version: 66.13
glider: 401
mission: 22
dive: 977
start: 8 13 117 10 43 13
data:
$ID,401
$MISSION,22
$DIVE,977
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,130817,101539,6124.1572,-17345.3652,6,0.7,25,7.1,0.0,149.6,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.3
$GPS2,130817,101539,6124.1572,-17345.3652,6,0.7,25,7.1,0.0,149.6,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.147656,0.451028
$KALMAN_X,64975.179688,78.636612,160.583420,-254450.390625,95.535095
$KALMAN_Y,-54409.425781,2274.540771,752.064331,290010.781250,-47.317139
$MHEAD_RNG_PITCHd_Wd,334.8,36419,-8.6,-10.526,-12.51,10897
$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,-1.52,-487.5,2391,1944,2364,4092,0.0,0.0,0,18,5.50,0.00,-1.40,0.000,20482,0.028,0.000,1857,1944,2518,2518,4095,0,0,0,0,0,0,25.87,28.83,25.92,10.33,52.48
$GC,22,-1.52,-487.5,1857,1944,2518,4095,0.2,0.0,1,29,0.00,0.00,-4.95,0.000,16646,0.000,0.000,1857,1944,3055,3055,4095,0,0,0,0,0,0,26.10,24.85,26.11,10.37,51.96
$GC,62,-1.52,-487.5,1856,1943,3057,4095,2.1,-8.5,7,68,0.00,1.12,0.00,0.000,260,0.000,0.035,1857,2371,3057,3057,4095,0,0,0,0,0,0,26.16,25.88,26.17,10.47,52.28
$GC,95,-1.52,-487.5,1856,2371,3057,4095,6.1,-11.7,12,101,0.00,1.02,0.00,0.000,1030,0.000,0.032,1857,1973,3058,3058,4094,0,0,0,0,0,0,25.97,25.94,25.99,10.48,51.57
$GC,134,-1.52,-487.5,1856,1972,3059,4094,12.0,-15.8,18,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1972,3059,3059,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.49,51.65
$GC,172,-1.52,-487.5,1856,1972,3060,4094,17.5,-13.3,24,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1972,3060,3060,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.49,52.28
$GC,211,-1.52,-487.5,1856,1972,3060,4094,22.0,-11.8,30,217,0.00,1.08,0.00,0.000,260,0.000,0.047,1857,2368,3060,3060,4095,0,0,0,0,0,0,26.31,26.00,26.32,10.48,52.08
$GC,292,-1.52,-487.5,1856,2368,3062,4095,29.7,-8.0,43,299,0.00,1.05,0.00,0.000,1030,0.000,0.030,1857,1949,3061,3061,4095,0,0,0,0,0,0,26.14,26.10,26.16,10.42,50.47
$GC,332,-1.52,-487.5,1856,1948,3062,4095,33.3,-9.6,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1949,3062,3062,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.40,49.92
$GC,370,-1.52,-487.5,1856,1948,3063,4094,37.2,-9.9,55,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1949,3063,3063,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,49.13
$GC,409,-1.52,-487.5,1856,1948,3064,4094,41.1,-10.1,61,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1949,3064,3064,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.38,49.05
$GC,448,-1.52,-487.5,1856,1948,3064,4094,44.9,-9.8,67,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1949,3064,3064,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.37,47.99
$GC,486,-1.52,-487.5,1856,1948,3065,4095,48.8,-10.0,73,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1949,3066,3066,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.36,47.40
$GC,525,-1.52,-487.5,1856,1948,3066,4095,52.8,-10.2,79,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1949,3066,3066,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.36,47.48
$GC,564,-1.52,-487.5,1856,1949,3067,4094,56.7,-10.1,85,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,1949,3067,3067,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.35,47.04
$STATE,594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,594,begin apogee
$GC,601,-0.45,0.0,1857,2140,3068,4094,60.3,-10.4,90,637,3.50,0.00,28.10,1.288,10244,0.051,0.000,2187,2140,2484,2484,4095,0,0,0,0,0,0,26.24,25.35,24.34,10.34,46.85
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,641,1.52,487.5,2187,2140,2484,4095,62.3,0.0,96,682,6.55,0.00,27.83,1.258,11270,0.034,0.000,2808,2140,1916,1916,4095,0,0,0,0,0,0,25.60,25.76,23.92,10.22,46.53
$GC,715,1.78,662.1,2808,2140,1915,4095,57.3,8.9,108,734,0.77,0.00,11.25,1.078,10502,0.030,0.000,2891,2140,1711,1711,4094,0,0,0,0,0,0,25.39,24.73,24.05,10.09,45.62
$GC,766,1.78,662.1,2891,2140,1710,4094,51.3,12.0,116,773,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1717,1710,1710,4094,0,0,0,0,0,0,25.62,25.35,25.63,10.03,45.43
$GC,835,1.78,662.1,2890,1717,1708,4094,42.6,12.7,127,842,0.00,1.00,0.00,0.000,1030,0.000,0.030,2891,2119,1708,1708,4094,0,0,0,0,0,0,25.64,25.61,25.66,10.03,45.82
$GC,875,1.78,662.1,2891,2119,1707,4094,37.9,11.3,133,881,0.00,1.20,0.00,0.000,260,0.000,0.054,2891,2559,1706,1706,4094,0,0,0,0,0,0,25.94,25.63,25.95,10.03,46.33
$GC,908,1.78,662.1,2891,2558,1706,4094,34.1,11.6,138,915,0.00,1.10,0.00,0.000,1030,0.000,0.027,2891,2117,1706,1706,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.02,46.53
$GC,947,1.80,679.7,2891,2116,1705,4094,29.9,10.4,144,955,0.00,1.02,2.53,0.236,8708,0.000,0.044,2891,1718,1691,1691,4094,0,0,0,0,0,0,26.06,25.67,24.75,10.02,46.96
$GC,1036,1.80,679.7,2891,1718,1689,4094,20.7,11.2,158,1042,0.00,0.90,0.00,0.000,1030,0.000,0.026,2891,2099,1689,1689,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.05,48.22
$GC,1075,2.31,1016.1,2891,2098,1689,4094,17.5,7.4,164,1100,1.67,0.00,18.62,0.778,10502,0.028,0.000,3065,2098,1299,1299,4094,0,0,0,0,0,0,25.98,25.51,24.79,10.09,50.23
$GC,1132,2.31,1016.1,3065,2098,1297,4094,10.2,14.4,173,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2098,1297,1297,4094,0,0,0,0,0,0,25.98,26.01,26.01,10.04,51.18
$GC,1171,2.31,1016.1,3065,2098,1295,4094,4.2,14.5,179,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2098,1295,1295,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.04,51.96
$STATE,1188,end climb,FINISH_DEPTH_REACHED
$STATE,1188,begin subsurface finish
$FINISH1,1.4,1.024067,107
$GC,1196,0.16,106.8,3065,2099,1294,4094,1.4,13.8,182,1215,6.88,0.00,-8.98,0.000,20998,0.025,0.000,2397,2107,2365,2365,4095,0,0,0,0,0,0,25.86,24.84,25.89,10.05,52.67
$FINISH2,0.3
$STATE,1216,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1217,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,100631
$TT8_MAMPS,0.025466,0.110852
$HUMID,53.18
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.92,26.758
$10V_AH,10.41,29.738
$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,24.875,11.500,88.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,472.758,273.025,183.908,269.158,76.359,33.432,391.390,0.000,276.798,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,53.550,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,123.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,14290,185
$CAP_FILE_SIZE,35405,0
$CFSIZE,1024409600,971472896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,101539,6124.157,-17345.365,6,0.7,25,7.1,0.0,149.6,11,4.9