version: 66.13
glider: 401
mission: 22
dive: 939
start: 8 12 117 18 57 37
data:
$ID,401
$MISSION,22
$DIVE,939
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,120817,181500,6117.1245,-17349.3262,7,0.8,37,7.0,1.2,268.7,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.0
$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,0.227056,0.283745
$KALMAN_X,65432.320312,-474.729828,-161.874771,-257776.765625,-176.398697
$KALMAN_Y,-51361.777344,1871.229370,494.899109,274594.343750,-88.224915
$MHEAD_RNG_PITCHd_Wd,31.7,14688,-12.9,-10.526,-16.15,5714
$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,-399.4,2395,1954,2357,4092,0.0,0.0,0,18,6.30,0.00,-0.98,0.000,20482,0.025,0.000,1774,1954,2545,2545,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.34,52.67
$GC,22,-1.77,-399.4,1773,1954,2546,4094,3.2,0.0,1,29,0.00,1.17,-1.90,0.000,16900,0.000,1.276,1774,1521,2960,2960,4094,0,0,0,0,0,0,26.34,24.81,26.32,10.38,52.71
$GC,74,-1.77,-399.4,1773,1521,2961,4094,10.7,-14.0,9,80,0.00,1.02,0.00,0.000,1030,0.000,0.028,1774,1945,2961,2961,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.47,52.48
$GC,113,-1.77,-399.4,1773,1948,2963,4094,16.9,-16.2,15,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1949,2963,2963,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.47,52.44
$GC,151,-1.77,-399.4,1773,1948,2964,4095,22.7,-14.7,21,157,0.00,1.12,0.00,0.000,260,0.000,0.044,1774,2380,2964,2964,4095,0,0,0,0,0,0,26.38,26.09,26.39,10.47,52.48
$GC,226,-1.77,-399.4,1773,2380,2965,4095,31.1,-11.6,33,232,0.00,1.10,0.00,0.000,1030,0.000,0.030,1774,1941,2965,2965,4094,0,0,0,0,0,0,26.21,26.17,26.23,10.41,51.22
$GC,265,-1.77,-399.4,1773,1940,2966,4094,36.2,-13.6,39,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1940,2966,2966,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,49.92
$GC,303,-1.77,-399.4,1773,1941,2967,4095,41.2,-13.0,45,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1941,2967,2967,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,49.05
$GC,341,-1.77,-399.4,1773,1941,2968,4095,46.2,-12.6,51,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1941,2968,2968,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.37,48.26
$GC,379,-1.77,-399.4,1773,1941,2969,4094,51.0,-12.5,57,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1940,2970,2970,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.35,47.83
$GC,418,-1.77,-399.4,1773,1941,2970,4095,55.8,-12.2,63,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1941,2970,2970,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.35,47.48
$STATE,453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,453,begin apogee
$GC,461,-0.45,0.0,1773,2150,2971,4094,60.7,-13.0,69,496,4.40,0.00,23.77,1.294,10244,0.058,0.000,2185,2150,2483,2483,4094,0,0,0,0,0,0,26.24,25.19,24.44,10.34,47.04
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,497,begin climb
$GC,500,1.77,399.4,2185,2150,2483,4094,63.6,0.0,75,536,7.38,0.00,23.08,1.268,11270,0.033,0.000,2890,2150,2018,2018,4094,0,0,0,0,0,0,25.73,25.89,24.03,10.23,46.37
$GC,569,1.77,399.4,2890,2149,2017,4094,58.2,11.5,86,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2150,2017,2017,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.13,46.29
$GC,607,1.77,399.4,2889,2150,2016,4094,53.0,13.9,92,613,0.00,1.17,0.00,0.000,516,0.000,0.044,2890,1711,2016,2016,4094,0,0,0,0,0,0,25.82,25.54,25.83,10.12,45.51
$GC,688,1.77,399.4,2890,1710,2014,4094,41.8,13.3,105,694,0.00,1.00,0.00,0.000,1030,0.000,0.028,2890,2117,2013,2013,4094,0,0,0,0,0,0,25.81,25.78,25.82,10.11,45.74
$GC,727,1.77,399.4,2890,2117,2012,4094,36.8,13.2,111,734,0.00,1.20,0.00,0.000,260,0.000,0.052,2890,2562,2012,2012,4094,0,0,0,0,0,0,26.08,25.79,26.09,10.11,46.49
$GC,760,1.77,399.4,2890,2561,2011,4094,32.7,12.4,116,767,0.00,1.10,0.00,0.000,1030,0.000,0.026,2890,2119,2011,2011,4094,0,0,0,0,0,0,25.93,25.90,25.94,10.10,46.85
$GC,799,1.77,399.4,2889,2119,2010,4094,28.2,12.4,122,806,0.00,1.02,0.00,0.000,516,0.000,0.047,2890,1721,2010,2010,4094,0,0,0,0,0,0,26.18,25.89,26.19,10.11,46.88
$GC,838,1.77,399.4,2889,1721,2010,4094,23.5,12.0,128,845,0.00,1.00,0.00,0.000,1030,0.000,0.028,2890,2132,2010,2010,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.12,47.79
$GC,878,1.91,491.0,2890,2131,2008,4094,19.8,8.9,134,891,0.38,1.12,6.15,0.632,10500,0.041,0.048,2934,2572,1910,1910,4094,0,0,0,0,0,0,26.05,25.56,24.98,10.17,48.85
$GC,1016,2.00,549.2,2933,2571,1907,4094,5.3,9.5,156,1030,0.20,1.05,4.62,0.438,11270,0.037,0.026,2961,2133,1842,1842,4094,0,0,0,0,0,0,26.10,26.09,25.21,10.20,51.89
$STATE,1047,end climb,SURFACE_DEPTH_REACHED
$STATE,1047,begin surface coast
$FINISH,0.1,1.002225
$STATE,1067,end surface coast,CONTROL_FINISHED_OK
$STATE,1069,begin surface
$SM_CCo,1169,0.00,0.000,0,0,1840,553.80
$SM_GC,0.83,28.27,0.43,0.00,0.021,0.060,0.000,230,1972,1840,-6.59,1.96,553.80,0,0,0,0,0,0,26.01,26.04,26.10
$IRIDIUM_FIX,6149.06,-17422.35,120817,165546
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.99
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,24.03,25.647
$10V_AH,10.41,28.800
$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,46.925,15.600,57.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.661,320.722,165.573,237.894,70.436,33.416,343.018,0.000,247.047,0.000,0.541,0.000
$DEVICE_MAMPS,58.140,1276.020,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,10836,164
$CAP_FILE_SIZE,31758,0
$CFSIZE,1024409600,973357056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,191823,6117.890,-17349.273,8,0.9,40,7.0,0.5,323.3,10,4.6