version: 66.13
glider: 401
mission: 22
dive: 975
start: 8 13 117 9 35 19
data:
$ID,401
$MISSION,22
$DIVE,975
$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,27
$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
$GPS1,130817,084229,6123.4497,-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,0.15
$_SM_ANGLEo,-3.3
$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,-0.129756,0.595696
$KALMAN_X,64281.726562,1.801314,95.128326,-254185.328125,79.729218
$KALMAN_Y,-54390.046875,2224.583984,710.055969,288772.437500,-174.620422
$MHEAD_RNG_PITCHd_Wd,340.6,37647,-5.1,-10.526,-9.80,20433
$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,-1.20,-487.5,2397,1965,2360,4092,0.0,0.0,0,18,4.47,0.00,-2.10,0.000,20482,0.031,0.000,1959,1965,2588,2588,4095,0,0,0,0,0,0,26.00,28.83,26.05,10.30,53.93
$GC,22,-1.20,-487.5,1959,1965,2588,4095,0.0,0.0,1,35,0.00,1.23,-4.38,0.000,16900,0.000,1.285,1959,1524,3057,3057,4095,0,0,0,0,0,0,26.22,24.69,26.23,10.35,54.29
$GC,42,-1.20,-487.5,1958,1524,3057,4095,0.4,-1.2,4,49,0.00,1.00,0.00,0.000,1030,0.000,0.026,1958,1962,3057,3057,4095,0,0,0,0,0,0,25.89,25.87,25.91,10.45,54.56
$GC,81,-1.20,-487.5,1958,1962,3058,4095,4.5,-14.1,10,87,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1962,3058,3058,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.46,54.01
$GC,120,-1.20,-487.5,1958,1962,3059,4095,8.8,-11.3,16,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1962,3059,3059,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.46,53.97
$GC,158,-1.20,-487.5,1958,1962,3060,4094,13.2,-11.1,22,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1962,3060,3060,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.47,53.89
$GC,197,-1.20,-487.5,1958,1962,3061,4094,17.3,-10.4,28,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1962,3061,3061,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.48,53.97
$GC,235,-1.20,-487.5,1958,1962,3061,4095,20.5,-8.0,34,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1962,3061,3061,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.48,53.62
$GC,274,-1.20,-487.5,1958,1962,3062,4094,23.7,-8.1,40,281,0.00,1.02,0.00,0.000,260,0.000,0.041,1959,2350,3062,3062,4094,0,0,0,0,0,0,26.34,26.06,26.35,10.47,53.11
$GC,391,-1.20,-487.5,1958,2350,3063,4094,30.9,-5.3,59,398,0.00,1.02,0.00,0.000,1030,0.000,0.031,1958,1941,3063,3063,4095,0,0,0,0,0,0,26.20,26.16,26.22,10.40,51.57
$GC,431,-1.20,-487.5,1958,1941,3064,4095,33.5,-6.6,65,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1941,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.39,50.98
$GC,470,-1.20,-487.5,1958,1941,3064,4095,36.0,-6.3,71,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1941,3064,3064,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,49.92
$GC,508,-1.20,-487.5,1958,1941,3065,4095,38.4,-6.3,77,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1941,3065,3065,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.38,49.44
$GC,547,-1.20,-487.5,1958,1941,3065,4094,40.8,-6.5,83,554,0.00,1.10,0.00,0.000,260,0.000,0.041,1959,2356,3065,3065,4094,0,0,0,0,0,0,26.50,26.21,26.51,10.36,49.60
$GC,587,-1.20,-487.5,1958,2356,3066,4094,43.5,-6.5,89,593,0.00,1.02,0.00,0.000,1030,0.000,0.031,1959,1945,3066,3066,4094,0,0,0,0,0,0,26.29,26.25,26.31,10.36,48.46
$GC,626,-1.20,-487.5,1958,1945,3066,4094,45.9,-6.4,95,632,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1945,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.35,48.22
$GC,665,-1.20,-487.5,1958,1945,3066,4095,48.3,-6.0,101,671,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1945,3067,3067,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.35,48.03
$GC,703,-1.20,-487.5,1958,1945,3067,4095,50.7,-6.0,107,710,0.00,1.08,0.00,0.000,260,0.000,0.041,1959,2352,3067,3067,4095,0,0,0,0,0,0,26.56,26.27,26.58,10.34,47.87
$GC,737,-1.20,-487.5,1957,2352,3067,4095,52.8,-6.2,112,743,0.00,1.00,0.00,0.000,1030,0.000,0.031,1959,1951,3067,3067,4094,0,0,0,0,0,0,26.34,26.31,26.36,10.33,47.99
$GC,776,-1.20,-487.5,1958,1950,3068,4094,55.2,-6.3,118,782,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1951,3067,3067,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.33,47.91
$GC,815,-1.20,-487.5,1958,1950,3068,4095,57.9,-7.0,124,821,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1950,3068,3068,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.33,48.34
$STATE,844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,844,begin apogee
$GC,852,-0.45,0.0,1958,2128,3068,4094,60.0,-6.0,129,888,2.35,0.00,28.12,1.297,10244,0.047,0.000,2186,2129,2484,2484,4095,0,0,0,0,0,0,26.33,25.43,24.39,10.32,47.83
$STATE,889,end apogee,CONTROL_FINISHED_OK
$STATE,889,begin climb
$GC,892,1.20,487.5,2186,2128,2484,4095,61.7,0.0,135,934,5.45,1.15,27.95,1.271,10500,0.037,0.052,2705,2555,1914,1914,4094,0,0,0,0,0,0,25.62,25.56,23.94,10.20,47.79
$GC,949,2.20,1154.6,2704,2554,1914,4094,59.0,7.2,144,997,3.33,1.08,37.58,1.233,11270,0.023,0.026,3026,2122,1139,1139,4094,0,0,0,0,0,0,25.32,25.30,23.74,10.07,47.08
$GC,1029,2.20,1154.6,3026,2121,1137,4094,49.7,11.1,157,1036,0.00,1.05,0.00,0.000,516,0.000,0.044,3026,1727,1138,1138,4094,0,0,0,0,0,0,25.39,25.13,25.40,9.92,46.22
$GC,1267,2.20,1154.6,3026,1726,1132,4094,25.2,11.4,196,1274,0.00,0.93,0.00,0.000,1030,0.000,0.028,3026,2106,1131,1131,4094,0,0,0,0,0,0,25.84,25.81,25.86,9.91,48.74
$GC,1307,2.50,1357.2,3026,2105,1130,4094,21.4,9.5,202,1326,0.93,1.25,11.88,0.777,10500,0.028,0.056,3124,2563,902,902,4094,0,0,0,0,0,0,25.89,25.56,24.74,9.93,49.25
$GC,1403,2.51,1363.4,3122,2562,899,4094,12.7,10.5,217,1410,0.00,1.15,0.00,0.000,1030,0.000,0.028,3123,2097,899,899,4094,0,0,0,0,0,0,25.87,25.84,25.89,9.95,52.75
$GC,1443,3.17,1799.2,3122,2096,898,4094,8.9,8.3,223,1474,2.10,0.98,23.65,0.710,10756,0.024,0.048,3338,1727,387,387,4094,0,0,0,0,0,0,25.91,25.46,24.77,9.96,53.11
$STATE,1509,end climb,SURFACE_DEPTH_REACHED
$STATE,1509,begin surface coast
$FINISH,0.5,1.024047
$STATE,1537,end surface coast,CONTROL_FINISHED_OK
$STATE,1537,begin surface
$SM_CCo,1642,0.00,0.000,0,0,384,1803.92
$SM_GC,0.24,32.55,0.55,0.00,0.021,0.033,0.000,230,1970,384,-6.59,-1.23,1803.92,0,0,0,0,0,0,25.68,25.77,25.79
$IRIDIUM_FIX,6149.06,-17422.35,130817,071613
$TT8_MAMPS,0.025466,0.108605
$HUMID,54.05
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.74,26.666
$10V_AH,10.40,29.677
$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,51.175,17.425,129.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,590.781,427.949,248.676,345.790,92.397,33.418,498.117,0.000,351.636,0.000,0.541,0.000
$DEVICE_MAMPS,46.665,1285.200,1297.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,159.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,17739,238
$CAP_FILE_SIZE,42726,0
$CFSIZE,1024409600,971554816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,100350,6124.131,-17345.346,6,0.8,32,7.1,0.6,301.3,10,4.9