version: 66.13
glider: 401
mission: 22
dive: 929
start: 8 12 117 14 59 52
data:
$ID,401
$MISSION,22
$DIVE,929
$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,34
$R_STBD_OVSHOOT,64
$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
$GPS1,120817,143509,6116.0352,-17347.7598,8,0.8,19,7.0,0.5,54.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.7
$GPS2,120817,143509,6116.0352,-17347.7598,8,0.8,19,7.0,0.5,54.0,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.101165,0.420532
$KALMAN_X,68107.968750,-196.573792,202.127426,-259612.687500,-49.297501
$KALMAN_Y,-49840.406250,1959.521606,545.335999,270915.625000,-169.854919
$MHEAD_RNG_PITCHd_Wd,6.5,16289,-10.0,-10.526,-13.68,8679
$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,6,begin dive
$GC,9,-1.64,-487.5,2406,1969,2365,4092,0.0,0.0,0,18,5.85,0.00,-0.88,0.000,20482,0.024,0.000,1824,1975,2463,2463,4094,0,0,0,0,0,0,26.17,28.83,26.20,10.35,51.77
$GC,22,-1.64,-487.5,1824,1975,2463,4094,0.1,0.0,1,35,0.00,1.17,-5.47,0.000,16900,0.000,1.271,1824,1528,3058,3058,4095,0,0,0,0,0,0,26.34,24.82,26.36,10.38,52.36
$GC,97,-1.64,-487.5,1823,1527,3060,4095,8.0,-13.4,13,104,0.00,0.93,0.00,0.000,1030,0.000,0.028,1824,1922,3060,3060,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.51,51.49
$GC,136,-1.64,-487.5,1823,1922,3061,4094,14.0,-15.2,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1922,3062,3062,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.52,51.29
$GC,174,-1.64,-487.5,1824,1923,3062,4095,19.6,-14.7,25,181,0.00,1.17,0.00,0.000,260,0.000,0.044,1824,2370,3062,3062,4094,0,0,0,0,0,0,26.36,26.07,26.38,10.52,51.37
$GC,195,-1.64,-487.5,1823,2370,3062,4094,22.3,-13.5,28,202,0.00,1.00,0.00,0.000,1030,0.000,0.028,1824,1972,3062,3062,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.52,51.22
$GC,235,-1.64,-487.5,1824,1972,3063,4094,26.0,-9.2,34,241,0.00,1.15,0.00,0.000,516,0.000,0.050,1824,1520,3063,3063,4094,0,0,0,0,0,0,26.41,26.10,26.42,10.48,50.94
$GC,267,-1.64,-487.5,1824,1519,3064,4094,29.6,-10.9,39,274,0.00,1.00,0.00,0.000,1030,0.000,0.024,1824,1953,3064,3064,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.46,50.47
$GC,307,-1.64,-487.5,1824,1953,3064,4095,33.8,-11.2,45,313,0.00,1.08,0.00,0.000,260,0.000,0.044,1824,2365,3065,3065,4094,0,0,0,0,0,0,26.45,26.16,26.46,10.44,49.84
$GC,340,-1.64,-487.5,1824,2365,3065,4094,37.3,-10.0,50,347,0.00,1.00,0.00,0.000,1030,0.000,0.028,1824,1963,3066,3066,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.42,49.01
$GC,379,-1.64,-487.5,1824,1963,3066,4095,41.4,-10.3,56,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1963,3066,3066,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.41,48.22
$GC,418,-1.64,-487.5,1824,1963,3067,4094,45.6,-10.6,62,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1963,3067,3067,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.40,47.87
$GC,456,-1.64,-487.5,1824,1963,3067,4095,49.5,-10.0,68,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1963,3068,3068,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.38,46.96
$GC,495,-1.64,-487.5,1824,1963,3068,4095,53.4,-10.4,74,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1963,3068,3068,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.38,46.73
$GC,533,-1.64,-487.5,1824,1963,3069,4095,57.5,-10.6,80,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,1963,3069,3069,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.37,46.65
$STATE,556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,557,begin apogee
$GC,564,-0.45,0.0,1824,2136,3070,4095,60.3,-10.9,84,600,3.80,0.00,28.12,1.285,10244,0.054,0.000,2185,2136,2484,2484,4095,0,0,0,0,0,0,26.28,25.41,24.39,10.37,46.45
$STATE,601,end apogee,CONTROL_FINISHED_OK
$STATE,601,begin climb
$GC,604,1.64,487.5,2184,2136,2483,4095,62.5,0.0,90,646,6.97,0.00,27.83,1.261,11270,0.033,0.000,2850,2136,1915,1915,4095,0,0,0,0,0,0,25.65,25.80,23.96,10.24,45.62
$GC,678,1.64,487.5,2849,2136,1914,4095,56.6,11.1,102,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2136,1914,1914,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.11,44.99
$GC,716,1.64,487.5,2849,2136,1913,4094,52.1,12.4,108,723,0.00,1.12,0.00,0.000,516,0.000,0.043,2850,1716,1913,1913,4094,0,0,0,0,0,0,25.77,25.50,25.78,10.11,44.99
$GC,791,1.64,487.5,2849,1716,1911,4094,43.5,11.2,120,798,0.00,0.98,0.00,0.000,1030,0.000,0.028,2850,2114,1911,1911,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.10,45.62
$GC,830,1.64,487.5,2850,2113,1910,4094,39.0,11.5,126,837,0.00,1.23,0.00,0.000,260,0.000,0.052,2850,2565,1910,1910,4094,0,0,0,0,0,0,26.04,25.74,26.06,10.10,46.18
$GC,864,1.64,487.5,2850,2565,1909,4094,35.0,12.2,131,870,0.00,1.15,0.00,0.000,1030,0.000,0.026,2850,2105,1909,1909,4095,0,0,0,0,0,0,25.89,25.86,25.91,10.10,46.22
$GC,903,1.64,487.5,2849,2105,1908,4095,30.7,11.1,137,909,0.00,1.00,0.00,0.000,516,0.000,0.047,2850,1716,1908,1908,4094,0,0,0,0,0,0,26.15,25.86,26.16,10.09,46.65
$GC,996,1.64,487.5,2850,1715,1906,4094,20.9,11.1,152,1002,0.00,0.93,0.00,0.000,1030,0.000,0.031,2850,2094,1906,1906,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.13,47.83
$GC,1035,1.72,538.8,2849,2094,1905,4094,17.1,9.9,158,1044,0.15,1.27,4.10,0.470,10500,0.056,0.051,2876,2569,1854,1854,4094,0,0,0,0,0,0,26.10,25.89,25.08,10.17,49.92
$GC,1101,1.72,538.8,2875,2569,1853,4094,10.0,11.5,168,1107,0.00,1.17,0.00,0.000,1030,0.000,0.029,2876,2104,1853,1853,4094,0,0,0,0,0,0,26.09,26.08,26.11,10.18,51.89
$GC,1140,1.95,693.4,2875,2096,1852,4094,6.4,8.7,174,1154,0.68,1.02,9.30,0.601,10756,0.035,0.046,2947,1706,1674,1674,4095,0,0,0,0,0,0,26.11,25.87,25.17,10.19,52.20
$STATE,1184,end climb,FINISH_DEPTH_REACHED
$STATE,1184,begin subsurface finish
$FINISH1,1.4,1.024059,107
$GC,1193,0.16,107.4,2946,2149,1673,4094,1.4,11.1,181,1213,5.62,1.17,-5.62,0.000,20996,0.021,1.271,2392,1706,2365,2365,4094,0,0,0,0,0,0,26.04,24.75,26.08,10.17,52.67
$FINISH2,0.3
$STATE,1214,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,131351
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.46
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.96,25.381
$10V_AH,10.42,28.562
$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,23.075,21.600,69.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,481.856,277.960,171.514,267.881,73.208,33.428,376.857,0.000,275.343,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1271.430,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,14264,184
$CAP_FILE_SIZE,36588,0
$CFSIZE,1024409600,973832192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,143509,6116.035,-17347.760,8,0.8,19,7.0,0.5,54.0,10,4.9