version: 66.13
glider: 401
mission: 22
dive: 995
start: 8 13 117 18 54 27
data:
$ID,401
$MISSION,22
$DIVE,995
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,130817,182604,6126.9375,-17347.8613,10,0.8,42,7.1,0.0,253.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-5.9
$GPS2,130817,182604,6126.9375,-17347.8613,10,0.8,42,7.1,0.0,253.9,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.063898,0.359306
$KALMAN_X,64127.828125,-200.486938,-221.194946,-255304.281250,-116.140823
$KALMAN_Y,-57771.847656,2174.917480,583.687378,298793.718750,1.165527
$MHEAD_RNG_PITCHd_Wd,3.0,31043,-12.8,-10.526,-16.09,5771
$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,-1.77,-403.4,2394,1971,2365,4092,0.0,0.0,0,18,6.35,0.00,-0.65,0.000,20482,0.026,0.000,1774,1971,2435,2435,4094,0,0,0,0,0,0,25.92,28.83,25.96,10.31,52.99
$GC,22,-1.77,-403.4,1773,1971,2436,4094,0.1,0.0,1,29,0.00,0.00,-4.53,0.000,16390,0.000,0.000,1773,1972,2961,2961,4095,0,0,0,0,0,0,26.13,24.86,26.14,10.32,53.34
$GC,62,-1.77,-403.4,1773,1972,2962,4095,4.1,-13.3,7,67,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1972,2962,2962,4095,0,0,0,0,0,0,26.16,26.18,26.17,10.44,53.03
$GC,100,-1.77,-403.4,1773,1971,2964,4095,10.2,-16.0,13,106,0.00,1.08,0.00,0.000,260,0.000,0.047,1773,2368,2963,2963,4094,0,0,0,0,0,0,26.20,25.91,26.22,10.44,52.75
$GC,145,-1.77,-403.4,1773,2368,2964,4094,17.5,-16.6,20,151,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1950,2964,2964,4094,0,0,0,0,0,0,26.02,25.99,26.05,10.44,53.03
$GC,184,-1.77,-403.4,1773,1949,2965,4094,23.5,-14.6,26,191,0.00,1.12,0.00,0.000,260,0.000,0.045,1773,2370,2965,2965,4095,0,0,0,0,0,0,26.28,25.98,26.29,10.44,52.40
$GC,217,-1.77,-403.4,1773,2370,2966,4095,27.3,-11.6,31,224,0.00,0.98,0.00,0.000,1030,0.000,0.030,1773,1985,2966,2966,4095,0,0,0,0,0,0,26.09,26.06,26.11,10.41,52.36
$GC,256,-1.77,-403.4,1773,1985,2967,4095,32.1,-12.5,37,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1985,2966,2966,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.38,51.65
$GC,295,-1.77,-403.4,1773,1985,2968,4094,37.0,-12.8,43,301,0.00,1.20,0.00,0.000,516,0.000,0.051,1773,1517,2968,2968,4095,0,0,0,0,0,0,26.36,26.06,26.37,10.38,51.18
$GC,328,-1.77,-403.4,1772,1517,2969,4095,41.3,-13.0,48,334,0.00,1.08,0.00,0.000,1030,0.000,0.027,1773,1971,2969,2969,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.36,50.66
$GC,367,-1.77,-403.4,1773,1971,2969,4095,46.4,-12.9,54,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1971,2970,2970,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.34,48.89
$GC,405,-1.77,-403.4,1773,1971,2971,4095,51.3,-13.0,60,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1971,2971,2971,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,49.21
$GC,444,-1.77,-403.4,1772,1971,2971,4094,56.2,-12.3,66,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1971,2971,2971,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.33,48.42
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,480,-0.45,0.0,1773,2141,2973,4094,60.4,-13.1,71,516,4.43,0.00,23.67,1.274,10244,0.057,0.000,2186,2142,2483,2483,4095,0,0,0,0,0,0,26.16,25.13,24.39,10.32,48.34
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,520,1.77,403.4,2186,2141,2484,4095,63.1,0.0,77,556,7.38,0.00,23.12,1.252,11270,0.032,0.000,2889,2142,2014,2014,4095,0,0,0,0,0,0,25.67,25.83,24.00,10.21,47.24
$GC,589,1.77,403.4,2888,2141,2013,4095,57.8,12.2,88,595,0.00,1.15,0.00,0.000,516,0.000,0.043,2889,1709,2012,2012,4095,0,0,0,0,0,0,25.62,25.35,25.63,10.11,46.96
$GC,658,1.77,403.4,2888,1709,2011,4095,48.5,13.4,99,664,0.00,1.00,0.00,0.000,1030,0.000,0.028,2889,2114,2011,2011,4094,0,0,0,0,0,0,25.66,25.63,25.68,10.10,46.37
$GC,697,1.77,403.4,2888,2113,2010,4094,43.3,13.2,105,704,0.00,1.23,0.00,0.000,260,0.000,0.054,2889,2563,2010,2010,4094,0,0,0,0,0,0,25.95,25.64,25.96,10.09,46.85
$GC,742,1.77,403.4,2888,2562,2008,4094,37.3,13.3,112,749,0.00,1.15,0.00,0.000,1030,0.000,0.028,2889,2106,2008,2008,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.08,47.24
$GC,781,1.77,403.4,2888,2106,2007,4094,32.4,12.6,118,788,0.00,1.02,0.00,0.000,516,0.000,0.049,2889,1712,2007,2007,4094,0,0,0,0,0,0,26.09,25.79,26.10,10.08,47.20
$GC,880,1.77,403.4,2888,1711,2004,4094,20.1,12.2,134,887,0.00,0.93,0.00,0.000,1030,0.000,0.028,2889,2096,2004,2004,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.13,49.33
$GC,920,1.82,438.2,2888,2095,2003,4094,16.2,9.9,140,928,0.10,1.25,3.25,0.359,10500,0.086,0.050,2903,2562,1972,1972,4094,0,0,0,0,0,0,26.03,25.85,25.01,10.16,51.02
$GC,973,1.82,438.2,2902,2562,1970,4094,10.7,11.2,148,979,0.00,1.17,0.00,0.000,1030,0.000,0.028,2903,2097,1970,1970,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.18,52.20
$GC,1012,1.84,445.7,2902,2097,1970,4094,6.7,10.4,154,1020,0.00,0.98,2.20,0.096,8708,0.000,0.049,2903,1715,1961,1961,4094,0,0,0,0,0,0,26.29,25.93,25.18,10.19,52.63
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,1.9,1.024047,108
$GC,1059,0.16,108.2,2903,2142,1960,4094,1.9,12.8,160,1073,5.18,1.20,-3.55,0.000,20996,0.026,1.283,2397,1711,2363,2363,4094,0,0,0,0,0,0,26.07,24.75,26.13,10.19,54.05
$FINISH2,0.2
$STATE,1074,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1074,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,165353
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.66
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,24.00,27.390
$10V_AH,10.39,30.225
$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,23.425,19.400,52.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.829,248.387,144.577,235.992,69.743,33.435,325.240,0.000,244.134,0.000,0.541,0.000
$DEVICE_MAMPS,85.680,1282.905,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10786,162
$CAP_FILE_SIZE,32163,0
$CFSIZE,1024409600,970604544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130817,182604,6126.938,-17347.861,10,0.8,42,7.1,0.0,253.9,11,4.8