version: 66.13
glider: 401
mission: 22
dive: 937
start: 8 12 117 18 16 8
data:
$ID,401
$MISSION,22
$DIVE,937
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,120817,180639,6117.1431,-17349.1309,9,0.7,22,7.0,0.8,188.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-35.3
$GPS2,120817,181500,6117.1245,-17349.3262,7,0.8,37,7.0,1.2,268.7,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.246861,0.332607
$KALMAN_X,65824.585938,-418.757385,-103.515526,-258278.578125,-140.570343
$KALMAN_Y,-50847.968750,1923.598145,532.395020,273970.343750,23.710876
$MHEAD_RNG_PITCHd_Wd,29.6,14688,-10.7,-10.526,-14.26,7813
$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,-1.71,-487.5,230,1965,1799,4092,0.0,0.0,0,18,6.75,0.00,0.00,0.000,2049,0.086,0.000,819,1967,1800,1800,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.27,50.90
$GC,21,-1.71,-487.5,819,1966,1800,4094,0.7,0.0,1,52,10.18,1.23,-11.15,0.000,18948,0.043,1.274,1786,1512,3058,3058,4095,0,0,0,0,0,0,25.99,24.70,26.06,10.27,51.14
$GC,108,-1.71,-487.5,1786,1512,3060,4095,9.7,-19.6,15,115,0.00,1.05,0.00,0.000,1030,0.000,0.027,1786,1947,3060,3060,4095,0,0,0,0,0,0,26.00,25.96,26.01,10.55,50.35
$GC,147,-1.71,-487.5,1786,1947,3061,4095,16.1,-16.0,21,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1947,3061,3061,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.54,50.11
$GC,185,-1.71,-487.5,1785,1947,3062,4095,21.6,-13.9,27,192,0.00,1.12,0.00,0.000,260,0.000,0.042,1786,2378,3062,3062,4094,0,0,0,0,0,0,26.29,26.00,26.29,10.54,49.68
$GC,236,-1.71,-487.5,1786,2378,3063,4094,28.1,-13.4,35,243,0.00,1.08,0.00,0.000,1030,0.000,0.028,1786,1942,3064,3064,4095,0,0,0,0,0,0,26.11,26.06,26.13,10.49,49.17
$GC,277,-1.71,-487.5,1786,1942,3064,4095,32.8,-11.8,41,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1942,3064,3064,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.46,48.62
$GC,316,-1.71,-487.5,1786,1942,3065,4094,37.4,-11.8,47,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1942,3065,3065,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.44,47.48
$GC,354,-1.71,-487.5,1786,1942,3066,4095,42.1,-12.3,53,360,0.00,1.15,0.00,0.000,260,0.000,0.041,1787,2375,3066,3066,4094,0,0,0,0,0,0,26.41,26.13,26.43,10.42,46.96
$GC,405,-1.71,-487.5,1786,2374,3067,4094,48.4,-12.0,61,411,0.00,1.00,0.00,0.000,1030,0.000,0.027,1786,1974,3067,3067,4094,0,0,0,0,0,0,26.24,26.20,26.25,10.41,45.94
$GC,444,-1.71,-487.5,1786,1973,3068,4094,53.1,-12.0,67,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1973,3067,3067,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.39,46.02
$GC,482,-1.71,-487.5,1786,1973,3069,4095,57.9,-12.4,73,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1974,3069,3069,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.38,45.78
$STATE,499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,499,begin apogee
$GC,507,-0.45,0.0,1786,2149,3069,4095,60.4,-12.7,76,543,4.22,0.00,28.23,1.288,10244,0.054,0.000,2185,2149,2483,2483,4094,0,0,0,0,0,0,26.21,25.34,24.32,10.39,45.47
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,547,1.71,487.5,2185,2149,2484,4094,63.0,0.0,82,589,7.15,1.08,27.83,1.269,10500,0.032,0.050,2876,2553,1915,1915,4094,0,0,0,0,0,0,25.54,25.47,23.91,10.26,44.68
$GC,610,1.71,487.5,2875,2552,1915,4094,58.4,11.0,92,616,0.00,1.08,0.00,0.000,1030,0.000,0.024,2877,2127,1915,1915,4094,0,0,0,0,0,0,25.33,25.31,25.34,10.13,44.17
$GC,649,1.71,487.5,2876,2126,1914,4094,53.4,12.8,98,655,0.00,1.05,0.00,0.000,516,0.000,0.044,2876,1724,1914,1914,4094,0,0,0,0,0,0,25.71,25.44,25.72,10.13,43.73
$GC,748,1.71,487.5,2876,1723,1911,4094,40.7,12.2,114,754,0.00,0.95,0.00,0.000,1030,0.000,0.028,2876,2114,1911,1911,4094,0,0,0,0,0,0,25.81,25.75,25.79,10.11,45.07
$GC,787,1.71,487.5,2876,2113,1910,4094,36.0,11.8,120,793,0.00,1.20,0.00,0.000,260,0.000,0.051,2876,2558,1909,1909,4094,0,0,0,0,0,0,26.05,25.75,26.06,10.11,45.62
$GC,820,1.71,487.5,2876,2557,1908,4094,32.0,12.4,125,827,0.00,1.10,0.00,0.000,1030,0.000,0.025,2876,2112,1908,1908,4094,0,0,0,0,0,0,25.90,25.88,25.92,10.11,45.51
$GC,859,1.71,487.5,2876,2112,1907,4094,27.2,12.1,131,866,0.00,1.00,0.00,0.000,516,0.000,0.045,2877,1721,1907,1907,4094,0,0,0,0,0,0,26.15,25.87,26.16,10.12,46.02
$GC,898,1.71,487.5,2877,1721,1906,4094,22.2,12.5,137,905,0.00,0.98,0.00,0.000,1030,0.000,0.028,2877,2126,1906,1906,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.13,47.24
$GC,937,1.72,497.4,2876,2126,1905,4094,18.0,10.4,143,944,0.00,1.15,0.00,0.000,260,0.000,0.052,2876,2557,1905,1905,4094,0,0,0,0,0,0,26.24,25.93,26.25,10.17,47.75
$GC,1055,1.72,497.4,2876,2557,1902,4094,5.7,12.1,162,1061,0.00,1.02,0.00,0.000,1030,0.000,0.025,2876,2129,1902,1902,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.22,52.00
$STATE,1091,end climb,FINISH_DEPTH_REACHED
$STATE,1091,begin subsurface finish
$FINISH1,1.6,1.023993,112
$GC,1099,0.17,112.0,2876,2121,1901,4094,1.6,9.7,168,1113,5.25,1.10,-3.88,0.000,20996,0.067,1.287,2401,1727,2360,2360,4094,0,0,0,0,0,0,26.06,24.82,26.15,10.22,51.85
$FINISH2,0.2
$STATE,1114,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1114,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,165546
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.87
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.91,25.607
$10V_AH,10.33,28.757
$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,33.550,18.750,56.050,0.000,0.000,25.144,19.996,265.462,0.000,0.000,38.351,450.681,259.894,160.237,578.246,183.438,33.449,353.836,0.000,257.151,0.000,0.542,0.000
$DEVICE_MAMPS,86.445,1286.730,1288.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14232,170
$CAP_FILE_SIZE,35997,0
$CFSIZE,1024409600,973438976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120817,181500,6117.125,-17349.326,7,0.8,37,7.0,1.2,268.7,10,4.8