version: 66.13
glider: 401
mission: 22
dive: 904
start: 8 12 117 4 49 43
data:
$ID,401
$MISSION,22
$DIVE,904
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,120817,044054,6112.1650,-17350.6699,8,1.0,27,7.0,1.3,293.9,9,5.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-36.5
$GPS2,120817,044835,6112.1465,-17350.9395,5,1.1,32,7.0,1.3,192.7,9,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.251754,0.281839
$KALMAN_X,68193.296875,-720.482056,-370.841370,-261600.390625,-197.322174
$KALMAN_Y,-47214.125000,1768.363403,397.988129,261410.062500,3.355194
$MHEAD_RNG_PITCHd_Wd,34.8,23941,-12.2,-10.526,-15.56,6270
$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,-438.9,229,1977,1546,4092,0.0,0.0,0,20,8.95,0.00,0.00,0.000,2049,0.086,0.000,1007,1979,1546,1546,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.22,51.69
$GC,23,-1.77,-438.9,1007,1978,1546,4094,0.6,0.0,1,49,8.07,0.00,-13.25,0.000,18950,0.045,0.000,1766,1978,3000,3000,4095,0,0,0,0,0,0,25.97,24.95,26.04,10.22,51.73
$GC,88,-1.84,-487.5,1765,1972,3001,4095,2.3,-9.0,9,97,0.00,0.00,-0.28,0.000,16390,0.000,0.000,1766,1973,3063,3063,4095,0,0,0,0,0,0,26.24,25.44,26.11,10.54,51.53
$GC,135,-1.84,-487.5,1765,1972,3064,4095,11.1,-18.0,15,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1972,3064,3064,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.56,51.02
$GC,180,-1.84,-487.5,1765,1972,3066,4094,18.7,-17.3,21,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1973,3066,3066,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.55,50.23
$GC,225,-1.84,-487.5,1765,1972,3067,4095,24.4,-10.1,27,234,0.00,1.00,0.00,0.000,260,0.000,0.041,1766,2355,3067,3067,4094,0,0,0,0,0,0,26.24,25.96,26.25,10.52,49.60
$GC,271,-1.84,-487.5,1765,2355,3068,4094,29.7,-12.4,33,279,0.00,1.00,0.00,0.000,1030,0.000,0.028,1765,1954,3068,3068,4094,0,0,0,0,0,0,26.06,26.02,26.09,10.48,48.70
$GC,316,-1.84,-487.5,1765,1954,3069,4094,35.9,-13.8,39,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1953,3069,3069,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.45,47.75
$GC,361,-1.84,-487.5,1765,1953,3070,4095,41.9,-13.0,45,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1954,3070,3070,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.43,46.65
$GC,407,-1.84,-487.5,1765,1954,3071,4095,47.9,-12.8,51,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1954,3071,3071,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.42,45.55
$GC,452,-1.84,-487.5,1765,1954,3072,4094,53.9,-13.3,57,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1954,3072,3072,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.40,45.03
$GC,496,-1.84,-487.5,1765,1953,3073,4094,59.8,-13.3,63,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1954,3074,3074,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.39,44.84
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,513,begin apogee
$GC,520,-0.45,0.0,1766,2130,3075,4095,62.3,-13.2,65,556,4.47,0.00,28.62,1.311,10244,0.056,0.000,2185,2130,2484,2484,4094,0,0,0,0,0,0,26.17,25.29,24.27,10.39,44.68
$STATE,557,end apogee,CONTROL_FINISHED_OK
$STATE,557,begin climb
$GC,560,1.84,487.5,2185,2130,2484,4094,65.2,0.0,69,604,7.70,0.00,28.02,1.291,11270,0.033,0.000,2912,2130,1916,1916,4094,0,0,0,0,0,0,25.53,25.69,23.89,10.27,44.60
$GC,642,1.84,487.5,2912,2130,1915,4094,58.2,13.8,79,651,0.00,1.10,0.00,0.000,516,0.000,0.041,2913,1716,1914,1914,4094,0,0,0,0,0,0,25.60,25.34,25.60,10.14,43.66
$GC,713,1.84,487.5,2912,1715,1912,4094,47.6,13.9,89,723,0.00,1.00,0.00,0.000,1030,0.000,0.028,2912,2120,1912,1912,4094,0,0,0,0,0,0,25.65,25.63,25.67,10.13,44.05
$GC,760,1.84,487.5,2912,2120,1911,4094,40.8,14.6,95,769,0.00,1.20,0.00,0.000,260,0.000,0.050,2912,2562,1911,1911,4094,0,0,0,0,0,0,25.96,25.67,25.98,10.11,44.36
$GC,793,1.84,487.5,2912,2561,1910,4094,36.0,14.4,99,803,0.00,1.10,0.00,0.000,1030,0.000,0.026,2912,2117,1909,1909,4094,0,0,0,0,0,0,25.83,25.80,25.84,10.11,44.92
$GC,839,1.84,487.5,2912,2117,1908,4094,29.5,13.7,105,849,0.00,1.00,0.00,0.000,516,0.000,0.044,2913,1727,1907,1907,4094,0,0,0,0,0,0,26.10,25.82,26.11,10.11,44.88
$GC,900,1.84,487.5,2912,1726,1906,4094,21.3,14.3,113,909,0.00,0.98,0.00,0.000,1030,0.000,0.027,2913,2133,1906,1906,4094,0,0,0,0,0,0,25.96,25.94,25.99,10.13,45.62
$GC,948,2.00,590.0,2912,2133,1905,4094,17.0,8.9,119,960,0.35,1.15,6.62,0.623,10500,0.040,0.057,2953,2557,1795,1795,4094,0,0,0,0,0,0,26.04,25.79,25.00,10.18,47.83
$STATE,1068,end climb,FINISH_DEPTH_REACHED
$STATE,1068,begin subsurface finish
$FINISH1,1.0,1.023970,114
$GC,1077,0.17,113.6,2953,2117,1790,4094,1.0,16.7,136,1095,5.68,1.02,-4.85,0.000,20996,0.024,1.281,2394,1742,2356,2356,4094,0,0,0,0,0,0,26.06,24.76,26.10,10.20,51.33
$FINISH2,0.5
$STATE,1096,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,033015
$TT8_MAMPS,0.025466,0.252413
$HUMID,51.69
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.89,24.693
$10V_AH,10.17,27.971
$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,35.225,12.025,63.275,0.000,0.000,26.111,17.630,243.044,0.000,0.000,33.753,395.532,0.000,131.719,872.601,175.908,33.450,376.148,0.000,337.536,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1280.610,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.879,374.938,296.719,439.397,569.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,14401,138
$CAP_FILE_SIZE,32638,0
$CFSIZE,1024409600,975077376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120817,044835,6112.146,-17350.939,5,1.1,32,7.0,1.3,192.7,9,4.8