version: 66.13
glider: 401
mission: 22
dive: 979
start: 8 13 117 11 43 2
data:
$ID,401
$MISSION,22
$DIVE,979
$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,19
$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
$GPS1,130817,112959,6124.7886,-17345.0391,11,0.8,41,7.1,0.7,4.8,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-21.9
$GPS2,130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.102316,0.242105
$KALMAN_X,65519.843750,124.489876,199.354080,-254757.390625,81.540642
$KALMAN_Y,-54566.492188,2398.566162,868.477600,291046.437500,-69.622620
$MHEAD_RNG_PITCHd_Wd,330.0,35334,-19.2,-10.526,-21.83,2728
$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,-2.03,-188.9,240,1960,1139,4092,0.0,0.0,0,18,6.55,0.00,0.00,0.000,2049,0.086,0.000,810,1960,1139,1139,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.11,50.43
$GC,21,-2.03,-188.9,810,1966,1139,4094,0.5,0.0,1,51,9.40,0.00,-13.93,0.000,18950,0.050,0.000,1683,1966,2706,2706,4094,0,0,0,0,0,0,25.90,25.41,25.98,10.11,50.63
$GC,84,-2.05,-206.8,1682,1966,2707,4094,2.9,-9.9,11,90,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1684,1966,2731,2731,4094,0,0,0,0,0,0,26.15,25.25,25.79,10.45,50.94
$GC,123,-2.05,-206.8,1683,1967,2732,4094,8.2,-14.4,17,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,1967,2732,2732,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.44,50.07
$GC,161,-2.05,-206.8,1683,1966,2733,4094,15.3,-18.8,23,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,1967,2733,2733,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.46,49.92
$GC,199,-2.05,-206.8,1683,1965,2735,4094,22.1,-18.0,29,206,0.00,1.10,0.00,0.000,260,0.000,0.044,1683,2374,2735,2735,4094,0,0,0,0,0,0,26.20,25.90,26.20,10.45,50.07
$GC,256,-2.05,-206.8,1682,2373,2736,4094,30.9,-13.7,38,263,0.00,1.08,0.00,0.000,1030,0.000,0.028,1684,1941,2737,2737,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.39,48.38
$GC,296,-2.05,-206.8,1683,1941,2737,4094,36.2,-13.7,44,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,1940,2737,2737,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.37,48.26
$GC,334,-2.05,-206.8,1683,1940,2738,4095,41.2,-12.8,50,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,1941,2739,2739,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.36,47.04
$GC,372,-2.05,-206.8,1683,1940,2739,4094,46.2,-12.9,56,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,1940,2740,2740,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.34,46.02
$GC,411,-2.05,-206.8,1683,1940,2740,4094,51.1,-13.2,62,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,1941,2741,2741,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.34,46.25
$GC,449,-2.05,-206.8,1683,1940,2741,4095,56.2,-13.0,68,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,1940,2741,2741,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.32,45.23
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,486,-0.45,0.0,1683,2142,2742,4094,60.5,-13.4,73,510,5.50,0.00,13.55,1.192,10244,0.067,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.11,25.64,24.56,10.31,44.80
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,514,2.05,206.8,2184,2142,2484,4094,62.7,0.0,77,540,8.25,1.10,12.88,1.169,10500,0.031,0.052,2983,2555,2242,2242,4094,0,0,0,0,0,0,25.84,25.78,24.34,10.25,44.64
$GC,635,2.05,206.8,2982,2555,2240,4094,48.0,16.3,96,642,0.00,1.02,0.00,0.000,1030,0.000,0.026,2983,2141,2239,2239,4095,0,0,0,0,0,0,25.85,25.82,25.86,10.18,44.99
$GC,674,2.05,206.8,2982,2140,2238,4095,41.7,15.0,102,681,0.00,1.08,0.00,0.000,516,0.000,0.047,2983,1721,2238,2238,4094,0,0,0,0,0,0,26.11,25.82,26.13,10.18,44.92
$GC,791,2.05,206.8,2982,1721,2234,4094,25.2,13.2,121,798,0.00,0.95,0.00,0.000,1030,0.000,0.028,2983,2118,2234,2234,4094,0,0,0,0,0,0,26.05,26.02,26.06,10.17,46.14
$GC,831,2.10,240.5,2982,2117,2234,4094,21.1,9.3,127,839,0.00,1.17,3.30,0.392,8964,0.000,0.047,2983,2560,2202,2202,4094,0,0,0,0,0,0,26.29,25.88,24.99,10.18,47.44
$GC,988,2.10,240.5,2983,2560,2198,4094,5.9,12.3,152,994,0.00,1.10,0.00,0.000,1030,0.000,0.026,2983,2112,2198,2198,4094,0,0,0,0,0,0,26.19,26.15,26.20,10.26,51.57
$GC,1027,2.19,300.3,2982,2108,2197,4094,2.2,8.3,158,1036,0.35,0.80,4.60,0.422,10755,0.047,0.044,3024,1788,2132,2132,4095,0,0,0,0,0,0,26.17,26.01,25.29,10.27,52.52
$STATE,1038,end climb,FINISH_DEPTH_REACHED
$STATE,1038,begin subsurface finish
$FINISH1,1.4,1.024065,107
$GC,1047,0.16,107.0,3024,2152,2132,4095,1.4,7.8,159,1061,6.35,1.20,-2.00,0.000,20996,0.023,1.285,2397,1717,2364,2364,4094,0,0,0,0,0,0,26.15,24.79,26.17,10.26,52.16
$FINISH2,0.1
$STATE,1062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,113237
$TT8_MAMPS,0.026215,0.132573
$HUMID,52.99
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,24.34,26.824
$10V_AH,10.37,29.794
$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,36.400,11.975,34.325,0.000,0.000,61.803,41.588,360.026,0.000,0.000,24.261,437.664,307.666,131.485,706.028,209.473,33.454,307.514,0.000,244.429,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1285.200,1191.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,10852,161
$CAP_FILE_SIZE,35323,0
$CFSIZE,1024409600,971374592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130817,114154,6124.774,-17345.021,6,0.8,23,7.1,0.4,294.9,11,4.8