version: 66.13
glider: 401
mission: 22
dive: 958
start: 8 13 117 2 34 12
data:
$ID,401
$MISSION,22
$DIVE,958
$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,28
$R_STBD_OVSHOOT,51
$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
$GPS1,130817,022539,6121.1567,-17345.9336,36,0.7,44,7.1,0.6,157.4,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-40.7
$GPS2,130817,023304,6121.0659,-17345.9004,5,0.8,16,7.1,0.9,185.1,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.065940,0.389967
$KALMAN_X,65662.945312,59.860596,317.312805,-255780.718750,-10.434341
$KALMAN_Y,-52250.824219,2345.164062,854.861023,281941.593750,-182.975464
$MHEAD_RNG_PITCHd_Wd,2.5,6833,-11.5,-10.526,-14.90,6990
$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,-1.77,-487.5,230,1978,1969,4092,0.0,0.0,0,21,9.60,0.00,0.00,0.000,2049,0.094,0.000,1052,1972,1969,1969,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.30,51.53
$GC,24,-1.77,-487.5,1052,1973,1969,4094,0.9,0.0,1,51,7.60,0.00,-10.00,0.000,18950,0.048,0.000,1763,1978,3054,3054,4094,0,0,0,0,0,0,25.98,25.49,26.06,10.30,51.41
$GC,89,-1.77,-487.5,1762,1977,3054,4094,3.7,-12.1,9,99,0.00,1.15,0.00,0.000,516,0.000,0.047,1763,1524,3054,3054,4095,0,0,0,0,0,0,26.16,25.86,26.17,10.53,51.26
$GC,122,-1.77,-487.5,1762,1524,3055,4095,9.2,-15.9,13,132,0.00,0.95,0.00,0.000,1030,0.000,0.026,1763,1932,3056,3056,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.53,50.59
$GC,169,-1.77,-487.5,1762,1932,3057,4094,18.1,-20.1,19,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1932,3057,3057,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.53,50.86
$GC,214,-1.77,-487.5,1762,1934,3059,4095,25.5,-14.7,25,223,0.00,1.08,0.00,0.000,516,0.000,0.049,1763,1519,3059,3059,4094,0,0,0,0,0,0,26.31,26.01,26.32,10.51,50.47
$GC,267,-1.77,-487.5,1762,1519,3060,4094,32.1,-12.3,32,277,0.00,1.02,0.00,0.000,1030,0.000,0.026,1763,1957,3059,3059,4095,0,0,0,0,0,0,26.16,26.15,26.17,10.46,49.40
$GC,314,-1.77,-487.5,1762,1957,3061,4095,37.6,-11.7,38,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3061,3061,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.44,47.63
$GC,361,-1.77,-487.5,1762,1957,3062,4094,43.3,-13.0,44,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3062,3062,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.41,47.44
$GC,407,-1.77,-487.5,1762,1957,3063,4095,49.7,-13.6,50,417,0.00,1.08,0.00,0.000,260,0.000,0.044,1763,2370,3063,3063,4095,0,0,0,0,0,0,26.45,26.15,26.46,10.40,46.22
$GC,441,-1.77,-487.5,1762,2370,3064,4095,54.4,-13.4,54,450,0.00,0.98,0.00,0.000,1030,0.000,0.027,1763,1979,3064,3064,4094,0,0,0,0,0,0,26.27,26.23,26.27,10.39,45.58
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,492,-0.45,0.0,1763,2145,3065,4094,60.7,-14.0,60,527,4.53,0.00,28.12,1.310,10244,0.056,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.30,10.38,44.76
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.77,487.5,2186,2145,2484,4094,63.6,0.0,64,576,7.43,1.10,28.05,1.280,10500,0.032,0.051,2890,2553,1915,1915,4094,0,0,0,0,0,0,25.51,25.44,23.89,10.25,44.56
$GC,599,1.77,487.5,2890,2553,1914,4094,58.1,12.4,72,608,0.00,1.08,0.00,0.000,1030,0.000,0.024,2890,2127,1914,1914,4094,0,0,0,0,0,0,25.35,25.32,25.37,10.12,43.50
$GC,645,1.77,487.5,2890,2125,1913,4094,52.1,13.1,78,654,0.00,1.05,0.00,0.000,516,0.000,0.044,2891,1722,1912,1912,4094,0,0,0,0,0,0,25.75,25.47,25.75,10.12,43.69
$GC,782,1.77,487.5,2890,1721,1908,4094,34.9,12.3,98,792,0.00,0.95,0.00,0.000,1030,0.000,0.028,2890,2113,1908,1908,4095,0,0,0,0,0,0,25.86,25.83,25.88,10.10,45.35
$GC,830,1.77,487.5,2890,2112,1907,4095,29.4,11.4,104,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2113,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.10,45.47
$GC,877,1.77,487.5,2890,2112,1906,4094,24.0,11.0,110,887,0.00,1.02,0.00,0.000,516,0.000,0.045,2891,1724,1906,1906,4095,0,0,0,0,0,0,26.20,25.90,26.20,10.12,45.86
$STATE,1105,end climb,FINISH_DEPTH_REACHED
$STATE,1105,begin subsurface finish
$FINISH1,1.3,1.023984,113
$GC,1115,0.17,112.6,2890,2135,1900,4094,1.3,8.7,144,1134,4.97,1.17,-3.42,0.000,20740,0.023,1.282,2395,2566,2358,2358,4094,0,0,0,0,0,0,26.17,24.84,26.22,10.22,52.55
$FINISH2,0.9
$STATE,1135,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1135,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,011714
$TT8_MAMPS,0.025466,0.250915
$HUMID,52.48
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.89,26.177
$10V_AH,10.17,29.260
$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,34.125,14.075,56.175,0.000,0.000,22.208,19.376,239.025,0.000,0.000,17.801,411.545,0.000,119.617,889.226,178.323,33.454,359.733,0.000,356.093,0.000,0.542,0.000
$DEVICE_MAMPS,94.095,1282.140,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.821,396.713,313.913,465.474,607.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,14285,146
$CAP_FILE_SIZE,30358,0
$CFSIZE,1024409600,972423168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130817,023304,6121.066,-17345.900,5,0.8,16,7.1,0.9,185.1,10,4.7