version: 66.13
glider: 401
mission: 22
dive: 965
start: 8 13 117 5 19 31
data:
$ID,401
$MISSION,22
$DIVE,965
$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,18
$R_STBD_OVSHOOT,52
$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
$GPS1,130817,045756,6121.6011,-17346.2637,5,0.9,16,7.1,0.5,313.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-5.6
$GPS2,130817,045756,6121.6011,-17346.2637,5,0.9,16,7.1,0.5,313.3,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.193133,0.368544
$KALMAN_X,64820.144531,-5.191137,148.017914,-255044.734375,-82.323105
$KALMAN_Y,-53421.402344,2119.335449,589.985291,284600.718750,-27.897217
$MHEAD_RNG_PITCHd_Wd,20.6,5964,-10.7,-10.526,-14.20,7899
$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,-1.70,-487.5,2392,1966,2361,4092,0.0,0.0,0,18,6.00,0.00,-1.10,0.000,20482,0.020,0.000,1797,1972,2495,2495,4094,0,0,0,0,0,0,26.11,28.83,26.16,10.34,51.73
$GC,22,-1.70,-487.5,1797,1971,2495,4094,0.6,0.0,1,35,0.00,1.25,-4.45,0.000,16900,0.000,1.281,1798,1519,3060,3060,4095,0,0,0,0,0,0,26.32,24.77,26.33,10.37,51.85
$GC,97,-1.70,-487.5,1797,1519,3062,4095,10.5,-17.0,13,104,0.00,0.98,0.00,0.000,1030,0.000,0.028,1797,1930,3062,3062,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.48,51.92
$GC,136,-1.70,-487.5,1797,1930,3063,4094,16.3,-16.1,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1930,3063,3063,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.49,51.69
$GC,174,-1.70,-487.5,1797,1929,3064,4095,22.1,-14.5,25,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1930,3064,3064,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.49,51.53
$GC,213,-1.70,-487.5,1797,1930,3065,4094,26.1,-10.2,31,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1931,3065,3065,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.45,51.53
$GC,251,-1.70,-487.5,1797,1931,3066,4094,30.7,-11.9,37,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1931,3066,3066,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.42,50.98
$GC,290,-1.70,-487.5,1797,1933,3066,4095,35.3,-11.9,43,296,0.00,1.15,0.00,0.000,260,0.000,0.044,1797,2370,3067,3067,4094,0,0,0,0,0,0,26.41,26.13,26.43,10.41,49.88
$GC,323,-1.70,-487.5,1797,2370,3067,4094,39.4,-12.3,48,329,0.00,1.05,0.00,0.000,1030,0.000,0.029,1797,1949,3067,3067,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.38,49.25
$GC,362,-1.70,-487.5,1797,1948,3067,4094,43.9,-11.6,54,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1949,3068,3068,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.38,47.87
$GC,400,-1.70,-487.5,1797,1949,3069,4095,48.4,-11.5,60,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1949,3069,3069,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.37,47.51
$GC,438,-1.70,-487.5,1796,1948,3070,4095,52.9,-11.8,66,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1949,3070,3070,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.36,47.20
$GC,476,-1.70,-487.5,1797,1949,3070,4095,57.4,-11.9,72,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1948,3070,3070,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.36,47.40
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,507,-0.45,0.0,1797,2139,3071,4095,60.6,-12.2,76,543,4.10,0.00,28.27,1.307,10244,0.054,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.23,25.35,24.32,10.35,46.77
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,545,begin climb
$GC,548,1.70,487.5,2185,2139,2484,4094,63.2,0.0,82,589,7.15,0.00,27.83,1.273,11270,0.033,0.000,2870,2139,1916,1916,4094,0,0,0,0,0,0,25.61,25.75,23.91,10.23,46.22
$GC,622,1.70,487.5,2869,2139,1915,4094,57.4,11.6,94,629,0.00,1.12,0.00,0.000,516,0.000,0.043,2870,1715,1915,1915,4094,0,0,0,0,0,0,25.58,25.32,25.59,10.10,45.11
$GC,691,1.70,487.5,2869,1715,1913,4094,48.7,12.6,105,698,0.00,1.00,0.00,0.000,1030,0.000,0.028,2870,2121,1913,1913,4094,0,0,0,0,0,0,25.64,25.60,25.65,10.08,45.47
$GC,730,1.70,487.5,2869,2121,1912,4094,43.8,13.1,111,737,0.00,1.20,0.00,0.000,260,0.000,0.052,2869,2561,1912,1912,4094,0,0,0,0,0,0,25.94,25.64,25.95,10.08,45.70
$GC,763,1.70,487.5,2869,2561,1911,4094,39.6,13.0,116,770,0.00,1.12,0.00,0.000,1030,0.000,0.027,2870,2112,1911,1911,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.08,46.85
$GC,802,1.70,487.5,2869,2112,1910,4094,34.8,12.2,122,809,0.00,1.02,0.00,0.000,516,0.000,0.047,2870,1717,1909,1909,4094,0,0,0,0,0,0,26.07,25.78,26.08,10.08,46.37
$GC,889,1.70,487.5,2869,1717,1907,4094,24.6,11.6,136,896,0.00,0.93,0.00,0.000,1030,0.000,0.028,2870,2101,1908,1908,4094,0,0,0,0,0,0,25.98,25.94,25.99,10.08,47.12
$GC,929,1.70,487.5,2869,2101,1907,4094,20.0,12.0,142,935,0.00,1.25,0.00,0.000,260,0.000,0.052,2870,2565,1908,1908,4094,0,0,0,0,0,0,26.23,25.92,26.24,10.12,47.79
$GC,1058,1.70,487.5,2869,2565,1903,4094,6.3,12.0,163,1064,0.00,0.98,0.00,0.000,1030,0.000,0.028,2870,2163,1903,1903,4094,0,0,0,0,0,0,26.15,26.12,26.16,10.18,51.65
$GC,1097,1.87,602.8,2869,2161,1902,4094,2.4,9.0,169,1106,0.45,0.00,5.25,0.465,10754,0.037,0.000,2924,2158,1822,1822,4094,0,0,0,0,0,0,26.15,28.83,26.17,10.19,52.32
$STATE,1107,end climb,FINISH_DEPTH_REACHED
$STATE,1107,begin subsurface finish
$FINISH1,1.7,1.024008,111
$GC,1115,0.17,111.0,2923,2161,1822,4094,1.7,9.1,170,1129,5.35,1.20,-4.57,0.000,20996,0.024,1.281,2397,1721,2359,2359,4094,0,0,0,0,0,0,26.08,24.78,26.14,10.18,53.15
$FINISH2,0.3
$STATE,1130,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$IRIDIUM_FIX,6144.84,-17201.19,130817,034205
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.01
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.91,26.352
$10V_AH,10.41,29.415
$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,23.050,15.325,61.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.273,268.749,152.592,250.649,68.174,33.429,341.389,0.000,258.316,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1280.610,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,14236,172
$CAP_FILE_SIZE,31519,0
$CFSIZE,1024409600,972079104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,045756,6121.601,-17346.264,5,0.9,16,7.1,0.5,313.3,10,5.0