version: 66.13
glider: 401
mission: 22
dive: 963
start: 8 13 117 4 29 53
data:
$ID,401
$MISSION,22
$DIVE,963
$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,42
$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
$GPS1,130817,034711,6121.1567,-17346.0508,6,0.9,19,7.1,0.4,142.8,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.5
$GPS2,130817,034711,6121.1567,-17346.0508,6,0.9,19,7.1,0.4,142.8,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.123808,0.373191
$KALMAN_X,65206.265625,39.419243,218.105148,-255345.500000,-78.439140
$KALMAN_Y,-53508.261719,2137.632568,609.846802,283824.812500,-198.091553
$MHEAD_RNG_PITCHd_Wd,11.3,6701,-11.6,-10.526,-14.99,6893
$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,-1.78,-483.4,2395,1961,2355,4092,0.0,0.0,0,18,6.20,0.00,-0.50,0.000,20482,0.024,0.000,1788,1956,2410,2410,4095,0,0,0,0,0,0,26.03,28.83,26.10,10.33,53.11
$GC,22,-1.78,-483.4,1788,1962,2410,4095,0.1,0.0,1,35,0.00,1.20,-5.75,0.000,16900,0.000,1.277,1788,1516,3052,3052,4094,0,0,0,0,0,0,26.27,24.73,26.29,10.33,52.71
$GC,55,-1.78,-483.4,1787,1516,3052,4094,3.1,-12.0,6,62,0.00,1.00,0.00,0.000,1030,0.000,0.025,1788,1957,3053,3053,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.48,52.52
$GC,94,-1.78,-483.4,1787,1957,3054,4095,9.7,-15.8,12,100,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1957,3054,3054,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.48,52.99
$GC,132,-1.78,-483.4,1787,1957,3055,4095,14.4,-12.6,18,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1957,3055,3055,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.48,52.91
$GC,171,-1.78,-483.4,1787,1957,3056,4094,21.1,-17.7,24,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1957,3057,3057,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.48,52.24
$GC,209,-1.78,-483.4,1787,1958,3057,4095,25.9,-11.5,30,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1958,3057,3057,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.45,52.16
$GC,247,-1.78,-483.4,1788,1959,3058,4095,30.6,-11.9,36,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1959,3058,3058,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.42,51.26
$GC,286,-1.78,-483.4,1787,1959,3059,4094,35.1,-12.0,42,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1959,3059,3059,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.40,50.70
$GC,324,-1.78,-483.4,1787,1959,3060,4095,39.6,-11.5,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1960,3060,3060,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,49.80
$GC,362,-1.78,-483.4,1787,1959,3060,4095,44.1,-11.5,54,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1959,3060,3060,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,48.70
$GC,400,-1.78,-483.4,1787,1959,3061,4095,48.7,-12.0,60,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1959,3061,3061,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.37,48.46
$GC,438,-1.78,-483.4,1787,1959,3062,4095,53.5,-12.6,66,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1959,3062,3062,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.36,47.59
$GC,477,-1.78,-483.4,1787,1959,3063,4094,58.3,-12.9,72,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1959,3063,3063,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.35,47.20
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,495,-0.45,0.0,1787,2120,3064,4095,60.1,-12.6,74,531,4.22,0.00,27.83,1.294,10244,0.055,0.000,2185,2120,2484,2484,4095,0,0,0,0,0,0,26.22,25.36,24.34,10.35,47.08
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,535,1.78,483.4,2186,2120,2484,4095,62.8,0.0,80,577,7.40,0.00,27.50,1.265,11270,0.033,0.000,2890,2121,1920,1920,4095,0,0,0,0,0,0,25.60,25.76,23.92,10.23,47.04
$GC,609,1.78,483.4,2889,2120,1920,4095,56.6,12.0,92,616,0.00,1.10,0.00,0.000,516,0.000,0.044,2890,1708,1919,1919,4095,0,0,0,0,0,0,25.58,25.32,25.60,10.10,46.18
$GC,672,1.78,483.4,2889,1708,1918,4095,48.5,13.0,102,679,0.00,1.00,0.00,0.000,1030,0.000,0.028,2890,2111,1918,1918,4094,0,0,0,0,0,0,25.62,25.60,25.63,10.09,45.90
$GC,711,1.78,483.4,2889,2111,1917,4094,43.3,13.6,108,718,0.00,1.25,0.00,0.000,260,0.000,0.053,2890,2570,1917,1917,4094,0,0,0,0,0,0,25.93,25.62,25.94,10.09,46.49
$GC,750,1.78,483.4,2889,2569,1916,4094,38.1,13.8,114,757,0.00,1.17,0.00,0.000,1030,0.000,0.027,2890,2105,1916,1916,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.07,46.85
$GC,790,1.78,483.4,2889,2104,1914,4094,33.0,13.1,120,796,0.00,1.00,0.00,0.000,516,0.000,0.047,2890,1717,1914,1914,4094,0,0,0,0,0,0,26.07,25.78,26.08,10.08,46.61
$GC,951,1.90,564.0,2889,1717,1910,4094,14.3,9.3,146,965,0.35,0.95,5.53,0.558,11270,0.039,0.027,2931,2113,1825,1825,4095,0,0,0,0,0,0,26.04,26.03,25.05,10.17,50.94
$GC,997,1.90,564.0,2930,2113,1824,4095,8.1,13.1,153,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2113,1824,1824,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.16,52.28
$GC,1036,1.90,564.0,2930,2113,1823,4094,4.0,12.4,159,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2113,1823,1823,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.17,52.24
$STATE,1053,end climb,SURFACE_DEPTH_REACHED
$STATE,1053,begin surface coast
$FINISH,0.3,1.024070
$STATE,1066,end surface coast,CONTROL_FINISHED_OK
$STATE,1066,begin surface
$SM_CCo,1167,0.00,0.000,0,0,1821,570.11
$SM_GC,0.93,28.00,0.43,0.00,0.021,0.062,0.000,230,1961,1821,-6.59,1.55,570.11,0,0,0,0,0,0,25.96,26.03,26.07
$IRIDIUM_FIX,6149.06,-17422.35,130817,033911
$TT8_MAMPS,0.025466,0.107856
$HUMID,53.89
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.92,26.297
$10V_AH,10.40,29.366
$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,46.175,10.050,60.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,432.392,310.726,174.747,238.697,74.189,33.415,357.590,0.000,246.992,0.000,0.540,0.000
$DEVICE_MAMPS,55.080,1276.785,1293.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,10832,164
$CAP_FILE_SIZE,31562,0
$CFSIZE,1024409600,972177408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,045031,6121.665,-17346.219,9,0.8,34,7.1,1.3,147.8,11,4.9