version: 66.13
glider: 401
mission: 22
dive: 959
start: 8 13 117 2 55 23
data:
$ID,401
$MISSION,22
$DIVE,959
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,130817,023304,6121.0659,-17345.9004,5,0.8,16,7.1,0.9,185.1,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.02
$_SM_ANGLEo,-3.5
$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,0.071313,0.364638
$KALMAN_X,65628.101562,58.557625,292.143738,-255717.421875,-12.177231
$KALMAN_Y,-52448.777344,2256.640137,751.021179,282337.781250,-136.286560
$MHEAD_RNG_PITCHd_Wd,4.0,6833,-12.5,-10.526,-15.82,6022
$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,8,-1.77,-421.3,2395,1961,2360,4092,0.0,0.0,0,18,6.30,0.00,-1.05,0.000,20482,0.022,0.000,1772,1961,2638,2638,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.34,51.73
$GC,22,-1.77,-421.3,1772,1961,2638,4094,8.3,0.0,1,29,0.00,1.15,-1.23,0.000,16900,0.000,1.275,1772,1519,2983,2983,4095,0,0,0,0,0,0,26.34,24.80,26.30,10.39,51.45
$GC,166,-1.77,-421.3,1772,1518,2987,4095,30.2,-13.6,24,172,0.00,1.02,0.00,0.000,1030,0.000,0.025,1772,1957,2987,2987,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.42,50.78
$GC,205,-1.77,-421.3,1772,1957,2988,4095,35.6,-13.3,30,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1957,2989,2989,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,50.86
$GC,243,-1.77,-421.3,1771,1957,2989,4095,40.4,-12.2,36,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1957,2989,2989,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.38,48.81
$GC,282,-1.77,-421.3,1772,1957,2990,4094,45.3,-12.6,42,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1957,2990,2990,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.37,48.42
$GC,320,-1.77,-421.3,1772,1957,2991,4095,50.2,-13.0,48,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1957,2991,2991,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.36,47.40
$GC,358,-1.77,-421.3,1772,1957,2992,4094,55.0,-13.0,54,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1957,2992,2992,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.35,47.12
$GC,396,-1.77,-421.3,1771,1957,2993,4094,59.8,-12.7,60,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1958,2993,2993,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.34,46.61
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,414,-0.45,0.0,1772,2138,2993,4094,61.7,-13.5,62,450,4.40,0.00,24.75,1.311,10244,0.057,0.000,2185,2137,2484,2484,4094,0,0,0,0,0,0,26.22,25.14,24.39,10.34,46.73
$STATE,451,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$GC,454,1.77,421.3,2184,2138,2484,4094,64.5,0.0,68,490,7.38,0.00,24.33,1.281,11270,0.033,0.000,2889,2138,1993,1993,4094,0,0,0,0,0,0,25.68,25.84,23.99,10.23,46.06
$GC,523,1.77,421.3,2889,2138,1992,4094,58.8,12.4,79,529,0.00,1.15,0.00,0.000,516,0.000,0.044,2889,1712,1992,1992,4094,0,0,0,0,0,0,25.63,25.37,25.64,10.11,45.11
$GC,592,1.77,421.3,2889,1712,1990,4094,49.2,13.9,90,598,0.00,1.00,0.00,0.000,1030,0.000,0.028,2890,2118,1990,1990,4095,0,0,0,0,0,0,25.67,25.65,25.70,10.10,45.23
$GC,631,1.77,421.3,2889,2117,1989,4095,43.8,14.0,96,638,0.00,1.20,0.00,0.000,260,0.000,0.051,2889,2559,1989,1989,4094,0,0,0,0,0,0,25.97,25.67,25.98,10.10,45.58
$GC,664,1.77,421.3,2889,2558,1988,4094,39.2,14.3,101,671,0.00,1.12,0.00,0.000,1030,0.000,0.026,2889,2110,1988,1988,4094,0,0,0,0,0,0,25.84,25.80,25.85,10.10,46.45
$GC,703,1.77,421.3,2889,2110,1986,4094,33.8,14.2,107,710,0.00,1.02,0.00,0.000,516,0.000,0.047,2889,1714,1987,1987,4095,0,0,0,0,0,0,26.10,25.80,26.10,10.09,46.81
$GC,941,1.77,421.3,2889,1713,1980,4095,6.6,10.8,146,947,0.00,0.95,0.00,0.000,1030,0.000,0.028,2889,2108,1980,1980,4095,0,0,0,0,0,0,26.14,26.11,26.16,10.20,52.24
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,1.8,1.023986,112
$GC,985,0.17,112.5,2889,2108,1979,4094,1.8,12.4,152,999,5.32,1.10,-3.30,0.000,20996,0.064,1.283,2400,1715,2357,2357,4094,0,0,0,0,0,0,26.11,24.82,26.18,10.21,52.44
$FINISH2,0.1
$STATE,1000,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1000,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,011714
$TT8_MAMPS,0.025466,0.102613
$HUMID,53.62
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.99,26.196
$10V_AH,10.42,29.270
$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,23.400,11.725,49.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,405.997,255.800,119.070,223.837,55.994,33.428,278.620,0.000,232.920,0.000,0.541,0.000
$DEVICE_MAMPS,64.260,1282.905,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,10759,154
$CAP_FILE_SIZE,24538,0
$CFSIZE,1024409600,972374016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,023304,6121.066,-17345.900,5,0.8,16,7.1,0.9,185.1,10,4.7