version: 66.13
glider: 401
mission: 22
dive: 898
start: 8 12 117 2 16 4
data:
$ID,401
$MISSION,22
$DIVE,898
$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,14
$R_STBD_OVSHOOT,29
$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
$GPS1,120817,020639,6111.4883,-17348.7441,9,0.8,107,7.0,1.6,198.2,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-44.0
$GPS2,120817,021456,6111.3838,-17348.9746,8,0.7,26,7.0,0.5,169.1,11,4.2
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.171848,0.330633
$KALMAN_X,70671.007812,-428.706207,-63.621948,-262817.500000,-147.716248
$KALMAN_Y,-46417.382812,1825.684082,400.055969,259147.390625,-116.233307
$MHEAD_RNG_PITCHd_Wd,20.5,24955,-12.5,-10.526,-15.77,6063
$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,-424.2,239,1968,2131,4092,0.0,0.0,0,20,8.88,0.00,0.00,0.000,2049,0.107,0.000,980,1967,2131,2131,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.34,51.26
$GC,23,-1.77,-424.2,980,1967,2132,4094,0.9,0.0,1,49,9.00,1.23,-7.57,0.000,18948,0.087,1.271,1763,1513,2982,2982,4095,0,0,0,0,0,0,25.88,24.67,25.96,10.35,51.49
$GC,140,-1.77,-424.2,1762,1513,2983,4095,10.3,-15.1,17,148,0.00,1.05,0.00,0.000,1030,0.000,0.026,1763,1953,2983,2983,4094,0,0,0,0,0,0,26.02,26.00,26.04,10.54,50.90
$GC,185,-1.77,-424.2,1762,1959,2985,4094,18.1,-16.8,23,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1960,2985,2985,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.53,49.92
$GC,230,-1.77,-424.2,1762,1959,2986,4094,23.7,-11.8,29,240,0.00,1.10,0.00,0.000,260,0.000,0.042,1763,2376,2986,2986,4095,0,0,0,0,0,0,26.32,26.03,26.32,10.50,49.37
$GC,264,-1.77,-424.2,1762,2375,2988,4095,28.2,-13.6,33,273,0.00,1.08,0.00,0.000,1030,0.000,0.029,1763,1942,2987,2987,4094,0,0,0,0,0,0,26.13,26.06,26.13,10.46,49.13
$GC,310,-1.77,-424.2,1762,1941,2988,4094,34.4,-13.4,39,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1942,2988,2988,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.44,48.11
$GC,356,-1.77,-424.2,1762,1941,2989,4094,40.5,-13.5,45,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1941,2989,2989,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.41,46.41
$GC,401,-1.77,-424.2,1762,1941,2990,4095,46.7,-13.9,51,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1942,2990,2990,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.40,45.82
$GC,447,-1.77,-424.2,1762,1941,2991,4094,52.8,-13.3,57,456,0.00,1.05,0.00,0.000,516,0.000,0.050,1763,1523,2992,2992,4094,0,0,0,0,0,0,26.46,26.16,26.47,10.39,45.47
$GC,488,-1.77,-424.2,1762,1522,2992,4094,58.3,-13.9,62,496,0.00,1.00,0.00,0.000,1030,0.000,0.024,1763,1955,2992,2992,4095,0,0,0,0,0,0,26.28,26.27,26.30,10.38,44.56
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,512,-0.45,0.0,1763,2138,2993,4095,61.1,-14.2,64,546,4.53,0.00,24.92,1.289,10244,0.057,0.000,2186,2138,2484,2484,4095,0,0,0,0,0,0,26.20,25.41,24.38,10.38,44.29
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,550,1.77,424.2,2186,2138,2484,4095,64.2,0.0,68,586,7.38,0.00,24.65,1.274,11270,0.033,0.000,2890,2138,1989,1989,4094,0,0,0,0,0,0,25.66,25.82,23.99,10.27,44.21
$GC,624,1.77,424.2,2890,2138,1988,4094,58.6,12.3,77,633,0.00,1.15,0.00,0.000,516,0.000,0.042,2890,1709,1988,1988,4094,0,0,0,0,0,0,25.65,25.39,25.66,10.15,44.05
$GC,708,1.77,424.2,2889,1709,1985,4094,47.0,13.7,89,718,0.00,1.00,0.00,0.000,1030,0.000,0.028,2890,2116,1985,1985,4095,0,0,0,0,0,0,25.75,25.69,25.74,10.14,44.56
$GC,755,1.77,424.2,2889,2116,1984,4095,40.8,13.2,95,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2116,1983,1983,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.13,45.23
$GC,801,1.77,424.2,2889,2116,1982,4094,34.9,12.9,101,810,0.00,1.05,0.00,0.000,516,0.000,0.044,2890,1717,1982,1982,4094,0,0,0,0,0,0,26.10,25.80,26.11,10.13,45.15
$GC,866,1.77,424.2,2889,1716,1980,4094,26.0,14.1,110,876,0.00,0.90,0.00,0.000,1030,0.000,0.028,2890,2093,1980,1980,4094,0,0,0,0,0,0,26.00,25.95,26.00,10.13,45.55
$GC,913,1.77,424.2,2889,2093,1979,4094,20.5,11.7,116,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2093,1978,1978,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,45.98
$GC,960,1.77,424.2,2889,2093,1978,4094,15.9,10.5,122,969,0.00,1.25,0.00,0.000,260,0.000,0.050,2890,2560,1978,1978,4094,0,0,0,0,0,0,26.28,25.95,26.29,10.20,47.99
$GC,1064,1.77,424.2,2889,2560,1975,4094,4.9,11.9,137,1074,0.00,1.27,0.00,0.000,1030,0.000,0.028,2890,2051,1975,1975,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.24,50.47
$STATE,1088,end climb,FINISH_DEPTH_REACHED
$STATE,1088,begin subsurface finish
$FINISH1,1.1,1.023904,118
$GC,1097,0.18,118.2,2889,2131,1974,4094,1.1,14.0,140,1116,5.15,1.15,-3.35,0.000,20996,0.046,1.283,2395,1718,2353,2353,4094,0,0,0,0,0,0,26.16,24.82,26.20,10.25,51.77
$FINISH2,0.4
$STATE,1117,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,005127
$TT8_MAMPS,0.026215,0.23219
$HUMID,51.49
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.99,24.515
$10V_AH,10.19,27.822
$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,34.925,14.925,49.575,0.000,0.000,25.670,25.291,272.665,0.000,0.000,27.958,403.487,0.402,125.898,928.847,175.168,33.453,370.864,0.000,349.412,0.000,0.542,0.000
$DEVICE_MAMPS,107.100,1282.905,1289.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.770,385.819,305.343,452.331,585.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329384
$DATA_FILE_SIZE,14333,142
$CAP_FILE_SIZE,32866,0
$CFSIZE,1024409600,975355904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120817,021456,6111.384,-17348.975,8,0.7,26,7.0,0.5,169.1,11,4.2