version: 66.13
glider: 401
mission: 22
dive: 893
start: 8 12 117 0 8 56
data:
$ID,401
$MISSION,22
$DIVE,893
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,110817,234708,6111.1880,-17347.8340,5,0.8,23,7.0,1.0,256.1,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-3.9
$GPS2,110817,234708,6111.1880,-17347.8340,5,0.8,23,7.0,1.0,256.1,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.016927,0.401083
$KALMAN_X,71788.531250,-373.629700,22.174675,-263006.968750,29.378841
$KALMAN_Y,-45012.933594,1860.844971,399.049194,257356.593750,-107.794891
$MHEAD_RNG_PITCHd_Wd,355.4,25162,-11.2,-10.526,-14.69,7245
$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,8,-1.75,-487.5,2399,1972,2344,4092,0.0,0.0,0,29,6.38,0.00,-6.75,0.000,20486,0.033,0.000,1783,1977,3055,3055,4095,0,0,0,0,0,0,26.10,25.01,26.15,10.36,52.04
$GC,32,-1.75,-487.5,1783,1978,3055,4095,0.0,-0.5,3,39,0.00,1.17,0.00,0.000,516,0.000,0.050,1783,1522,3055,3055,4094,0,0,0,0,0,0,26.20,25.90,26.20,10.52,52.48
$GC,65,-1.75,-487.5,1782,1522,3056,4094,3.7,-11.9,8,72,0.00,1.00,0.00,0.000,1030,0.000,0.027,1783,1978,3056,3056,4094,0,0,0,0,0,0,26.09,26.07,26.09,10.51,51.92
$GC,104,-1.75,-487.5,1782,1977,3058,4094,10.6,-18.6,14,110,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1978,3058,3058,4094,0,0,0,0,0,0,26.29,26.30,26.31,10.52,52.40
$GC,142,-1.75,-487.5,1782,1977,3059,4094,16.8,-15.2,20,149,0.00,0.95,0.00,0.000,260,0.000,0.046,1783,2341,3059,3059,4095,0,0,0,0,0,0,26.33,26.05,26.34,10.52,51.77
$GC,181,-1.75,-487.5,1782,2341,3060,4095,22.3,-13.5,26,187,0.00,0.98,0.00,0.000,1030,0.000,0.029,1783,1952,3060,3060,4095,0,0,0,0,0,0,26.15,26.11,26.16,10.49,52.04
$GC,220,-1.75,-487.5,1782,1952,3061,4095,27.2,-12.7,32,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1952,3061,3061,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.47,50.66
$GC,258,-1.75,-487.5,1781,1952,3061,4094,31.6,-11.4,38,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1952,3062,3062,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.44,49.72
$GC,296,-1.75,-487.5,1782,1952,3062,4094,36.4,-12.5,44,303,0.00,1.10,0.00,0.000,516,0.000,0.050,1782,1517,3062,3062,4094,0,0,0,0,0,0,26.44,26.14,26.45,10.42,49.05
$GC,323,-1.75,-487.5,1782,1517,3062,4094,39.7,-13.0,48,330,0.00,0.93,0.00,0.000,1030,0.000,0.025,1783,1922,3063,3063,4095,0,0,0,0,0,0,26.26,26.24,26.27,10.41,47.95
$GC,362,-1.75,-487.5,1782,1922,3064,4095,44.5,-12.1,54,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1922,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.39,47.40
$GC,400,-1.75,-487.5,1782,1922,3064,4095,49.2,-12.9,60,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1922,3065,3065,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.39,47.00
$GC,438,-1.75,-487.5,1782,1922,3066,4095,53.9,-12.2,66,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1922,3066,3066,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.38,46.96
$GC,476,-1.75,-487.5,1782,1922,3066,4094,58.7,-12.2,72,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1922,3067,3067,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,47.48
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,495,-0.45,0.0,1783,2135,3067,4095,60.4,-12.7,74,530,4.28,0.00,28.08,1.291,10244,0.055,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.24,25.37,24.37,10.37,46.41
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,534,1.75,487.5,2185,2135,2484,4094,62.8,0.0,80,576,7.35,0.00,27.85,1.271,11270,0.034,0.000,2884,2135,1915,1915,4094,0,0,0,0,0,0,25.63,25.77,23.95,10.25,46.18
$GC,609,1.75,487.5,2884,2135,1914,4094,56.5,12.4,92,615,0.00,1.15,0.00,0.000,516,0.000,0.042,2884,1708,1914,1914,4094,0,0,0,0,0,0,25.59,25.32,25.60,10.12,44.95
$GC,683,1.75,487.5,2883,1708,1912,4094,46.3,13.3,104,690,0.00,0.95,0.00,0.000,1030,0.000,0.028,2884,2098,1911,1911,4094,0,0,0,0,0,0,25.67,25.65,25.68,10.11,46.18
$GC,722,1.75,487.5,2884,2098,1911,4094,41.3,13.0,110,729,0.00,1.25,0.00,0.000,260,0.000,0.051,2884,2557,1911,1911,4094,0,0,0,0,0,0,25.96,25.67,25.97,10.11,45.70
$GC,755,1.75,487.5,2884,2557,1910,4094,36.9,13.3,115,762,0.00,1.20,0.00,0.000,1030,0.000,0.027,2884,2083,1910,1910,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.10,45.94
$GC,794,1.75,487.5,2883,2082,1908,4094,32.0,13.1,121,801,0.00,0.98,0.00,0.000,516,0.000,0.047,2884,1704,1908,1908,4094,0,0,0,0,0,0,26.09,25.80,26.10,10.10,46.77
$GC,905,1.75,487.5,2884,1704,1905,4094,18.5,11.9,139,912,0.00,0.85,0.00,0.000,1030,0.000,0.026,2884,2067,1905,1905,4094,0,0,0,0,0,0,26.03,26.01,26.05,10.12,47.55
$GC,944,1.88,575.6,2883,2066,1904,4094,14.5,9.3,145,958,0.35,1.30,5.82,0.570,10500,0.044,0.047,2926,2568,1813,1813,4094,0,0,0,0,0,0,26.05,25.59,25.07,10.16,48.58
$GC,1026,1.88,575.6,2926,2567,1810,4094,5.5,13.1,158,1033,0.00,1.15,0.00,0.000,1030,0.000,0.028,2927,2094,1810,1810,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.19,51.57
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,1.9,1.023816,124
$GC,1059,0.19,124.3,2926,2155,1809,4094,1.9,13.1,162,1074,5.40,1.20,-4.75,0.000,20996,0.031,1.277,2402,1722,2345,2345,4095,0,0,0,0,0,0,26.08,24.78,26.13,10.20,52.20
$FINISH2,0.1
$STATE,1075,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1075,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,234000
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.11
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.95,24.377
$10V_AH,10.43,27.682
$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,23.750,18.250,61.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.260,243.648,160.359,238.811,63.869,33.430,346.193,0.000,247.016,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1276.785,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.458,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,10811,164
$CAP_FILE_SIZE,31483,0
$CFSIZE,1024409600,975618048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110817,234708,6111.188,-17347.834,5,0.8,23,7.0,1.0,256.1,11,4.8