version: 66.13
glider: 401
mission: 22
dive: 981
start: 8 13 117 12 25 18
data:
$ID,401
$MISSION,22
$DIVE,981
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,3.1
$GPS2,130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.157456,0.526494
$KALMAN_X,65723.343750,159.081467,213.470703,-255005.281250,93.789398
$KALMAN_Y,-55034.382812,2332.272705,775.152466,291694.218750,-97.082764
$MHEAD_RNG_PITCHd_Wd,336.2,35334,-6.5,-10.526,-10.84,15708
$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,-1.33,-487.5,2341,1936,2489,4092,0.0,0.0,0,18,4.30,0.00,-2.38,0.000,20482,0.024,0.000,1917,1937,2743,2743,4094,0,0,0,0,0,0,26.11,28.83,26.16,10.33,52.91
$GC,22,-1.33,-487.5,1917,1930,2743,4094,0.2,0.0,1,30,0.00,1.12,-2.90,0.000,16900,0.000,1.278,1917,1523,3059,3059,4095,0,0,0,0,0,0,26.32,24.75,26.32,10.39,53.03
$GC,98,-1.33,-487.5,1916,1522,3060,4095,7.9,-14.6,13,105,0.00,1.02,0.00,0.000,1030,0.000,0.026,1917,1969,3060,3060,4095,0,0,0,0,0,0,26.14,26.12,26.15,10.46,52.87
$GC,138,-1.33,-487.5,1916,1968,3061,4095,12.1,-10.2,19,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,1968,3061,3061,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.47,52.91
$GC,176,-1.33,-487.5,1917,1968,3062,4095,16.6,-10.5,25,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,1969,3062,3062,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.47,52.32
$GC,215,-1.33,-487.5,1916,1968,3063,4095,20.5,-10.2,31,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,1969,3063,3063,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.47,52.52
$GC,253,-1.33,-487.5,1916,1968,3063,4095,24.2,-9.1,37,260,0.00,1.02,0.00,0.000,260,0.000,0.044,1917,2363,3064,3064,4094,0,0,0,0,0,0,26.44,26.15,26.45,10.45,52.75
$GC,383,-1.33,-487.5,1917,2363,3066,4094,33.8,-8.9,58,389,0.00,1.02,0.00,0.000,1030,0.000,0.031,1916,1953,3066,3066,4095,0,0,0,0,0,0,26.28,26.25,26.29,10.38,49.76
$GC,422,-1.33,-487.5,1916,1952,3066,4095,37.5,-9.2,64,429,0.00,1.08,0.00,0.000,260,0.000,0.040,1917,2360,3066,3066,4095,0,0,0,0,0,0,26.52,26.24,26.53,10.38,49.05
$GC,558,-1.33,-487.5,1916,2360,3068,4095,50.2,-9.1,86,564,0.00,0.95,0.00,0.000,1030,0.000,0.030,1917,1979,3068,3068,4095,0,0,0,0,0,0,26.36,26.32,26.37,10.34,48.14
$GC,597,-1.33,-487.5,1916,1980,3069,4095,53.7,-8.4,92,604,0.00,1.17,0.00,0.000,516,0.000,0.054,1917,1520,3070,3070,4095,0,0,0,0,0,0,26.59,26.27,26.60,10.34,47.63
$GC,631,-1.33,-487.5,1916,1520,3070,4095,56.7,-8.9,97,637,0.00,0.98,0.00,0.000,1030,0.000,0.027,1916,1958,3070,3070,4095,0,0,0,0,0,0,26.41,26.39,26.42,10.34,47.20
$STATE,667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,667,begin apogee
$GC,675,-0.45,0.0,1917,2127,3070,4095,60.1,-8.4,103,710,2.80,0.00,28.27,1.300,10244,0.044,0.000,2187,2127,2484,2484,4094,0,0,0,0,0,0,26.34,25.42,24.39,10.33,47.40
$STATE,712,end apogee,CONTROL_FINISHED_OK
$STATE,712,begin climb
$GC,715,1.33,487.5,2187,2127,2484,4094,63.1,0.0,109,755,5.85,1.10,27.85,1.282,10756,0.034,0.042,2749,1704,1915,1915,4095,0,0,0,0,0,0,25.63,25.57,23.93,10.20,47.40
$GC,800,1.71,744.7,2749,1704,1915,4095,58.3,8.8,122,825,1.15,1.05,15.62,1.152,11270,0.022,0.025,2875,2133,1615,1615,4094,0,0,0,0,0,0,25.47,25.44,24.03,10.07,46.33
$GC,858,1.90,867.3,2875,2132,1614,4094,52.7,9.7,131,871,0.47,0.00,8.38,0.970,10502,0.035,0.000,2930,2133,1472,1472,4094,0,0,0,0,0,0,25.41,25.07,24.15,10.01,46.14
$GC,904,1.95,900.7,2929,2132,1472,4094,47.9,10.3,138,913,0.10,1.15,3.70,0.578,10756,0.075,0.044,2946,1707,1433,1433,4094,0,0,0,0,0,0,25.47,25.26,24.27,9.98,46.73
$GC,957,1.95,900.7,2945,1706,1433,4094,42.0,11.1,146,964,0.00,0.98,0.00,0.000,1030,0.000,0.028,2946,2102,1432,1432,4094,0,0,0,0,0,0,25.58,25.56,25.61,9.96,46.45
$GC,997,2.02,952.2,2946,2102,1431,4094,37.9,10.2,152,1004,0.17,0.00,4.53,0.636,10246,0.050,0.000,2974,2102,1373,1373,4094,0,0,0,0,0,0,25.70,25.41,24.51,9.96,47.16
$GC,1037,2.05,969.0,2974,2102,1372,4094,33.6,10.4,158,1044,0.00,0.00,2.72,0.306,8198,0.000,0.000,2974,2102,1354,1354,4094,0,0,0,0,0,0,25.91,25.47,24.59,9.95,47.32
$GC,1077,2.05,969.0,2974,2102,1352,4094,29.3,11.2,164,1083,0.00,1.05,0.00,0.000,516,0.000,0.044,2974,1708,1353,1353,4094,0,0,0,0,0,0,25.97,25.69,25.98,9.95,48.11
$GC,1122,2.05,969.0,2974,1708,1352,4094,24.2,11.0,171,1128,0.00,0.93,0.00,0.000,1030,0.000,0.028,2975,2091,1352,1352,4094,0,0,0,0,0,0,25.84,25.81,25.86,9.95,47.87
$GC,1161,2.55,1303.4,2974,2090,1351,4094,20.7,8.3,177,1186,1.58,0.00,18.83,0.819,10502,0.026,0.000,3138,2090,964,964,4094,0,0,0,0,0,0,25.89,25.39,24.65,9.99,48.54
$GC,1219,2.55,1303.9,3137,2090,963,4094,14.7,10.5,186,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2091,963,963,4095,0,0,0,0,0,0,25.89,25.91,25.91,9.96,51.02
$GC,1257,2.55,1303.9,3137,2090,961,4095,10.2,11.8,192,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2091,961,961,4094,0,0,0,0,0,0,25.98,25.99,25.99,9.96,52.04
$GC,1296,2.66,1377.8,3137,2090,960,4094,6.5,10.0,198,1309,0.30,1.00,5.45,0.496,10756,0.038,0.042,3180,1711,877,877,4094,0,0,0,0,0,0,25.85,25.41,24.93,9.97,52.48
$STATE,1339,end climb,SURFACE_DEPTH_REACHED
$STATE,1339,begin surface coast
$FINISH,0.1,1.022234
$STATE,1352,end surface coast,CONTROL_FINISHED_OK
$STATE,1352,begin surface
$SM_CCo,1455,0.00,0.000,0,0,874,1383.20
$SM_GC,0.36,30.62,0.57,0.00,0.021,0.034,0.000,239,1965,874,-6.55,-1.50,1383.20,0,0,0,0,0,0,25.90,25.87,25.94
$IRIDIUM_FIX,6149.06,-17422.35,130817,113237
$TT8_MAMPS,0.025466,0.109354
$HUMID,54.25
$INTERNAL_PRESSURE,9.91605
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.93,26.883
$10V_AH,10.40,29.842
$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,47.350,17.100,115.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,539.008,388.526,210.009,299.799,81.540,33.423,430.277,0.000,307.730,0.000,0.541,0.000
$DEVICE_MAMPS,74.970,1277.550,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,139.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,14245,207
$CAP_FILE_SIZE,40717,0
$CFSIZE,1024409600,971276288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,728.18,0x236164,1,24
$GPS,130817,125047,6125.080,-17344.996,6,1.1,37,7.1,0.4,130.3,10,5.0