version: 66.13
glider: 401
mission: 22
dive: 949
start: 8 12 117 23 4 10
data:
$ID,401
$MISSION,22
$DIVE,949
$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,24
$R_STBD_OVSHOOT,46
$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
$GPS1,120817,225347,6120.1470,-17347.1680,5,0.9,47,7.1,0.5,129.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-36.5
$GPS2,120817,230302,6120.1772,-17347.1211,5,1.0,71,7.1,0.9,330.7,8,3.1
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.015899,0.404427
$KALMAN_X,65252.765625,-237.440308,104.785553,-256026.468750,136.649582
$KALMAN_Y,-50441.179688,2370.147705,987.056946,278316.781250,-3.541931
$MHEAD_RNG_PITCHd_Wd,355.2,8707,-11.1,-10.526,-14.58,7389
$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,-1.74,-487.5,230,1979,1603,4092,0.0,0.0,0,18,6.72,0.00,0.00,0.000,2049,0.083,0.000,819,1979,1604,1604,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.23,50.35
$GC,21,-1.74,-487.5,818,1978,1603,4094,0.5,0.0,1,52,10.25,1.23,-13.10,0.000,18948,0.049,1.280,1776,1519,3054,3054,4094,0,0,0,0,0,0,26.00,24.71,26.07,10.24,50.11
$GC,90,-1.74,-487.5,1775,1519,3055,4094,3.9,-11.2,12,97,0.00,0.98,0.00,0.000,1030,0.000,0.024,1775,1943,3055,3055,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.55,50.82
$GC,129,-1.74,-487.5,1775,1948,3056,4095,9.8,-15.5,18,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1948,3057,3057,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.55,49.88
$GC,168,-1.74,-487.5,1775,1948,3057,4094,17.1,-19.7,24,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1948,3058,3058,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.55,50.03
$GC,206,-1.74,-487.5,1775,1948,3059,4094,23.4,-17.1,30,212,0.00,1.10,0.00,0.000,260,0.000,0.046,1776,2359,3059,3059,4094,0,0,0,0,0,0,26.34,26.04,26.35,10.55,49.21
$GC,311,-1.74,-487.5,1775,2359,3062,4094,38.1,-11.3,47,317,0.00,1.05,0.00,0.000,1030,0.000,0.028,1776,1934,3062,3062,4094,0,0,0,0,0,0,26.19,26.15,26.21,10.46,48.18
$GC,350,-1.74,-487.5,1775,1934,3062,4094,42.6,-11.5,53,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1934,3063,3063,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.44,47.04
$GC,388,-1.74,-487.5,1775,1933,3064,4094,47.4,-12.5,59,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1934,3064,3064,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.42,46.14
$GC,426,-1.74,-487.5,1775,1934,3064,4095,52.2,-12.8,65,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1934,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.41,46.02
$GC,465,-1.74,-487.5,1776,1933,3065,4094,57.1,-13.2,71,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1934,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.40,45.11
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,495,-0.45,0.0,1776,2129,3066,4094,60.6,-12.7,75,532,4.35,0.00,27.98,1.291,10244,0.054,0.000,2186,2130,2484,2484,4095,0,0,0,0,0,0,26.22,25.36,24.34,10.39,44.68
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,536,1.74,487.5,2186,2130,2484,4095,63.2,0.0,81,578,7.30,1.15,27.80,1.265,10500,0.031,0.049,2885,2560,1915,1915,4094,0,0,0,0,0,0,25.54,25.48,23.92,10.27,44.48
$GC,599,1.74,487.5,2884,2559,1915,4094,58.5,11.3,91,605,0.00,1.08,0.00,0.000,1030,0.000,0.024,2885,2132,1915,1915,4094,0,0,0,0,0,0,25.34,25.32,25.35,10.15,43.66
$GC,638,1.74,487.5,2884,2132,1914,4094,53.6,12.8,97,644,0.00,1.08,0.00,0.000,516,0.000,0.044,2885,1720,1914,1914,4094,0,0,0,0,0,0,25.72,25.44,25.72,10.13,43.42
$GC,749,1.74,487.5,2884,1720,1911,4094,39.0,12.8,115,755,0.00,0.95,0.00,0.000,1030,0.000,0.028,2885,2110,1911,1911,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.12,44.56
$GC,788,1.74,487.5,2884,2110,1909,4094,34.0,12.8,121,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2110,1909,1909,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.13,44.99
$GC,826,1.74,487.5,2884,2110,1908,4094,29.4,11.7,127,833,0.00,1.02,0.00,0.000,516,0.000,0.044,2885,1721,1908,1908,4095,0,0,0,0,0,0,26.13,25.84,26.14,10.14,45.78
$GC,884,1.98,649.0,2884,1720,1907,4095,23.9,8.3,136,903,0.65,0.88,9.65,0.766,11270,0.032,0.026,2962,2096,1727,1727,4094,0,0,0,0,0,0,25.98,25.98,24.85,10.17,47.16
$GC,936,1.98,649.0,2961,2095,1726,4094,18.2,12.2,144,942,0.00,1.23,0.00,0.000,260,0.000,0.050,2962,2550,1726,1726,4094,0,0,0,0,0,0,26.11,25.81,26.13,10.17,49.44
$GC,975,1.98,649.0,2961,2550,1724,4094,13.0,13.9,150,981,0.00,1.20,0.00,0.000,1030,0.000,0.028,2962,2079,1724,1724,4094,0,0,0,0,0,0,25.95,25.91,25.98,10.18,50.31
$GC,1014,1.98,649.0,2961,2078,1723,4094,8.0,13.0,156,1020,0.00,0.90,0.00,0.000,516,0.000,0.046,2962,1723,1723,1723,4094,0,0,0,0,0,0,26.21,25.93,26.22,10.19,50.55
$STATE,1056,end climb,FINISH_DEPTH_REACHED
$STATE,1056,begin subsurface finish
$FINISH1,1.3,1.023951,115
$GC,1066,0.17,114.9,2962,2131,1721,4094,1.3,14.1,163,1085,5.85,1.20,-5.47,0.000,20740,0.033,1.274,2397,2566,2358,2358,4095,0,0,0,0,0,0,26.03,24.73,26.06,10.20,51.45
$FINISH2,0.2
$STATE,1086,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,214638
$TT8_MAMPS,0.025466,0.159537
$HUMID,51.61
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.92,25.940
$10V_AH,10.33,29.042
$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,35.125,16.525,65.425,0.000,0.000,25.753,21.771,282.591,0.000,0.000,72.873,432.391,247.915,169.031,625.966,182.707,33.452,360.646,0.000,251.454,0.000,0.543,0.000
$DEVICE_MAMPS,83.385,1279.845,1290.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10884,166
$CAP_FILE_SIZE,35019,0
$CFSIZE,1024409600,972849152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120817,230302,6120.177,-17347.121,5,1.0,71,7.1,0.9,330.7,8,3.1