version: 66.13
glider: 401
mission: 22
dive: 896
start: 8 12 117 1 19 45
data:
$ID,401
$MISSION,22
$DIVE,896
$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,32
$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
$GPS1,120817,005726,6111.3193,-17348.1230,6,0.8,51,7.0,0.9,183.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.1
$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,0.110883,0.535239
$KALMAN_X,71454.601562,-372.751678,4.015381,-262929.281250,-50.150711
$KALMAN_Y,-45807.148438,1790.913940,353.153503,258510.906250,-107.868011
$MHEAD_RNG_PITCHd_Wd,4.7,24956,-6.6,-10.526,-10.90,15498
$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,-1.33,-487.5,2398,1946,2347,4092,0.0,0.0,0,21,4.90,0.00,-4.50,0.000,20482,0.026,0.000,1916,1949,2938,2938,4095,0,0,0,0,0,0,26.15,28.83,26.17,10.35,52.75
$GC,24,-1.33,-487.5,1915,1949,2938,4095,0.5,0.0,1,34,0.00,0.00,-0.73,0.000,16390,0.000,0.000,1916,1950,3058,3058,4094,0,0,0,0,0,0,26.34,25.56,26.27,10.48,53.26
$GC,70,-1.33,-487.5,1915,1950,3059,4094,7.6,-14.3,7,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1950,3060,3060,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.51,52.71
$GC,116,-1.33,-487.5,1915,1950,3059,4095,12.5,-10.0,13,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1951,3060,3060,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.51,52.87
$GC,161,-1.33,-487.5,1915,1950,3061,4094,17.4,-10.6,19,170,0.00,1.12,0.00,0.000,260,0.000,0.041,1916,2373,3061,3061,4095,0,0,0,0,0,0,26.32,26.03,26.32,10.51,52.87
$GC,214,-1.33,-487.5,1915,2373,3063,4095,21.5,-8.2,26,223,0.00,1.05,0.00,0.000,1030,0.000,0.029,1915,1952,3062,3062,4094,0,0,0,0,0,0,26.14,26.10,26.16,10.48,51.77
$GC,261,-1.33,-487.5,1915,1952,3062,4094,25.3,-7.9,32,269,0.00,1.10,0.00,0.000,516,0.000,0.051,1916,1521,3062,3062,4094,0,0,0,0,0,0,26.39,26.09,26.41,10.46,50.74
$GC,287,-1.33,-487.5,1915,1521,3063,4094,27.4,-7.7,35,296,0.00,0.95,0.00,0.000,1030,0.000,0.024,1915,1941,3063,3063,4095,0,0,0,0,0,0,26.25,26.20,26.22,10.45,51.14
$GC,335,-1.33,-487.5,1915,1941,3064,4095,30.9,-7.8,41,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1941,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.43,49.40
$GC,382,-1.33,-487.5,1915,1941,3064,4095,34.7,-7.9,47,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1941,3064,3064,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.41,49.25
$GC,429,-1.33,-487.5,1915,1941,3065,4095,38.3,-7.8,53,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1941,3065,3065,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.39,48.58
$GC,477,-1.33,-487.5,1915,1941,3066,4094,42.0,-7.8,59,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1941,3066,3066,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.38,47.95
$GC,524,-1.33,-487.5,1915,1941,3066,4095,45.7,-7.9,65,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1941,3066,3066,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.38,47.16
$GC,571,-1.33,-487.5,1915,1941,3067,4095,49.5,-8.1,71,580,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1941,3067,3067,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.37,46.53
$GC,619,-1.33,-487.5,1915,1941,3068,4095,53.3,-7.7,77,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1942,3068,3068,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.37,46.53
$GC,665,-1.33,-487.5,1915,1941,3068,4094,56.9,-7.9,83,674,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1942,3068,3068,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.36,46.33
$STATE,701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,701,begin apogee
$GC,708,-0.45,0.0,1916,2129,3068,4094,60.0,-7.5,88,744,2.85,0.00,28.23,1.282,10244,0.050,0.000,2185,2129,2484,2484,4094,0,0,0,0,0,0,26.32,25.44,24.44,10.35,46.14
$STATE,745,end apogee,CONTROL_FINISHED_OK
$STATE,745,begin climb
$GC,748,1.33,487.5,2185,2129,2484,4094,61.9,0.0,92,784,5.95,0.00,27.92,1.255,11270,0.037,0.000,2753,2129,1916,1916,4094,0,0,0,0,0,0,25.67,25.84,24.01,10.22,45.82
$GC,823,1.95,896.8,2753,2129,1915,4094,58.0,7.8,101,859,1.90,1.12,23.75,1.179,10756,0.026,0.041,2941,1715,1439,1439,4094,0,0,0,0,0,0,25.44,24.63,23.99,10.10,45.90
$GC,909,1.95,896.8,2940,1715,1437,4094,48.3,10.8,112,919,0.00,0.95,0.00,0.000,1030,0.000,0.028,2941,2100,1437,1437,4094,0,0,0,0,0,0,25.44,25.41,25.46,10.00,45.11
$GC,957,1.95,896.8,2940,2099,1436,4094,43.3,11.0,118,966,0.00,1.27,0.00,0.000,260,0.000,0.054,2941,2564,1436,1436,4095,0,0,0,0,0,0,25.81,25.51,25.82,9.98,46.10
$GC,990,1.96,907.5,2940,2564,1435,4095,39.7,10.5,122,999,0.00,1.15,2.30,0.170,9222,0.000,0.026,2941,2105,1426,1426,4094,0,0,0,0,0,0,25.70,25.67,24.57,9.98,45.94
$GC,1038,2.02,945.6,2940,2105,1425,4094,34.8,10.3,128,1049,0.17,0.95,3.83,0.526,10756,0.053,0.042,2970,1718,1382,1382,4094,0,0,0,0,0,0,25.77,25.30,24.68,9.98,46.22
$GC,1125,2.16,1035.7,2969,1718,1381,4094,25.7,9.9,140,1144,0.35,0.90,6.32,0.664,11270,0.035,0.028,3007,2093,1278,1278,4094,0,0,0,0,0,0,25.85,25.89,24.81,9.97,46.73
$GC,1182,2.16,1035.7,3006,2093,1277,4094,19.6,11.8,147,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2094,1277,1277,4094,0,0,0,0,0,0,26.08,26.10,26.10,9.98,47.44
$GC,1229,2.49,1260.0,3006,2094,1276,4094,14.7,9.0,153,1249,1.10,1.27,13.18,0.715,10500,0.027,0.050,3121,2563,1014,1014,4094,0,0,0,0,0,0,25.93,25.61,24.87,10.03,49.92
$GC,1293,3.09,1657.6,3120,2562,1013,4094,8.8,7.9,161,1321,1.90,1.25,21.62,0.689,11270,0.022,0.028,3310,2064,551,551,4094,0,0,0,0,0,0,25.86,25.82,24.77,10.00,51.18
$STATE,1349,end climb,FINISH_DEPTH_REACHED
$STATE,1349,begin subsurface finish
$FINISH1,1.3,1.023871,120
$GC,1357,0.18,120.5,3309,2152,549,4094,1.3,13.9,168,1394,9.35,1.23,-15.55,0.000,20996,0.020,1.278,2402,1728,2350,2350,4094,0,0,0,0,0,0,25.70,24.45,25.70,9.94,51.77
$FINISH2,0.0
$STATE,1395,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1395,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,110817,234125
$TT8_MAMPS,0.026215,0.233688
$HUMID,53.18
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.99,24.466
$10V_AH,10.19,27.770
$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,28.475,15.425,127.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,476.036,0.000,178.720,718.395,80.022,33.429,495.022,0.000,415.369,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1277.550,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.695,467.257,369.852,547.647,715.392,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,17993,172
$CAP_FILE_SIZE,37283,0
$CFSIZE,1024409600,975437824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,005726,6111.319,-17348.123,6,0.8,51,7.0,0.9,183.3,11,5.0