version: 66.13
glider: 401
mission: 22
dive: 895
start: 8 12 117 0 58 34
data:
$ID,401
$MISSION,22
$DIVE,895
$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,16
$R_STBD_OVSHOOT,38
$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
$GPS1,120817,004904,6111.4365,-17347.9941,4,0.8,30,7.0,1.0,174.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.6
$GPS2,120817,005726,6111.3193,-17348.1230,6,0.8,51,7.0,0.9,183.3,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.081812,0.409539
$KALMAN_X,71516.953125,-365.536896,20.716112,-263012.343750,-42.586567
$KALMAN_Y,-45579.281250,1881.879639,430.510468,258105.609375,-132.587982
$MHEAD_RNG_PITCHd_Wd,4.3,24956,-10.6,-10.526,-14.15,7971
$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,-1.69,-487.5,238,1957,2066,4092,0.0,0.0,0,18,6.93,0.00,0.00,0.000,2049,0.112,0.000,813,1950,2066,2066,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.34,50.78
$GC,21,-1.69,-487.5,813,1955,2066,4094,0.9,0.0,1,46,10.98,0.00,-9.15,0.000,19206,0.078,0.000,1790,1958,3055,3055,4094,0,0,0,0,0,0,25.98,24.97,26.06,10.34,50.63
$GC,78,-1.69,-487.5,1789,1958,3056,4094,3.6,-10.4,10,85,0.00,1.10,0.00,0.000,260,0.000,0.047,1790,2367,3056,3056,4094,0,0,0,0,0,0,26.27,25.96,26.28,10.56,51.06
$GC,111,-1.69,-487.5,1789,2367,3057,4094,7.8,-12.6,15,118,0.00,1.08,0.00,0.000,1030,0.000,0.024,1790,1929,3057,3057,4095,0,0,0,0,0,0,26.10,26.08,26.11,10.56,50.07
$GC,150,-1.69,-487.5,1789,1929,3058,4095,13.6,-15.6,21,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1928,3058,3058,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.56,50.07
$GC,188,-1.69,-487.5,1789,1929,3059,4094,19.1,-14.6,27,195,0.00,1.17,0.00,0.000,260,0.000,0.040,1790,2370,3059,3059,4095,0,0,0,0,0,0,26.36,26.08,26.38,10.55,50.19
$GC,221,-1.69,-487.5,1789,2371,3060,4095,22.8,-11.3,32,228,0.00,1.05,0.00,0.000,1030,0.000,0.028,1790,1946,3060,3060,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.53,49.56
$GC,260,-1.69,-487.5,1789,1946,3060,4094,27.7,-12.8,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1946,3061,3061,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.49,48.46
$GC,298,-1.69,-487.5,1789,1946,3061,4094,32.4,-12.1,44,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1946,3061,3061,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.47,47.87
$GC,336,-1.69,-487.5,1789,1946,3062,4094,36.9,-12.1,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1946,3062,3062,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.44,46.96
$GC,375,-1.69,-487.5,1788,1946,3063,4095,41.6,-12.5,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1946,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.43,46.22
$GC,413,-1.69,-487.5,1789,1946,3064,4095,46.3,-12.2,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1946,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.42,46.14
$GC,451,-1.69,-487.5,1789,1946,3065,4095,50.9,-11.6,68,457,0.00,1.05,0.00,0.000,516,0.000,0.049,1790,1525,3065,3065,4095,0,0,0,0,0,0,26.52,26.22,26.53,10.41,45.11
$GC,490,-1.69,-487.5,1789,1525,3066,4095,55.5,-11.9,74,496,0.00,0.98,0.00,0.000,1030,0.000,0.024,1790,1952,3065,3065,4095,0,0,0,0,0,0,26.34,26.32,26.34,10.40,44.99
$STATE,526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,526,begin apogee
$GC,534,-0.45,0.0,1789,2135,3066,4095,60.2,-12.0,80,569,4.18,0.00,27.98,1.285,10244,0.054,0.000,2186,2136,2484,2484,4095,0,0,0,0,0,0,26.26,25.39,24.39,10.39,45.03
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,573,1.69,487.5,2185,2135,2484,4095,62.7,0.0,86,615,7.12,0.00,27.88,1.265,11270,0.034,0.000,2870,2136,1915,1915,4094,0,0,0,0,0,0,25.65,25.79,23.95,10.27,44.88
$GC,647,1.69,487.5,2870,2135,1914,4094,56.6,12.4,98,654,0.00,1.12,0.00,0.000,516,0.000,0.042,2870,1717,1914,1914,4094,0,0,0,0,0,0,25.60,25.34,25.61,10.14,44.13
$GC,704,1.69,487.5,2870,1716,1912,4094,49.3,12.8,107,711,0.00,0.98,0.00,0.000,1030,0.000,0.028,2870,2112,1912,1912,4094,0,0,0,0,0,0,25.63,25.60,25.64,10.13,44.21
$GC,743,1.69,487.5,2870,2112,1911,4094,44.5,12.1,113,750,0.00,1.23,0.00,0.000,260,0.000,0.051,2871,2564,1911,1911,4094,0,0,0,0,0,0,25.93,25.63,25.94,10.12,44.72
$GC,776,1.69,487.5,2870,2564,1911,4094,40.3,12.9,118,783,0.00,1.12,0.00,0.000,1030,0.000,0.025,2870,2110,1910,1910,4094,0,0,0,0,0,0,25.80,25.77,25.81,10.12,45.03
$GC,815,1.69,487.5,2870,2110,1909,4094,35.6,11.9,124,822,0.00,1.00,0.00,0.000,516,0.000,0.045,2870,1720,1909,1909,4094,0,0,0,0,0,0,26.06,25.78,26.08,10.11,45.55
$GC,902,1.69,487.5,2870,1720,1907,4094,25.3,11.9,138,909,0.00,0.93,0.00,0.000,1030,0.000,0.026,2871,2110,1907,1907,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.12,46.37
$GC,942,1.83,576.0,2870,2110,1906,4094,21.5,9.4,144,955,0.30,1.15,5.97,0.629,10500,0.042,0.047,2905,2557,1812,1812,4094,0,0,0,0,0,0,26.00,25.53,24.96,10.12,47.04
$GC,1042,1.83,576.0,2905,2557,1810,4094,10.6,12.1,160,1048,0.00,1.17,0.00,0.000,1030,0.000,0.026,2906,2087,1810,1810,4094,0,0,0,0,0,0,26.06,26.01,26.08,10.18,49.96
$GC,1081,1.85,589.2,2905,2086,1809,4094,6.6,10.4,166,1089,0.00,0.93,2.45,0.161,8708,0.000,0.044,2905,1717,1795,1795,4094,0,0,0,0,0,0,26.29,25.93,25.20,10.19,51.45
$STATE,1112,end climb,FINISH_DEPTH_REACHED
$STATE,1112,begin subsurface finish
$FINISH1,2.0,1.023845,122
$GC,1122,0.18,122.3,2905,2137,1794,4095,2.0,13.7,171,1138,5.50,0.00,-4.60,0.000,20998,0.066,0.000,2398,2138,2347,2347,4094,0,0,0,0,0,0,26.10,25.02,26.14,10.20,51.77
$FINISH2,0.3
$STATE,1139,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1140,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,234125
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.32
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.95,24.429
$10V_AH,10.33,27.731
$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,35.000,17.525,64.275,0.000,0.000,22.799,22.487,261.702,0.000,0.000,52.524,459.127,258.437,169.780,589.812,182.398,33.451,371.889,0.000,261.287,0.000,0.542,0.000
$DEVICE_MAMPS,112.455,51.255,1285.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,14237,173
$CAP_FILE_SIZE,38828,0
$CFSIZE,1024409600,975503360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1127.62,0x236162,5,24
$GPS,120817,005726,6111.319,-17348.123,6,0.8,51,7.0,0.9,183.3,11,5.0