,0,26.27,26.27,26.27,10.45,50.90
$GC,276,-1.79,-437.4,1774,1941,3015,4095,33.2,-12.6,41,283,0.00,1.12,0.00,0.000,260,0.000,0.044,1774,2372,3016,3016,4095,0,0,0,0,0,0,26.31,26.02,26.32,10.42,50.11
$GC,333,-1.79,-437.4,1774,2372,3017,4095,40.4,-12.8,50,340,0.00,1.00,0.00,0.000,1030,0.000,0.028,1775,1975,3017,3017,4095,0,0,0,0,0,0,26.13,26.11,26.15,10.40,48.38
$GC,372,-1.79,-437.4,1774,1975,3018,4095,45.5,-13.1,56,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1975,3019,3019,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.38,47.83
$GC,410,-1.79,-437.4,1774,1975,3019,4095,50.5,-12.9,62,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1975,3019,3019,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.38,47.91
$GC,448,-1.79,-437.4,1774,1975,3020,4095,55.4,-12.8,68,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1975,3021,3021,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.37,46.53
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,491,-0.45,0.0,1774,2148,3021,4094,60.3,-13.4,74,527,4.38,0.00,26.00,1.283,10244,0.056,0.000,2184,2148,2484,2484,4094,0,0,0,0,0,0,26.17,25.36,24.34,10.36,46.81
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.79,437.4,2184,2148,2484,4094,63.1,0.0,80,568,7.47,1.10,25.25,1.260,10500,0.031,0.051,2897,2559,1974,1974,4094,0,0,0,0,0,0,25.56,25.50,23.96,10.24,46.69
$GC,583,1.83,461.2,2896,2558,1973,4094,59.7,10.1,88,591,0.00,1.08,3.17,0.511,9222,0.000,0.024,2897,2132,1946,1946,4094,0,0,0,0,0,0,25.30,25.28,24.10,10.13,45.74
$GC,624,1.83,461.2,2896,2132,1945,4094,54.2,13.8,94,630,0.00,1.08,0.00,0.000,516,0.000,0.045,2897,1719,1945,1945,4095,0,0,0,0,0,0,25.67,25.41,25.69,10.12,45.11
$GC,717,1.83,461.2,2897,1718,1942,4095,40.9,14.1,109,723,0.00,1.00,0.00,0.000,1030,0.000,0.029,2897,2124,1943,1943,4094,0,0,0,0,0,0,25.75,25.71,25.76,10.11,46.02
$GC,756,1.83,461.2,2896,2124,1941,4094,35.8,13.3,115,762,0.00,1.20,0.00,0.000,260,0.000,0.052,2897,2566,1941,1941,4094,0,0,0,0,0,0,26.03,25.72,26.04,10.11,46.10
$GC,796,1.83,461.2,2896,2565,1940,4094,30.6,13.6,121,803,0.00,1.12,0.00,0.000,1030,0.000,0.026,2897,2114,1940,1940,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.10,46.57
$GC,836,1.83,461.2,2896,2113,1939,4094,25.7,11.5,127,842,0.00,1.00,0.00,0.000,516,0.000,0.046,2897,1725,1938,1938,4095,0,0,0,0,0,0,26.15,25.84,26.16,10.11,47.08
$GC,862,1.83,461.2,2896,1724,1938,4095,22.2,13.1,131,869,0.00,0.93,0.00,0.000,1030,0.000,0.030,2897,2106,1938,1938,4094,0,0,0,0,0,0,25.97,25.93,25.98,10.13,47.12
$GC,901,1.83,461.2,2896,2106,1937,4094,17.6,10.6,137,908,0.00,1.23,0.00,0.000,260,0.000,0.051,2897,2562,1937,1937,4094,0,0,0,0,0,0,26.22,25.92,26.23,10.18,49.01
$GC,942,2.01,585.8,2896,2561,1936,4094,14.3,8.4,143,956,0.62,1.08,7.72,0.633,11270,0.028,0.026,2971,2110,1800,1800,4094,0,0,0,0,0,0,26.05,26.05,25.04,10.19,50.39
$GC,989,2.02,586.8,2971,2106,1798,4094,9.6,10.5,150,996,0.00,0.95,0.00,0.000,516,0.000,0.044,2971,1737,1798,1798,4094,0,0,0,0,0,0,26.20,25.91,26.22,10.18,51.49
$STATE,1055,end climb,FINISH_DEPTH_REACHED
$STATE,1055,begin subsurface finish
$FINISH1,1.9,1.024037,109
$GC,1065,0.16,108.9,2971,2142,1796,4095,1.9,10.3,161,1084,6.32,1.10,-4.80,0.000,20996,0.067,1.267,2399,1734,2364,2364,4094,0,0,0,0,0,0,25.98,24.75,26.03,10.19,52.04
$FINISH2,0.1
$STATE,1085,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,154246
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.75
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.96,25.545
$10V_AH,10.42,28.707
$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,25.050,19.050,62.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.985,250.894,153.702,238.642,64.434,33.429,336.299,0.000,247.055,0.000,0.544,0.000
$DEVICE_MAMPS,66.555,1274.490,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,10848,164
$CAP_FILE_SIZE,31973,0
$CFSIZE,1024409600,973553664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,170112,6116.509,-17348.904,6,0.9,22,7.0,1.4,230.7,9,4.5