version: 66.13
glider: 401
mission: 22
dive: 993
start: 8 13 117 17 50 13
data:
$ID,401
$MISSION,22
$DIVE,993
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,130817,165812,6126.0840,-17346.9141,10,0.9,19,7.1,1.0,293.9,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.2
$GPS2,130817,165812,6126.0840,-17346.9141,10,0.9,19,7.1,1.0,293.9,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.043407,0.558525
$KALMAN_X,64856.960938,-82.391495,-108.700081,-255367.593750,-105.433777
$KALMAN_Y,-57981.226562,2132.905029,533.581665,297508.750000,-199.226929
$MHEAD_RNG_PITCHd_Wd,357.3,32704,-6.3,-10.526,-10.64,16489
$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,-1.30,-487.5,2397,1943,2365,4092,0.0,0.0,0,18,4.82,0.00,-1.75,0.000,20482,0.028,0.000,1926,1943,2553,2553,4094,0,0,0,0,0,0,26.09,28.83,26.14,10.30,53.89
$GC,22,-1.30,-487.5,1926,1943,2552,4094,0.2,0.0,1,29,0.00,0.00,-4.72,0.000,16902,0.000,0.000,1927,1942,3055,3055,4095,0,0,0,0,0,0,26.31,25.02,26.32,10.35,53.42
$GC,62,-1.30,-487.5,1926,1942,3056,4095,0.3,-1.2,7,68,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1942,3056,3056,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.45,53.89
$GC,100,-1.30,-487.5,1926,1942,3056,4095,4.4,-10.5,13,107,0.00,1.15,0.00,0.000,260,0.000,0.041,1926,2374,3057,3057,4095,0,0,0,0,0,0,26.36,26.07,26.38,10.46,52.91
$GC,145,-1.30,-487.5,1926,2374,3058,4095,10.0,-13.7,20,152,0.00,1.05,0.00,0.000,1030,0.000,0.031,1926,1957,3058,3058,4095,0,0,0,0,0,0,26.15,26.13,26.18,10.46,52.71
$GC,185,-1.30,-487.5,1926,1957,3058,4095,14.2,-9.7,26,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3058,3058,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.47,53.03
$GC,223,-1.30,-487.5,1926,1956,3059,4095,18.4,-11.4,32,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3060,3060,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.47,52.28
$GC,261,-1.30,-487.5,1926,1957,3059,4095,22.7,-10.8,38,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1957,3060,3060,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.48,52.24
$GC,300,-1.30,-487.5,1926,1956,3060,4094,25.5,-6.4,44,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3061,3061,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.44,52.04
$GC,339,-1.30,-487.5,1925,1957,3060,4095,27.7,-5.6,50,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3061,3061,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.42,51.65
$GC,377,-1.30,-487.5,1926,1957,3061,4094,30.1,-6.3,56,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1957,3061,3061,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.39,50.82
$GC,416,-1.30,-487.5,1926,1957,3062,4094,32.7,-6.9,62,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3061,3061,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,50.11
$GC,455,-1.30,-487.5,1926,1957,3063,4095,35.5,-7.5,68,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3062,3062,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.38,49.09
$GC,494,-1.30,-487.5,1926,1957,3063,4095,38.4,-7.5,74,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3063,3063,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.37,49.09
$GC,533,-1.30,-487.5,1926,1957,3064,4094,41.5,-7.9,80,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3064,3064,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.36,48.34
$GC,571,-1.30,-487.5,1926,1957,3064,4095,44.3,-7.2,86,577,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1956,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.60,10.35,48.11
$GC,610,-1.30,-487.5,1926,1957,3064,4095,47.3,-7.8,92,616,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.34,47.87
$GC,649,-1.30,-487.5,1926,1957,3065,4095,50.3,-7.8,98,655,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1957,3065,3065,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.33,48.03
$GC,687,-1.30,-487.5,1926,1957,3066,4095,53.5,-8.0,104,693,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1958,3066,3066,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.33,47.51
$GC,726,-1.30,-487.5,1926,1956,3066,4095,56.6,-8.0,110,732,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3067,3067,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.32,47.87
$GC,765,-1.30,-487.5,1925,1957,3066,4094,59.4,-7.2,116,771,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,3067,3067,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.32,47.48
$STATE,775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,776,begin apogee
$GC,783,-0.45,0.0,1926,2142,3067,4095,60.6,-7.8,118,819,2.70,0.00,27.88,1.297,10244,0.048,0.000,2187,2143,2483,2483,4095,0,0,0,0,0,0,26.35,25.46,24.41,10.32,47.40
$STATE,820,end apogee,CONTROL_FINISHED_OK
$STATE,820,begin climb
$GC,823,1.30,487.5,2187,2143,2484,4095,62.4,0.0,124,860,5.82,0.00,27.75,1.268,11270,0.037,0.000,2741,2143,1916,1916,4094,0,0,0,0,0,0,25.68,25.86,23.96,10.19,46.77
$GC,893,2.15,1053.0,2740,2142,1915,4094,59.0,7.0,135,934,2.75,1.15,31.95,1.219,10756,0.024,0.039,3011,1711,1257,1257,4094,0,0,0,0,0,0,25.39,24.49,23.81,10.07,46.81
$GC,979,2.15,1053.0,3011,1710,1256,4094,48.1,12.4,149,986,0.00,0.98,0.00,0.000,1030,0.000,0.028,3011,2103,1256,1256,4094,0,0,0,0,0,0,25.32,25.29,25.34,9.93,45.94
$GC,1018,2.15,1053.0,3011,2103,1255,4094,43.6,11.2,155,1025,0.00,1.27,0.00,0.000,260,0.000,0.055,3011,2562,1255,1255,4094,0,0,0,0,0,0,25.67,25.37,25.68,9.92,46.22
$GC,1051,2.15,1053.0,3011,2562,1254,4094,39.6,12.4,160,1058,0.00,1.17,0.00,0.000,1030,0.000,0.028,3011,2100,1254,1254,4094,0,0,0,0,0,0,25.58,25.54,25.60,9.92,47.04
$GC,1091,2.15,1053.0,3011,2099,1252,4094,35.0,12.1,166,1098,0.00,1.00,0.00,0.000,516,0.000,0.047,3011,1717,1253,1253,4094,0,0,0,0,0,0,25.86,25.58,25.87,9.92,47.67
$GC,1154,2.26,1124.0,3011,1717,1250,4094,27.8,10.1,176,1168,0.30,0.90,5.43,0.646,11270,0.033,0.029,3047,2087,1172,1172,4094,0,0,0,0,0,0,25.76,25.75,24.67,9.93,47.99
$GC,1201,2.26,1124.0,3046,2086,1171,4094,22.2,13.0,183,1207,0.00,1.30,0.00,0.000,260,0.000,0.051,3047,2564,1170,1170,4094,0,0,0,0,0,0,25.98,25.67,26.00,9.92,47.67
$GC,1264,2.69,1412.4,3046,2564,1169,4094,16.3,8.7,193,1289,1.30,1.12,16.17,0.760,11270,0.023,0.028,3188,2110,838,838,4094,0,0,0,0,0,0,25.88,25.85,24.72,9.97,50.51
$GC,1322,2.69,1412.4,3187,2110,836,4094,10.2,10.6,202,1328,0.00,1.00,0.00,0.000,516,0.000,0.048,3188,1728,836,836,4094,0,0,0,0,0,0,25.93,25.63,25.94,9.93,52.12
$GC,1391,3.35,1853.9,3187,1727,833,4094,3.6,7.8,213,1412,2.05,0.90,13.65,0.614,11266,0.022,0.027,3398,2109,553,553,4094,0,0,0,0,0,0,25.86,25.84,25.90,9.95,53.26
$STATE,1413,end climb,SURFACE_DEPTH_REACHED
$STATE,1413,begin surface coast
$FINISH,0.1,1.022930
$STATE,1431,end surface coast,CONTROL_FINISHED_OK
$STATE,1431,begin surface
$SM_CCo,1537,0.00,0.000,0,0,552,1659.67
$SM_GC,0.43,33.05,0.38,0.00,0.021,0.036,0.000,239,1954,552,-6.55,1.87,1659.67,0,0,0,0,0,0,25.79,25.75,25.83
$IRIDIUM_FIX,6149.06,-17422.35,130817,165146
$TT8_MAMPS,0.025466,0.106358
$HUMID,53.81
$INTERNAL_PRESSURE,9.84769
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.81,27.306
$10V_AH,10.39,30.165
$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,52.800,14.325,122.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,553.764,379.494,252.235,318.521,96.569,33.415,496.757,0.000,324.716,0.000,0.542,0.000
$DEVICE_MAMPS,48.195,55.080,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,146.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,17689,219
$CAP_FILE_SIZE,44036,0
$CFSIZE,1024409600,970670080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,181715,6126.945,-17347.725,3,0.7,48,7.1,0.0,326.2,11,6.6