version: 66.13
glider: 401
mission: 22
dive: 892
start: 8 11 117 23 48 18
data:
$ID,401
$MISSION,22
$DIVE,892
$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,31
$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
$GPS1,110817,233719,6111.2876,-17347.7734,4,0.9,39,7.0,0.4,249.5,9,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-25.0
$GPS2,110817,234708,6111.1880,-17347.8340,5,0.8,23,7.0,1.0,256.1,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.001919,0.384265
$KALMAN_X,71796.296875,-388.535492,15.429416,-262997.250000,42.827713
$KALMAN_Y,-44794.164062,1944.230225,468.182892,256977.015625,-146.696838
$MHEAD_RNG_PITCHd_Wd,352.7,25162,-12.0,-10.526,-15.32,6524
$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,-1.77,-457.1,230,1970,1441,4092,0.0,0.0,0,20,8.88,0.00,0.00,0.000,2049,0.067,0.000,1027,1964,1441,1441,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.21,52.24
$GC,23,-1.77,-457.1,1026,1963,1441,4094,0.5,0.0,1,50,8.05,0.00,-14.40,0.000,18950,0.059,0.000,1765,1968,3022,3022,4095,0,0,0,0,0,0,25.98,24.94,26.05,10.22,51.41
$GC,88,-1.77,-457.1,1765,1967,3023,4095,4.9,-15.6,9,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1967,3023,3023,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.56,51.61
$GC,135,-1.77,-457.1,1765,1967,3024,4094,12.1,-16.1,15,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1967,3024,3024,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.56,50.74
$GC,182,-1.77,-457.1,1765,1967,3026,4094,18.9,-14.5,21,191,0.00,1.08,0.00,0.000,260,0.000,0.044,1766,2373,3026,3026,4095,0,0,0,0,0,0,26.33,26.08,26.34,10.54,50.23
$GC,221,-1.77,-457.1,1765,2373,3026,4095,24.7,-13.6,26,231,0.00,1.08,0.00,0.000,1030,0.000,0.028,1766,1937,3027,3027,4095,0,0,0,0,0,0,26.13,26.11,26.16,10.50,49.33
$GC,268,-1.77,-457.1,1765,1937,3028,4095,30.7,-12.8,32,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3028,3028,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.47,47.95
$GC,315,-1.77,-457.1,1765,1936,3029,4095,36.8,-13.5,38,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3029,3029,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.44,47.00
$GC,362,-1.77,-457.1,1765,1936,3030,4094,43.1,-13.9,44,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3030,3030,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.43,46.29
$GC,409,-1.77,-457.1,1765,1937,3031,4094,49.5,-13.4,50,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3031,3031,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.41,45.39
$GC,456,-1.77,-457.1,1765,1936,3032,4095,55.5,-12.6,56,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1937,3032,3032,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.40,45.47
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,493,-0.45,0.0,1765,2143,3033,4095,60.1,-13.7,60,529,4.47,0.00,26.65,1.283,10244,0.056,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.22,25.40,24.39,10.39,45.15
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,533,1.77,457.1,2185,2143,2484,4094,63.1,0.0,64,577,7.40,1.10,26.25,1.267,10500,0.032,0.049,2890,2555,1953,1953,4094,0,0,0,0,0,0,25.59,25.55,23.98,10.28,44.64
$GC,594,1.77,457.1,2890,2554,1952,4094,58.7,11.2,71,603,0.00,1.05,0.00,0.000,1030,0.000,0.024,2890,2136,1952,1952,4094,0,0,0,0,0,0,25.37,25.34,25.38,10.16,43.77
$GC,641,1.77,457.1,2890,2136,1949,4094,52.7,13.3,77,650,0.00,1.08,0.00,0.000,516,0.000,0.043,2891,1724,1950,1950,4094,0,0,0,0,0,0,25.77,25.49,25.78,10.15,44.32
$GC,772,1.77,457.1,2890,1723,1946,4094,34.9,13.4,96,781,0.00,0.95,0.00,0.000,1030,0.000,0.028,2891,2115,1946,1946,4094,0,0,0,0,0,0,25.86,25.84,25.92,10.13,45.11
$GC,818,1.77,457.1,2890,2115,1945,4094,28.8,13.4,102,828,0.00,1.20,0.00,0.000,260,0.000,0.052,2891,2561,1944,1944,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.13,45.78
$GC,851,1.77,457.1,2890,2560,1944,4094,24.8,11.9,106,861,0.00,1.12,0.00,0.000,1030,0.000,0.025,2890,2107,1944,1944,4094,0,0,0,0,0,0,25.97,25.94,25.98,10.14,45.66
$GC,898,1.77,457.1,2890,2106,1942,4094,19.2,12.3,112,907,0.00,1.00,0.00,0.000,516,0.000,0.047,2891,1718,1941,1941,4094,0,0,0,0,0,0,26.23,25.92,26.25,10.15,46.29
$GC,1009,1.78,462.2,2889,1717,1940,4094,8.1,10.4,128,1019,0.00,0.93,0.00,0.000,1030,0.000,0.028,2891,2105,1940,1940,4094,0,0,0,0,0,0,26.12,26.10,26.14,10.23,50.35
$GC,1056,1.78,462.2,2890,2104,1938,4094,2.9,11.5,134,1065,0.00,1.23,0.00,0.000,260,0.000,0.057,2890,2558,1938,1938,4095,0,0,0,0,0,0,26.37,26.05,26.39,10.24,51.02
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,0.9,1.023798,126
$GC,1083,0.19,125.6,2890,2110,1937,4094,0.9,10.9,136,1102,4.95,1.27,-3.65,0.000,20740,0.024,1.282,2399,2559,2344,2344,4094,0,0,0,0,0,0,26.17,24.83,26.21,10.25,51.77
$FINISH2,0.1
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1103,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,234000
$TT8_MAMPS,0.025466,0.245672
$HUMID,52.16
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.98,24.356
$10V_AH,10.18,27.671
$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,33.750,14.625,52.900,0.000,0.000,48.217,49.931,260.483,0.000,0.000,26.778,398.628,44.436,130.833,951.699,186.779,33.452,381.392,0.000,338.337,0.000,0.544,0.000
$DEVICE_MAMPS,67.320,1282.140,1282.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.964,374.913,296.691,439.565,574.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14285,138
$CAP_FILE_SIZE,33628,0
$CFSIZE,1024409600,975650816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110817,234708,6111.188,-17347.834,5,0.8,23,7.0,1.0,256.1,11,4.8