version: 66.13
glider: 401
mission: 22
dive: 974
start: 8 13 117 9 8 58
data:
$ID,401
$MISSION,22
$DIVE,974
$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,30
$R_STBD_OVSHOOT,56
$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
$GPS1,130817,084229,6123.4497,-17345.9688,6,0.8,18,7.1,0.0,144.5,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.8
$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,-0.118133,0.547012
$KALMAN_X,64173.003906,-7.005497,90.113327,-254063.140625,49.297989
$KALMAN_Y,-53839.722656,2215.231201,701.920593,288241.000000,8.100769
$MHEAD_RNG_PITCHd_Wd,340.7,37647,-6.3,-10.526,-10.65,16445
$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,8,-1.30,-487.5,2390,1975,2366,4092,0.0,0.0,0,20,4.80,0.00,-4.18,0.000,20482,0.028,0.000,1928,1976,2825,2825,4094,0,0,0,0,0,0,25.89,28.83,25.91,10.33,52.91
$GC,24,-1.30,-487.5,1928,1969,2825,4094,0.2,0.0,1,32,0.00,0.00,-2.15,0.000,16390,0.000,0.000,1929,1969,3055,3055,4095,0,0,0,0,0,0,26.13,25.39,26.13,10.42,53.11
$GC,69,-1.30,-487.5,1928,1970,3055,4095,3.4,-10.8,7,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1970,3055,3055,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.48,52.91
$GC,114,-1.30,-487.5,1928,1970,3056,4094,8.2,-10.4,13,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1970,3056,3056,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.48,53.38
$GC,160,-1.30,-487.5,1928,1970,3057,4094,13.5,-11.6,19,168,0.00,1.00,0.00,0.000,260,0.000,0.044,1928,2349,3057,3057,4094,0,0,0,0,0,0,26.21,25.95,26.22,10.49,53.07
$GC,205,-1.30,-487.5,1928,2348,3058,4094,17.9,-8.6,25,215,0.00,1.00,0.00,0.000,1030,0.000,0.030,1928,1953,3058,3058,4095,0,0,0,0,0,0,26.03,25.99,26.06,10.49,52.79
$GC,252,-1.30,-487.5,1928,1953,3058,4095,21.9,-8.1,31,262,0.00,1.05,0.00,0.000,260,0.000,0.040,1928,2348,3059,3059,4095,0,0,0,0,0,0,26.30,26.02,26.32,10.49,52.16
$GC,351,-1.30,-487.5,1928,2347,3060,4095,28.7,-6.6,45,359,0.00,0.85,0.00,0.000,1030,0.000,0.028,1928,2006,3060,3060,4094,0,0,0,0,0,0,26.17,26.15,26.18,10.42,50.47
$GC,396,-1.30,-487.5,1927,2005,3060,4094,31.8,-6.4,51,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2005,3061,3061,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.40,49.72
$GC,443,-1.30,-487.5,1928,2006,3061,4095,34.7,-6.5,57,451,0.00,1.23,0.00,0.000,516,0.000,0.050,1929,1525,3061,3061,4095,0,0,0,0,0,0,26.44,26.12,26.45,10.39,48.66
$GC,501,-1.30,-487.5,1928,1525,3062,4095,38.5,-6.0,65,511,0.00,1.02,0.00,0.000,1030,0.000,0.025,1928,1972,3062,3062,4094,0,0,0,0,0,0,26.27,26.27,26.27,10.38,48.11
$GC,550,-1.30,-487.5,1928,1972,3062,4094,41.5,-6.6,71,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1972,3062,3062,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.37,47.48
$GC,597,-1.30,-487.5,1928,1972,3063,4094,44.8,-7.0,77,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1972,3063,3063,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,47.28
$GC,645,-1.30,-487.5,1928,1972,3064,4095,48.1,-6.9,83,653,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1972,3064,3064,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.35,46.57
$GC,692,-1.30,-487.5,1928,1972,3064,4094,51.2,-6.7,89,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1972,3064,3064,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.35,46.69
$GC,739,-1.30,-487.5,1928,1972,3064,4095,54.4,-6.7,95,748,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1972,3065,3065,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.34,47.00
$GC,787,-1.30,-487.5,1928,1972,3065,4094,57.9,-7.2,101,795,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1972,3066,3066,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.33,46.61
$STATE,815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,815,begin apogee
$GC,823,-0.45,0.0,1928,2143,3066,4095,60.4,-7.4,105,859,2.70,0.00,28.10,1.294,10244,0.049,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.32,25.42,24.39,10.33,47.48
$STATE,860,end apogee,CONTROL_FINISHED_OK
$STATE,860,begin climb
$GC,863,1.30,487.5,2184,2142,2484,4094,62.4,0.0,109,908,5.85,1.10,27.85,1.266,10500,0.035,0.053,2744,2553,1917,1917,4094,0,0,0,0,0,0,25.61,25.56,23.94,10.21,46.65
$GC,925,2.02,963.4,2744,2552,1917,4094,59.3,7.6,116,962,2.30,1.08,27.52,1.209,11270,0.024,0.025,2972,2122,1361,1361,4094,0,0,0,0,0,0,25.36,25.34,23.83,10.09,45.70
$GC,1000,2.02,963.4,2971,2121,1360,4094,50.9,11.4,125,1010,0.00,1.05,0.00,0.000,516,0.000,0.046,2972,1726,1360,1360,4094,0,0,0,0,0,0,25.50,25.26,25.51,9.96,45.51
$GC,1092,2.02,963.4,2971,1725,1357,4094,40.7,10.8,138,1102,0.00,0.95,0.00,0.000,1030,0.000,0.027,2972,2115,1357,1357,4094,0,0,0,0,0,0,25.63,25.61,25.66,9.96,46.02
$GC,1141,2.05,983.1,2972,2114,1356,4094,36.0,10.4,144,1150,0.00,0.00,2.70,0.302,8198,0.000,0.000,2972,2115,1339,1339,4094,0,0,0,0,0,0,25.94,25.22,24.60,9.96,46.81
$GC,1189,2.25,1118.7,2972,2115,1338,4094,31.2,9.7,150,1208,0.70,1.02,8.93,0.809,10756,0.034,0.043,3045,1728,1179,1179,4094,0,0,0,0,0,0,25.79,25.25,24.61,9.96,47.12
$GC,1238,2.25,1118.7,3045,1728,1178,4094,25.6,11.5,156,1248,0.00,0.90,0.00,0.000,1030,0.000,0.027,3045,2114,1178,1178,4094,0,0,0,0,0,0,25.76,25.74,25.77,9.93,47.16
$GC,1285,2.25,1118.7,3045,2113,1177,4094,19.6,13.1,162,1295,0.00,1.17,0.00,0.000,260,0.000,0.053,3045,2546,1176,1176,4094,0,0,0,0,0,0,26.03,25.73,26.05,9.96,47.99
$STATE,1408,end climb,FINISH_DEPTH_REACHED
$STATE,1408,begin subsurface finish
$FINISH1,1.7,1.023997,112
$GC,1417,0.17,111.7,3045,2127,1170,4095,1.7,16.0,180,1444,6.65,0.00,-10.38,0.000,20742,0.023,0.000,2397,2129,2360,2360,4094,0,0,0,0,0,0,25.96,24.87,26.02,10.02,52.63
$FINISH2,0.3
$STATE,1445,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1445,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,071613
$TT8_MAMPS,0.025466,0.248668
$HUMID,53.66
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.83,26.625
$10V_AH,10.16,29.662
$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,23.000,15.375,95.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,498.072,0.403,161.653,761.521,83.057,33.430,466.737,0.000,440.803,0.000,0.542,0.000
$DEVICE_MAMPS,48.960,52.785,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.948,497.261,393.675,582.776,758.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,17809,183
$CAP_FILE_SIZE,36329,0
$CFSIZE,1024409600,971603968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,084229,6123.450,-17345.969,6,0.8,18,7.1,0.0,144.5,10,4.6