version: 66.13
glider: 401
mission: 22
dive: 953
start: 8 13 117 0 32 47
data:
$ID,401
$MISSION,22
$DIVE,953
$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,21
$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
$GPS1,130817,001146,6120.6768,-17346.3906,5,0.8,21,7.1,0.4,81.7,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-0.1
$GPS2,130817,001146,6120.6768,-17346.3906,5,0.8,21,7.1,0.4,81.7,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.024644,0.387760
$KALMAN_X,65560.515625,-75.154999,239.794052,-255927.484375,87.346909
$KALMAN_Y,-51014.675781,2342.233887,908.800415,279942.375000,-38.783752
$MHEAD_RNG_PITCHd_Wd,356.5,7638,-11.8,-10.526,-15.16,6699
$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,-469.6,2397,1959,2350,4092,0.0,0.0,0,18,6.30,0.00,-0.75,0.000,20482,0.021,0.000,1772,1959,2456,2456,4094,0,0,0,0,0,0,26.10,28.83,26.14,10.34,51.53
$GC,22,-1.77,-469.6,1772,1959,2456,4094,1.3,0.0,1,29,0.00,0.00,-4.05,0.000,16390,0.000,0.000,1772,1959,3039,3039,4094,0,0,0,0,0,0,26.31,25.05,26.32,10.37,51.65
$GC,61,-1.77,-469.6,1772,1959,3040,4094,4.7,-11.9,7,67,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3040,3040,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.49,51.49
$GC,100,-1.77,-469.6,1771,1959,3041,4094,10.1,-14.3,13,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3041,3041,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.49,51.53
$GC,138,-1.77,-469.6,1772,1959,3042,4095,16.7,-17.7,19,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3042,3042,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.50,51.02
$GC,176,-1.77,-469.6,1772,1959,3043,4095,23.4,-17.8,25,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3043,3043,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.50,50.94
$GC,214,-1.77,-469.6,1772,1958,3044,4094,29.7,-15.8,31,221,0.00,1.12,0.00,0.000,516,0.000,0.050,1772,1514,3045,3045,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.47,50.86
$GC,259,-1.77,-469.6,1771,1514,3045,4095,35.1,-11.8,38,266,0.00,1.00,0.00,0.000,1030,0.000,0.025,1773,1946,3045,3045,4094,0,0,0,0,0,0,26.26,26.22,26.27,10.43,50.31
$GC,298,-1.77,-469.6,1771,1945,3046,4094,39.6,-11.5,44,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3046,3046,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.41,49.37
$GC,337,-1.77,-469.6,1771,1945,3047,4094,44.2,-12.2,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1946,3047,3047,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.39,48.34
$GC,375,-1.77,-469.6,1771,1945,3048,4095,48.8,-11.8,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3048,3048,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.38,47.51
$GC,413,-1.77,-469.6,1771,1946,3049,4094,53.4,-12.2,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1946,3049,3049,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.38,47.67
$GC,451,-1.77,-469.6,1771,1946,3050,4095,58.3,-13.2,68,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1946,3050,3050,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.37,46.53
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,469,-0.45,0.0,1772,2138,3050,4094,60.1,-12.9,70,505,4.38,0.00,27.20,1.285,10244,0.055,0.000,2184,2138,2483,2483,4094,0,0,0,0,0,0,26.26,25.41,24.40,10.37,46.18
$STATE,506,end apogee,CONTROL_FINISHED_OK
$STATE,506,begin climb
$GC,510,1.77,469.6,2184,2138,2484,4094,62.8,0.0,76,551,7.43,0.00,26.80,1.259,11270,0.033,0.000,2891,2139,1936,1936,4094,0,0,0,0,0,0,25.65,25.82,24.01,10.24,45.90
$GC,584,1.77,469.6,2890,2139,1936,4094,56.5,12.2,88,590,0.00,1.15,0.00,0.000,516,0.000,0.043,2891,1707,1935,1935,4094,0,0,0,0,0,0,25.63,25.35,25.63,10.11,44.56
$GC,659,1.77,469.6,2891,1707,1933,4094,46.7,13.2,100,665,0.00,0.98,0.00,0.000,1030,0.000,0.028,2891,2104,1933,1933,4094,0,0,0,0,0,0,25.68,25.66,25.71,10.10,45.19
$GC,698,1.77,469.6,2890,2104,1932,4094,41.2,14.1,106,705,0.00,1.25,0.00,0.000,260,0.000,0.051,2892,2564,1932,1932,4094,0,0,0,0,0,0,25.98,25.68,25.99,10.10,45.27
$GC,731,1.77,469.6,2891,2564,1931,4094,36.5,14.5,111,737,0.00,1.23,0.00,0.000,1030,0.000,0.027,2891,2083,1931,1931,4094,0,0,0,0,0,0,25.84,25.80,25.85,10.10,45.70
$GC,770,1.77,469.6,2891,2083,1930,4094,31.6,11.9,117,777,0.00,0.98,0.00,0.000,516,0.000,0.047,2891,1704,1930,1930,4094,0,0,0,0,0,0,26.10,25.81,26.11,10.10,46.41
$GC,917,1.77,469.6,2891,1703,1926,4094,15.7,11.1,141,923,0.00,0.88,0.00,0.000,1030,0.000,0.028,2891,2074,1926,1926,4094,0,0,0,0,0,0,26.07,26.04,26.09,10.19,50.66
$GC,956,1.77,469.6,2891,2074,1925,4094,11.5,10.8,147,963,0.00,1.30,0.00,0.000,260,0.000,0.051,2891,2562,1925,1925,4094,0,0,0,0,0,0,26.31,26.00,26.32,10.20,51.02
$GC,989,1.84,511.6,2891,2562,1924,4094,8.1,9.9,152,998,0.12,1.30,3.50,0.354,11270,0.050,0.030,2911,2050,1886,1886,4094,0,0,0,0,0,0,26.08,26.08,25.21,10.21,51.29
$GC,1030,1.84,511.6,2910,2049,1885,4094,3.4,11.5,158,1037,0.00,0.88,0.00,0.000,516,0.000,0.055,2911,1709,1885,1885,4095,0,0,0,0,0,0,26.34,26.03,26.35,10.21,51.69
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1048,begin subsurface finish
$FINISH1,1.4,1.023968,114
$GC,1058,0.17,113.7,2911,2145,1885,4094,1.4,9.4,161,1072,5.25,1.23,-4.07,0.000,20996,0.025,1.284,2396,1709,2358,2358,4095,0,0,0,0,0,0,26.13,24.81,26.17,10.21,52.20
$FINISH2,0.1
$STATE,1073,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1073,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,120817,225619
$TT8_MAMPS,0.025466,0.107107
$HUMID,52.99
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,24.01,26.042
$10V_AH,10.42,29.131
$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,23.475,16.375,57.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.469,248.013,150.105,237.671,67.258,33.428,331.708,0.000,245.623,0.000,0.544,0.000
$DEVICE_MAMPS,55.080,1284.435,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,10848,163
$CAP_FILE_SIZE,30905,0
$CFSIZE,1024409600,972668928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,001146,6120.677,-17346.391,5,0.8,21,7.1,0.4,81.7,11,4.8