version: 66.13
glider: 401
mission: 22
dive: 941
start: 8 12 117 19 50 57
data:
$ID,401
$MISSION,22
$DIVE,941
$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,37
$R_STBD_OVSHOOT,33
$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
$GPS1,120817,192829,6117.9204,-17349.4512,5,0.9,19,7.0,0.6,282.4,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-7.1
$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,0.231990,0.332114
$KALMAN_X,64932.128906,-522.576172,-205.306915,-257302.281250,-79.737946
$KALMAN_Y,-50775.382812,1957.508057,593.840515,275299.406250,81.677490
$MHEAD_RNG_PITCHd_Wd,27.9,13334,-11.1,-10.526,-14.57,7406
$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,-487.5,2386,1952,2405,4092,0.0,0.0,0,18,6.45,0.00,-0.28,0.000,20482,0.053,0.000,1786,1953,2436,2436,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.37,51.73
$GC,22,-1.74,-487.5,1786,1950,2436,4094,0.0,0.0,1,35,0.00,1.10,-5.68,0.000,16900,0.000,1.262,1786,1524,3054,3054,4095,0,0,0,0,0,0,26.31,24.79,26.32,10.38,51.96
$GC,127,-1.74,-487.5,1786,1524,3056,4095,13.3,-15.9,18,134,0.00,1.00,0.00,0.000,1030,0.000,0.024,1786,1963,3057,3057,4095,0,0,0,0,0,0,26.10,26.10,26.13,10.51,51.14
$GC,166,-1.74,-487.5,1786,1962,3057,4095,19.0,-14.8,24,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1962,3058,3058,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.51,51.57
$GC,205,-1.74,-487.5,1786,1962,3058,4095,23.7,-10.5,30,211,0.00,1.02,0.00,0.000,260,0.000,0.042,1786,2356,3058,3058,4095,0,0,0,0,0,0,26.37,26.08,26.38,10.50,50.94
$GC,298,-1.74,-487.5,1785,2356,3060,4095,34.9,-12.8,45,304,0.00,0.98,0.00,0.000,1030,0.000,0.028,1786,1966,3061,3061,4094,0,0,0,0,0,0,26.21,26.19,26.25,10.42,50.15
$GC,337,-1.74,-487.5,1785,1966,3061,4094,39.9,-13.2,51,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1966,3061,3061,4095,0,0,0,0,0,0,26.45,26.47,26.47,10.41,49.09
$GC,375,-1.74,-487.5,1785,1966,3062,4095,44.6,-12.2,57,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1966,3062,3062,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.40,47.91
$GC,413,-1.74,-487.5,1785,1966,3063,4094,49.3,-11.9,63,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1966,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,47.51
$GC,451,-1.74,-487.5,1785,1966,3064,4095,54.1,-12.6,69,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1966,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.38,46.88
$GC,489,-1.74,-487.5,1785,1965,3065,4095,58.9,-13.0,75,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1966,3065,3065,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.38,47.16
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,508,-0.45,0.0,1786,2132,3065,4095,60.6,-12.3,77,547,4.22,0.00,27.95,1.291,10244,0.054,0.000,2184,2132,2483,2483,4095,0,0,0,0,0,0,26.24,25.10,24.37,10.38,46.25
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,551,1.74,487.5,2185,2131,2483,4095,63.3,0.0,83,594,7.22,1.12,27.80,1.266,10500,0.032,0.050,2883,2553,1915,1915,4095,0,0,0,0,0,0,25.57,25.55,23.96,10.25,46.06
$GC,608,1.74,487.5,2883,2552,1915,4095,59.1,11.1,92,615,0.00,1.08,0.00,0.000,1030,0.000,0.024,2883,2129,1915,1915,4094,0,0,0,0,0,0,25.30,25.28,25.32,10.12,44.88
$GC,647,1.74,487.5,2883,2128,1914,4094,54.2,12.6,98,654,0.00,1.08,0.00,0.000,516,0.000,0.044,2883,1717,1913,1913,4094,0,0,0,0,0,0,25.70,25.42,25.71,10.11,45.07
$GC,740,1.74,487.5,2883,1716,1911,4094,41.9,13.2,113,747,0.00,1.00,0.00,0.000,1030,0.000,0.028,2883,2123,1911,1911,4095,0,0,0,0,0,0,25.76,25.72,25.78,10.10,45.47
$GC,779,1.74,487.5,2883,2122,1910,4095,36.8,12.8,119,786,0.00,1.20,0.00,0.000,260,0.000,0.051,2883,2566,1910,1910,4094,0,0,0,0,0,0,26.04,25.74,26.06,10.10,45.58
$GC,820,1.74,487.5,2883,2565,1908,4094,31.5,13.9,125,827,0.00,1.08,0.00,0.000,1030,0.000,0.026,2883,2130,1908,1908,4094,0,0,0,0,0,0,25.91,25.88,25.92,10.09,46.96
$GC,859,1.74,487.5,2883,2129,1907,4094,26.8,11.0,131,866,0.00,1.05,0.00,0.000,516,0.000,0.045,2883,1721,1907,1907,4094,0,0,0,0,0,0,26.15,25.86,26.17,10.10,46.73
$GC,904,1.85,560.4,2883,1721,1908,4094,22.4,9.5,138,918,0.25,1.00,5.25,0.602,11270,0.044,0.026,2912,2144,1830,1830,4094,0,0,0,0,0,0,25.96,25.98,24.94,10.13,47.71
$GC,951,1.89,588.5,2912,2143,1829,4094,17.9,10.1,145,959,0.10,1.10,3.28,0.363,10500,0.076,0.050,2930,2554,1797,1797,4094,0,0,0,0,0,0,26.00,25.81,24.99,10.15,48.89
$GC,1078,2.39,919.7,2930,2553,1795,4094,8.4,5.9,165,1104,1.52,0.98,18.05,0.695,11270,0.024,0.026,3089,2141,1410,1410,4094,0,0,0,0,0,0,26.10,26.08,25.01,10.18,51.61
$STATE,1127,end climb,FINISH_DEPTH_REACHED
$STATE,1127,begin subsurface finish
$FINISH1,1.7,1.023950,115
$GC,1135,0.17,115.0,3089,2144,1408,4094,1.7,16.4,173,1154,7.00,0.00,-7.12,0.000,20998,0.019,0.000,2398,2140,2356,2356,4095,0,0,0,0,0,0,25.91,24.87,25.93,10.11,52.32
$FINISH2,0.7
$STATE,1155,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1155,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,192047
$TT8_MAMPS,0.025466,0.101115
$HUMID,52.55
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.96,25.717
$10V_AH,10.43,28.852
$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,26.775,15.575,82.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,452.401,272.093,166.217,255.681,67.067,33.430,360.127,0.000,263.999,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1262.250,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14299,176
$CAP_FILE_SIZE,32055,0
$CFSIZE,1024409600,973258752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,524.61,0x236164,2,24
$GPS,120817,192829,6117.920,-17349.451,5,0.9,19,7.0,0.6,282.4,9,4.9