version: 66.13
glider: 401
mission: 22
dive: 936
start: 8 12 117 17 45 16
data:
$ID,401
$MISSION,22
$DIVE,936
$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,49
$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
$GPS1,120817,170112,6116.5093,-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,0.24
$_SM_ANGLEo,-6.4
$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,0.228235,0.357155
$KALMAN_X,66357.257812,-378.884338,-58.558720,-258502.984375,-175.391052
$KALMAN_Y,-51297.667969,1825.578613,429.151611,273500.625000,-122.157806
$MHEAD_RNG_PITCHd_Wd,25.6,15670,-10.4,-10.526,-13.95,8262
$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,-1.67,-487.5,2398,1979,2364,4092,0.0,0.0,0,21,6.03,0.00,-4.05,0.000,20482,0.022,0.000,1802,1983,2825,2825,4095,0,0,0,0,0,0,26.10,28.83,26.14,10.34,52.71
$GC,25,-1.67,-487.5,1802,1983,2826,4095,0.3,0.0,1,35,0.00,1.20,-1.77,0.000,16900,0.000,1.270,1802,1542,3051,3051,4094,0,0,0,0,0,0,26.31,24.77,26.32,10.44,52.91
$GC,84,-1.67,-487.5,1802,1542,3052,4094,8.3,-15.5,9,94,0.00,0.90,0.00,0.000,1030,0.000,0.029,1802,1926,3053,3053,4094,0,0,0,0,0,0,26.03,25.99,26.05,10.49,52.83
$GC,132,-1.67,-487.5,1802,1928,3054,4094,15.5,-15.3,15,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1927,3054,3054,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.50,52.40
$GC,179,-1.67,-487.5,1802,1928,3055,4095,22.8,-15.1,21,187,0.00,1.15,0.00,0.000,260,0.000,0.041,1802,2371,3055,3055,4095,0,0,0,0,0,0,26.32,26.03,26.34,10.49,52.08
$GC,226,-1.67,-487.5,1802,2371,3056,4095,28.2,-12.1,27,235,0.00,1.02,0.00,0.000,1030,0.000,0.029,1802,1962,3056,3056,4095,0,0,0,0,0,0,26.18,26.15,26.14,10.45,51.57
$GC,274,-1.67,-487.5,1802,1962,3057,4095,33.8,-11.3,33,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1962,3057,3057,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.42,50.31
$GC,321,-1.67,-487.5,1802,1962,3058,4095,38.9,-11.1,39,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1962,3058,3058,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,49.25
$GC,368,-1.67,-487.5,1802,1962,3059,4095,44.9,-13.2,45,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1962,3059,3059,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.39,48.50
$GC,414,-1.67,-487.5,1801,1962,3061,4094,50.8,-12.3,51,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1962,3061,3061,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.38,47.48
$GC,461,-1.67,-487.5,1802,1961,3061,4095,56.3,-11.7,57,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,1962,3062,3062,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.37,46.92
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,498,-0.45,0.0,1802,2143,3062,4095,60.3,-11.9,61,533,4.10,0.00,28.00,1.292,10244,0.054,0.000,2187,2143,2484,2484,4095,0,0,0,0,0,0,26.23,25.37,24.34,10.37,46.73
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,537,1.67,487.5,2187,2143,2484,4095,63.1,0.0,65,582,7.10,0.00,27.88,1.264,11270,0.034,0.000,2863,2143,1916,1916,4094,0,0,0,0,0,0,25.61,25.76,23.94,10.23,45.94
$GC,621,1.67,487.5,2862,2142,1915,4094,57.3,11.1,75,630,0.00,1.15,0.00,0.000,516,0.000,0.043,2862,1712,1915,1915,4095,0,0,0,0,0,0,25.63,25.37,25.64,10.11,44.92
$GC,725,1.67,487.5,2862,1712,1913,4095,44.4,11.8,90,735,0.00,1.00,0.00,0.000,1030,0.000,0.028,2863,2120,1913,1913,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.09,45.35
$GC,772,1.67,487.5,2862,2120,1911,4094,39.5,10.6,96,781,0.00,1.20,0.00,0.000,260,0.000,0.051,2863,2563,1911,1911,4094,0,0,0,0,0,0,26.04,25.75,26.06,10.09,46.06
$GC,811,1.67,487.5,2862,2562,1911,4094,35.1,11.4,101,821,0.00,1.12,0.00,0.000,1030,0.000,0.026,2863,2111,1911,1911,4094,0,0,0,0,0,0,25.90,25.87,25.92,10.08,46.14
$GC,858,1.67,487.5,2862,2111,1909,4094,29.4,12.5,107,867,0.00,1.02,0.00,0.000,516,0.000,0.047,2862,1713,1909,1909,4094,0,0,0,0,0,0,26.17,25.88,26.18,10.09,46.53
$GC,911,1.67,487.5,2862,1713,1908,4094,23.2,11.6,114,920,0.00,0.98,0.00,0.000,1030,0.000,0.028,2863,2115,1908,1908,4095,0,0,0,0,0,0,26.01,25.97,26.06,10.09,46.69
$GC,957,1.81,582.1,2862,2115,1907,4095,18.5,9.4,120,969,0.32,1.23,6.28,0.622,10500,0.040,0.050,2900,2571,1805,1805,4094,0,0,0,0,0,0,26.04,25.83,25.02,10.13,47.63
$GC,1093,1.81,582.1,2899,2570,1801,4094,4.0,13.3,139,1102,0.00,0.95,0.00,0.000,1030,0.000,0.028,2900,2175,1801,1801,4094,0,0,0,0,0,0,26.10,26.10,26.14,10.17,51.53
$STATE,1110,end climb,SURFACE_DEPTH_REACHED
$STATE,1110,begin surface coast
$FINISH,0.1,1.023964
$STATE,1125,end surface coast,CONTROL_FINISHED_OK
$STATE,1125,begin surface
$SM_CCo,1224,0.00,0.000,0,0,1800,588.14
$SM_GC,0.80,27.62,0.55,0.00,0.021,0.050,0.000,230,1968,1800,-6.59,1.82,588.14,0,0,0,0,0,0,26.03,26.08,26.12
$IRIDIUM_FIX,6149.06,-17422.35,120817,154246
$TT8_MAMPS,0.025466,0.259154
$HUMID,52.59
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.94,25.567
$10V_AH,10.17,28.740
$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,45.175,14.450,62.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,414.723,59.614,142.620,598.499,72.810,33.418,377.005,0.000,347.959,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1269.900,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.948,388.467,307.555,455.709,596.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,14379,143
$CAP_FILE_SIZE,29723,0
$CFSIZE,1024409600,973504512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,180639,6117.143,-17349.131,9,0.7,22,7.0,0.8,188.7,11,5.0