version: 66.13
glider: 401
mission: 22
dive: 901
start: 8 12 117 3 38 12
data:
$ID,401
$MISSION,22
$DIVE,901
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,120817,032220,6111.7866,-17349.6289,8,0.8,19,7.0,1.5,325.5,11,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-27.9
$GPS2,120817,033704,6111.6479,-17350.1328,5,0.7,50,7.0,0.9,233.4,12,7.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.231661,0.302796
$KALMAN_X,69351.562500,-568.705750,-219.506378,-262292.968750,-209.165039
$KALMAN_Y,-47139.847656,1785.397339,387.115112,260414.328125,-110.307739
$MHEAD_RNG_PITCHd_Wd,30.4,24673,-12.1,-10.526,-15.43,6403
$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,-448.4,229,1960,1440,4092,0.0,0.0,0,18,6.95,0.00,0.00,0.000,2049,0.054,0.000,872,1960,1440,1440,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.22,49.76
$GC,21,-1.77,-448.4,872,1960,1440,4094,0.2,0.0,1,51,9.52,0.00,-13.80,0.000,18950,0.050,0.000,1767,1961,3009,3009,4095,0,0,0,0,0,0,25.96,25.47,26.03,10.22,49.56
$GC,84,-1.82,-480.4,1766,1961,3009,4095,3.3,-10.0,11,91,0.00,1.20,-0.17,0.000,16900,0.000,1.258,1767,1515,3051,3051,4094,0,0,0,0,0,0,26.20,24.65,25.98,10.55,49.40
$GC,147,-1.82,-480.4,1766,1515,3052,4094,13.5,-17.8,21,154,0.00,1.05,0.00,0.000,1030,0.000,0.024,1767,1965,3053,3053,4094,0,0,0,0,0,0,26.00,25.94,25.98,10.57,49.29
$GC,186,-1.82,-480.4,1766,1964,3054,4094,19.6,-15.2,27,193,0.00,1.05,0.00,0.000,260,0.000,0.043,1767,2366,3054,3054,4095,0,0,0,0,0,0,26.21,25.93,26.22,10.56,48.85
$GC,237,-1.82,-480.4,1766,2366,3054,4095,25.6,-12.1,35,244,0.00,1.00,0.00,0.000,1030,0.000,0.027,1767,1964,3055,3055,4095,0,0,0,0,0,0,26.05,26.02,26.07,10.52,48.34
$GC,278,-1.82,-480.4,1766,1964,3055,4095,30.6,-12.5,41,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1964,3056,3056,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.48,47.71
$GC,316,-1.82,-480.4,1766,1964,3057,4094,35.8,-12.7,47,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1964,3057,3057,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.46,46.25
$GC,354,-1.82,-480.4,1766,1964,3058,4094,40.8,-13.0,53,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1964,3058,3058,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.44,45.98
$GC,392,-1.82,-480.4,1766,1964,3058,4095,45.9,-13.9,59,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1964,3059,3059,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.43,45.82
$GC,430,-1.82,-480.4,1766,1964,3060,4095,51.1,-13.8,65,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1964,3060,3060,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.42,44.36
$GC,468,-1.82,-480.4,1766,1964,3060,4094,56.0,-13.3,71,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1964,3061,3061,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.41,44.60
$STATE,499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,499,begin apogee
$GC,507,-0.45,0.0,1767,2139,3061,4095,60.2,-12.6,76,542,4.45,0.00,27.88,1.285,10244,0.055,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.17,25.32,24.30,10.40,44.68
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,547,1.82,480.4,2185,2139,2484,4094,63.1,0.0,82,589,7.53,1.10,27.45,1.266,10500,0.032,0.050,2909,2551,1924,1924,4094,0,0,0,0,0,0,25.51,25.45,23.91,10.28,44.09
$GC,604,1.82,480.4,2908,2551,1923,4094,58.8,11.8,91,610,0.00,1.05,0.00,0.000,1030,0.000,0.024,2909,2132,1923,1923,4094,0,0,0,0,0,0,25.29,25.26,25.30,10.16,43.73
$GC,643,1.82,480.4,2909,2132,1922,4094,53.3,14.5,97,649,0.00,1.05,0.00,0.000,516,0.000,0.043,2909,1723,1922,1922,4094,0,0,0,0,0,0,25.68,25.41,25.69,10.15,43.18
$GC,754,1.82,480.4,2908,1723,1918,4094,37.5,13.5,115,760,0.00,0.95,0.00,0.000,1030,0.000,0.028,2909,2114,1918,1918,4094,0,0,0,0,0,0,25.78,25.75,25.80,10.13,44.48
$GC,793,1.82,480.4,2908,2114,1917,4094,32.4,13.9,121,799,0.00,1.20,0.00,0.000,260,0.000,0.051,2909,2558,1917,1917,4095,0,0,0,0,0,0,26.06,25.76,26.07,10.13,44.56
$GC,837,1.82,480.4,2908,2557,1915,4095,25.9,14.2,128,844,0.00,1.05,0.00,0.000,1030,0.000,0.024,2909,2126,1915,1915,4094,0,0,0,0,0,0,25.93,25.91,25.95,10.12,45.78
$GC,877,1.82,480.4,2908,2125,1914,4094,20.8,13.8,134,883,0.00,1.02,0.00,0.000,516,0.000,0.042,2909,1724,1914,1914,4094,0,0,0,0,0,0,26.17,25.89,26.18,10.13,45.47
$GC,910,1.82,480.4,2908,1723,1913,4094,16.4,13.1,139,916,0.00,0.90,0.00,0.000,1030,0.000,0.028,2909,2098,1913,1913,4094,0,0,0,0,0,0,26.01,25.98,26.02,10.18,47.04
$GC,949,1.82,480.4,2909,2102,1912,4094,11.9,12.0,145,955,0.00,1.23,0.00,0.000,260,0.000,0.046,2909,2560,1912,1912,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.21,49.25
$GC,1006,1.82,480.4,2908,2559,1910,4094,4.7,14.3,154,1012,0.00,1.15,0.00,0.000,1030,0.000,0.027,2909,2100,1910,1910,4094,0,0,0,0,0,0,26.08,26.06,26.11,10.23,50.39
$STATE,1024,end climb,FINISH_DEPTH_REACHED
$STATE,1024,begin subsurface finish
$FINISH1,1.7,1.023958,114
$GC,1032,0.17,114.5,2909,2138,1909,4095,1.7,14.9,157,1046,5.22,0.00,-3.95,0.000,20998,0.028,0.000,2399,2138,2355,2355,4094,0,0,0,0,0,0,26.08,25.03,26.13,10.23,51.14
$FINISH2,0.1
$STATE,1047,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,032721
$TT8_MAMPS,0.025466,0.161784
$HUMID,51.33
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,23.91,24.615
$10V_AH,10.34,27.889
$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,33.675,15.525,55.325,0.000,0.000,77.212,60.503,393.516,0.000,0.000,51.517,426.024,324.392,160.172,843.721,192.788,33.450,347.001,0.000,241.492,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1257.660,1285.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,10805,159
$CAP_FILE_SIZE,38927,0
$CFSIZE,1024409600,975208448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120817,033704,6111.648,-17350.133,5,0.7,50,7.0,0.9,233.4,12,7.5