version: 66.13
glider: 401
mission: 22
dive: 955
start: 8 13 117 1 24 22
data:
$ID,401
$MISSION,22
$DIVE,955
$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,33
$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
$GPS1,130817,011319,6121.0093,-17346.0918,5,0.8,29,7.1,0.7,1.6,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-34.2
$GPS2,130817,012312,6120.9316,-17346.0039,7,0.8,35,7.1,1.0,158.7,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.003893,0.323958
$KALMAN_X,65707.125000,5.736366,305.598663,-255861.593750,51.719330
$KALMAN_Y,-51508.058594,2405.802490,954.317505,280787.656250,-147.707031
$MHEAD_RNG_PITCHd_Wd,353.6,7096,-15.0,-10.526,-18.00,4369
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.82,-304.1,238,1934,1903,4091,0.0,0.0,0,18,6.60,0.00,0.00,0.000,2049,0.098,0.000,801,1939,1903,1903,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.29,50.98
$GC,21,-1.82,-304.1,801,1939,1903,4094,1.0,0.0,1,45,10.25,0.00,-8.50,0.000,18438,0.057,0.000,1750,1939,2846,2846,4094,0,0,0,0,0,0,26.00,24.97,26.07,10.29,50.94
$GC,78,-1.82,-304.1,1750,1939,2846,4094,3.3,-12.1,10,85,0.00,1.08,0.00,0.000,516,0.000,0.059,1751,1528,2847,2847,4095,0,0,0,0,0,0,26.25,25.93,26.25,10.49,50.51
$GC,111,-1.82,-304.1,1750,1528,2847,4095,8.5,-16.8,15,118,0.00,1.00,0.00,0.000,1030,0.000,0.024,1750,1960,2848,2848,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.49,50.15
$GC,150,-1.82,-304.1,1750,1959,2849,4094,15.6,-17.3,21,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1960,2849,2849,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.50,49.40
$GC,188,-1.82,-304.1,1750,1959,2850,4094,21.9,-16.1,27,195,0.00,1.12,0.00,0.000,516,0.000,0.047,1750,1524,2850,2850,4095,0,0,0,0,0,0,26.34,26.04,26.36,10.50,49.13
$GC,347,-1.82,-304.1,1750,1524,2854,4095,41.5,-12.9,53,354,0.00,0.90,0.00,0.000,1030,0.000,0.024,1751,1927,2854,2854,4094,0,0,0,0,0,0,26.27,26.25,26.28,10.38,47.00
$GC,387,-1.82,-304.1,1750,1927,2855,4094,46.2,-12.0,59,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1927,2855,2855,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.38,46.10
$GC,425,-1.82,-304.1,1750,1927,2856,4095,51.2,-12.8,65,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1928,2857,2857,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.37,45.19
$GC,463,-1.82,-304.1,1750,1927,2856,4095,56.0,-12.8,71,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1927,2857,2857,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.36,45.15
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,500,-0.45,0.0,1750,2126,2858,4095,60.2,-12.9,76,530,4.68,0.00,18.65,1.253,10244,0.061,0.000,2185,2127,2483,2483,4094,0,0,0,0,0,0,26.22,25.32,24.56,10.35,45.39
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,534,1.82,304.1,2184,2126,2483,4094,62.8,0.0,81,566,7.45,1.12,17.88,1.227,10500,0.031,0.050,2908,2554,2128,2128,4094,0,0,0,0,0,0,25.80,25.75,24.24,10.27,44.44
$GC,636,1.82,304.1,2908,2553,2126,4094,51.8,15.0,97,643,0.00,1.02,0.00,0.000,1030,0.000,0.024,2908,2136,2126,2126,4095,0,0,0,0,0,0,25.74,25.72,25.75,10.18,44.32
$GC,675,1.82,304.1,2908,2136,2125,4095,45.7,14.4,103,682,0.00,1.08,0.00,0.000,516,0.000,0.045,2908,1721,2125,2125,4094,0,0,0,0,0,0,26.02,25.74,26.03,10.17,44.52
$GC,817,1.82,304.1,2908,1721,2121,4094,26.2,14.0,126,823,0.00,0.95,0.00,0.000,1030,0.000,0.028,2908,2117,2120,2120,4095,0,0,0,0,0,0,26.03,25.99,26.04,10.16,45.78
$GC,856,1.82,304.1,2908,2116,2120,4095,21.5,11.2,132,862,0.00,1.05,0.00,0.000,516,0.000,0.046,2908,1720,2120,2120,4095,0,0,0,0,0,0,26.27,25.98,26.28,10.19,46.96
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1048,begin subsurface finish
$FINISH1,1.8,1.023976,113
$GC,1057,0.17,113.2,2908,2141,2114,4094,1.8,9.8,164,1071,5.28,1.15,-1.98,0.000,20996,0.037,1.278,2392,1720,2358,2358,4094,0,0,0,0,0,0,26.22,24.87,26.26,10.27,52.55
$FINISH2,0.6
$STATE,1072,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1073,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,000705
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.36
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,24.24,26.096
$10V_AH,10.33,29.179
$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,34.250,11.975,36.525,0.000,0.000,57.515,25.718,269.898,0.000,0.000,36.327,442.604,329.894,118.656,616.681,177.016,33.480,290.181,0.000,251.515,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1278.315,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,10751,166
$CAP_FILE_SIZE,30360,0
$CFSIZE,1024409600,972570624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130817,012312,6120.932,-17346.004,7,0.8,35,7.1,1.0,158.7,11,5.0