version: 66.13
glider: 401
mission: 22
dive: 940
start: 8 12 117 19 29 37
data:
$ID,401
$MISSION,22
$DIVE,940
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,120817,191823,6117.8901,-17349.2734,8,0.9,40,7.0,0.5,323.3,10,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-35.2
$GPS2,120817,192829,6117.9204,-17349.4512,5,0.9,19,7.0,0.6,282.4,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.233676,0.329030
$KALMAN_X,65095.664062,-486.813019,-175.213654,-257532.937500,-80.717804
$KALMAN_Y,-50613.644531,2011.198364,640.315002,275008.562500,88.559204
$MHEAD_RNG_PITCHd_Wd,28.4,13334,-11.1,-10.526,-14.62,7338
$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,6,begin dive
$GC,9,-1.74,-487.5,229,1968,1840,4092,0.0,0.0,0,20,8.70,0.00,0.00,0.000,2049,0.107,0.000,954,1970,1840,1840,4093,0,0,0,0,0,0,26.24,28.83,28.83,10.28,51.45
$GC,23,-1.74,-487.5,954,1970,1840,4093,1.1,0.0,1,51,8.73,1.23,-11.10,0.000,18948,0.051,1.277,1766,1520,3055,3055,4094,0,0,0,0,0,0,25.96,24.66,26.00,10.29,50.31
$GC,126,-1.74,-487.5,1765,1519,3057,4094,7.8,-17.0,15,136,0.00,1.05,0.00,0.000,1030,0.000,0.024,1766,1968,3057,3057,4094,0,0,0,0,0,0,26.03,26.00,26.03,10.55,50.15
$GC,173,-1.74,-487.5,1765,1968,3059,4094,15.5,-15.6,21,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1968,3059,3059,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.56,50.15
$GC,217,-1.74,-487.5,1765,1967,3060,4095,22.5,-15.2,27,227,0.00,1.05,0.00,0.000,260,0.000,0.043,1766,2371,3060,3060,4094,0,0,0,0,0,0,26.32,26.03,26.32,10.55,49.09
$GC,303,-1.74,-487.5,1765,2371,3062,4094,32.7,-12.4,39,313,0.00,1.08,0.00,0.000,1030,0.000,0.028,1766,1936,3062,3062,4095,0,0,0,0,0,0,26.16,26.14,26.18,10.47,47.71
$GC,350,-1.74,-487.5,1765,1936,3063,4095,38.6,-12.8,45,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3063,3063,4095,0,0,0,0,0,0,26.41,26.44,26.43,10.45,46.61
$GC,394,-1.74,-487.5,1765,1936,3064,4095,44.4,-13.2,51,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1936,3064,3064,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.43,45.74
$GC,439,-1.74,-487.5,1765,1936,3065,4094,50.3,-12.8,57,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3065,3065,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.42,44.92
$GC,485,-1.74,-487.5,1766,1936,3066,4095,56.1,-13.0,63,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1936,3067,3067,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.40,44.29
$STATE,514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,514,begin apogee
$GC,522,-0.45,0.0,1765,2138,3067,4095,60.5,-13.3,67,558,4.45,0.00,28.27,1.295,10244,0.054,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.22,25.34,24.32,10.40,44.09
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,562,1.74,487.5,2185,2137,2484,4094,63.6,0.0,71,606,7.35,0.00,27.88,1.273,11270,0.032,0.000,2884,2138,1918,1918,4094,0,0,0,0,0,0,25.60,25.75,23.92,10.27,43.89
$GC,645,1.74,487.5,2883,2137,1916,4094,57.0,12.4,81,654,0.00,1.12,0.00,0.000,516,0.000,0.041,2884,1714,1916,1916,4094,0,0,0,0,0,0,25.63,25.36,25.64,10.14,43.22
$GC,736,1.74,487.5,2884,1714,1914,4094,44.3,13.8,94,746,0.00,1.00,0.00,0.000,1030,0.000,0.028,2884,2122,1913,1913,4094,0,0,0,0,0,0,25.73,25.69,25.73,10.12,43.66
$GC,784,1.74,487.5,2884,2121,1912,4094,38.3,13.0,100,794,0.00,1.20,0.00,0.000,260,0.000,0.050,2885,2564,1912,1912,4094,0,0,0,0,0,0,26.03,25.72,26.03,10.12,44.88
$GC,824,1.74,487.5,2884,2563,1911,4094,33.0,13.2,105,834,0.00,1.08,0.00,0.000,1030,0.000,0.024,2885,2127,1911,1911,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.11,44.60
$GC,871,1.74,487.5,2884,2127,1910,4094,27.6,10.7,111,884,0.00,1.02,0.00,0.000,516,0.000,0.044,2885,1719,1909,1909,4094,0,0,0,0,0,0,26.15,25.86,26.16,10.12,45.78
$GC,922,1.74,487.5,2884,1719,1908,4094,21.3,13.2,117,930,0.00,1.00,0.00,0.000,1030,0.000,0.026,2884,2134,1908,1908,4095,0,0,0,0,0,0,26.01,25.98,26.04,10.14,46.22
$GC,969,1.89,582.1,2884,2134,1907,4095,17.0,9.2,123,980,0.35,1.15,6.30,0.612,10500,0.044,0.048,2927,2564,1805,1805,4094,0,0,0,0,0,0,26.03,25.82,25.03,10.19,48.26
$GC,1092,2.03,677.2,2926,2564,1801,4094,3.5,9.2,140,1110,0.40,1.05,6.35,0.501,11270,0.028,0.026,2975,2122,1693,1693,4094,0,0,0,0,0,0,26.10,26.08,25.22,10.21,50.86
$STATE,1118,end climb,FINISH_DEPTH_REACHED
$STATE,1118,begin subsurface finish
$FINISH1,0.1,1.024614,69
$GC,1126,0.10,68.7,2975,2122,1693,4094,0.1,10.2,143,1145,6.00,0.00,-6.22,0.000,20998,0.024,0.000,2387,2126,2405,2405,4094,0,0,0,0,0,0,26.04,25.48,26.08,10.19,50.78
$FINISH2,0.2
$STATE,1146,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1146,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,192047
$TT8_MAMPS,0.025466,0.245672
$HUMID,51.14
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.92,25.692
$10V_AH,10.17,28.841
$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,35.975,13.525,68.800,0.000,0.000,48.277,36.762,296.181,0.000,0.000,20.674,408.670,45.014,132.232,991.823,192.401,33.453,385.864,0.000,355.267,0.000,0.543,0.000
$DEVICE_MAMPS,107.100,1276.785,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.698,394.011,311.763,462.047,601.944,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329268
$DATA_FILE_SIZE,14415,145
$CAP_FILE_SIZE,34751,0
$CFSIZE,1024409600,973291520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,870.86,0x236162,1,24
$GPS,120817,192829,6117.920,-17349.451,5,0.9,19,7.0,0.6,282.4,9,4.9