version: 66.13
glider: 401
mission: 22
dive: 973
start: 8 13 117 8 43 37
data:
$ID,401
$MISSION,22
$DIVE,973
$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,15
$R_STBD_OVSHOOT,25
$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
$GPS1,130817,083429,6123.4346,-17345.9297,37,0.8,41,7.1,0.3,87.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-34.9
$GPS2,130817,084229,6123.4497,-17345.9688,6,0.8,18,7.1,0.0,144.5,10,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.110307,0.507662
$KALMAN_X,64100.015625,-31.233040,74.641685,-253953.515625,47.556122
$KALMAN_Y,-53568.062500,2300.988525,786.197754,287771.812500,0.702881
$MHEAD_RNG_PITCHd_Wd,340.6,37647,-7.3,-10.526,-11.45,13643
$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,-1.40,-487.5,231,1959,1648,4092,0.0,0.0,0,18,6.65,0.00,0.00,0.000,2049,0.083,0.000,813,1959,1648,1648,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.21,51.06
$GC,21,-1.40,-487.5,813,1959,1648,4094,0.6,0.0,1,51,11.50,0.00,-12.50,0.000,18950,0.050,0.000,1883,1959,3053,3053,4095,0,0,0,0,0,0,25.97,25.46,26.03,10.21,51.49
$GC,84,-1.40,-487.5,1883,1956,3053,4095,3.1,-8.1,11,90,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1956,3053,3053,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.52,51.10
$GC,123,-1.40,-487.5,1883,1956,3054,4094,6.2,-8.9,17,129,0.00,1.12,0.00,0.000,260,0.000,0.042,1883,2383,3054,3054,4095,0,0,0,0,0,0,26.25,25.96,26.25,10.52,50.63
$GC,156,-1.40,-487.5,1883,2383,3054,4095,9.9,-11.1,22,162,0.00,1.12,0.00,0.000,1030,0.000,0.031,1883,1943,3055,3055,4095,0,0,0,0,0,0,26.06,26.01,26.08,10.52,50.66
$GC,195,-1.40,-487.5,1883,1943,3055,4095,14.3,-11.4,28,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1943,3055,3055,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.52,50.19
$GC,233,-1.40,-487.5,1883,1943,3056,4094,18.7,-11.0,34,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1942,3056,3056,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.53,49.96
$GC,271,-1.40,-487.5,1883,1942,3057,4095,23.3,-12.3,40,278,0.00,1.17,0.00,0.000,260,0.000,0.041,1884,2385,3057,3057,4094,0,0,0,0,0,0,26.37,26.08,26.39,10.50,49.88
$GC,383,-1.40,-487.5,1883,2384,3059,4094,33.7,-9.4,58,390,0.00,1.08,0.00,0.000,1030,0.000,0.027,1883,1949,3059,3059,4095,0,0,0,0,0,0,26.22,26.18,26.24,10.43,47.67
$GC,423,-1.40,-487.5,1883,1949,3060,4095,37.0,-8.1,64,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1949,3059,3059,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.42,47.59
$GC,462,-1.40,-487.5,1883,1949,3060,4094,40.3,-8.4,70,468,0.00,1.05,0.00,0.000,516,0.000,0.050,1883,1526,3060,3060,4094,0,0,0,0,0,0,26.49,26.18,26.50,10.40,46.85
$GC,495,-1.40,-487.5,1883,1526,3061,4094,43.2,-9.0,75,501,0.00,1.00,0.00,0.000,1030,0.000,0.024,1883,1963,3061,3061,4095,0,0,0,0,0,0,26.31,26.28,26.32,10.39,46.96
$GC,534,-1.40,-487.5,1883,1963,3061,4095,46.8,-8.9,81,540,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1963,3061,3061,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,46.14
$GC,573,-1.40,-487.5,1883,1963,3062,4094,50.2,-9.0,87,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1963,3062,3062,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.38,45.62
$GC,612,-1.40,-487.5,1883,1963,3062,4095,53.6,-8.8,93,618,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1964,3063,3063,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.37,46.02
$GC,650,-1.40,-487.5,1883,1963,3063,4094,57.2,-8.8,99,656,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1964,3063,3063,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.37,46.18
$STATE,680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,680,begin apogee
$GC,687,-0.45,0.0,1883,2132,3064,4095,60.3,-9.1,104,723,3.15,0.00,27.95,1.300,10244,0.050,0.000,2185,2132,2484,2484,4094,0,0,0,0,0,0,26.29,25.41,24.37,10.36,45.35
$STATE,724,end apogee,CONTROL_FINISHED_OK
$STATE,724,begin climb
$GC,727,1.40,487.5,2185,2132,2483,4094,62.4,0.0,110,769,6.20,0.00,27.92,1.273,11270,0.035,0.000,2774,2132,1915,1915,4094,0,0,0,0,0,0,25.66,25.81,23.93,10.24,45.35
$GC,802,1.73,711.3,2774,2132,1914,4094,57.6,8.8,122,821,1.00,1.15,13.75,1.125,10756,0.029,0.043,2880,1709,1654,1654,4094,0,0,0,0,0,0,25.44,25.01,24.03,10.11,45.07
$GC,860,1.73,711.3,2879,1709,1653,4094,51.7,10.6,131,866,0.00,0.95,0.00,0.000,1030,0.000,0.025,2880,2102,1653,1653,4094,0,0,0,0,0,0,25.45,25.42,25.46,10.04,44.60
$GC,899,1.81,763.2,2879,2102,1653,4094,47.7,10.1,137,907,0.15,0.00,4.53,0.700,10246,0.063,0.000,2898,2102,1595,1595,4094,0,0,0,0,0,0,25.56,25.30,24.35,10.04,45.23
$GC,940,1.81,763.2,2898,2102,1594,4094,43.2,11.3,143,946,0.00,1.02,0.00,0.000,516,0.000,0.044,2899,1713,1594,1594,4094,0,0,0,0,0,0,25.83,25.55,25.84,10.02,44.99
$GC,997,1.81,763.2,2898,1712,1592,4094,37.3,10.6,152,1003,0.00,0.88,0.00,0.000,1030,0.000,0.028,2898,2078,1592,1592,4094,0,0,0,0,0,0,25.76,25.76,25.77,10.02,46.06
$GC,1036,1.81,763.2,2898,2078,1591,4094,32.8,11.4,158,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2078,1591,1591,4095,0,0,0,0,0,0,26.03,26.05,26.04,10.02,46.02
$GC,1074,1.81,763.2,2898,2078,1590,4095,28.6,10.8,164,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2078,1590,1590,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.02,46.53
$GC,1113,2.05,921.0,2898,2078,1589,4094,25.0,9.3,170,1127,0.75,0.00,9.70,0.780,10246,0.028,0.000,2981,2078,1409,1409,4094,0,0,0,0,0,0,25.95,25.57,24.77,10.03,47.08
$GC,1159,2.14,979.8,2981,2078,1408,4094,20.1,10.1,177,1173,0.17,1.27,4.88,0.555,10500,0.056,0.050,3004,2554,1340,1340,4094,0,0,0,0,0,0,25.84,25.63,24.80,10.02,47.83
$GC,1206,2.53,1239.6,3003,2554,1339,4094,16.1,8.6,184,1231,1.20,1.23,14.85,0.749,11270,0.024,0.028,3130,2066,1038,1038,4094,0,0,0,0,0,0,25.85,25.84,24.75,10.04,49.76
$GC,1263,2.53,1239.6,3129,2065,1037,4094,9.7,11.5,193,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2066,1037,1037,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.00,51.33
$GC,1302,2.94,1513.6,3129,2066,1035,4094,6.8,8.5,199,1327,1.30,1.35,15.35,0.656,10500,0.027,0.047,3265,2553,718,718,4094,0,0,0,0,0,0,25.82,25.48,24.81,10.01,51.41
$STATE,1344,end climb,FINISH_DEPTH_REACHED
$STATE,1344,begin subsurface finish
$FINISH1,1.2,1.024050,108
$GC,1354,0.16,108.0,3265,2133,717,4094,1.2,13.9,206,1385,8.98,1.12,-13.82,0.000,21252,0.022,1.265,2390,1717,2366,2366,4094,0,0,0,0,0,0,25.75,24.45,25.78,9.96,51.89
$FINISH2,0.3
$STATE,1386,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1386,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,071613
$TT8_MAMPS,0.025466,0.160286
$HUMID,53.07
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.93,26.593
$10V_AH,10.32,29.621
$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,41.050,17.000,118.925,0.000,0.000,22.608,27.474,256.527,0.000,0.000,19.417,527.355,294.394,241.236,611.635,206.751,33.453,486.462,0.000,315.077,0.000,0.543,0.000
$DEVICE_MAMPS,83.385,1264.545,1300.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,139.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329396
$DATA_FILE_SIZE,17745,211
$CAP_FILE_SIZE,45739,0
$CFSIZE,1024409600,971653120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130817,084229,6123.450,-17345.969,6,0.8,18,7.1,0.0,144.5,10,4.6