version: 66.13
glider: 401
mission: 22
dive: 897
start: 8 12 117 1 45 14
data:
$ID,401
$MISSION,22
$DIVE,897
$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,35
$R_STBD_OVSHOOT,65
$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,5.22
$_SM_ANGLEo,0.3
$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,0.046615,0.067791
$KALMAN_X,71354.023438,-377.718353,-6.091938,-262813.500000,-75.799232
$KALMAN_Y,-46294.410156,1761.422485,331.131287,259051.218750,-226.516846
$MHEAD_RNG_PITCHd_Wd,27.5,24956,-22.6,-10.526,-51.99,1971
$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,-2.26,-136.1,2401,1983,2352,4092,0.0,0.0,0,18,6.90,0.00,0.00,0.000,4097,0.023,0.000,1724,1985,2352,2352,4094,0,0,0,0,0,0,26.10,28.83,28.83,10.34,53.07
$GC,21,-2.26,-136.1,1724,1985,2352,4094,7.6,0.0,1,28,0.88,0.00,-1.10,0.000,20486,0.032,0.000,1634,1985,2655,2655,4094,0,0,0,0,0,0,25.89,24.85,25.91,10.34,52.63
$GC,61,-2.26,-136.1,1634,1985,2656,4094,13.1,-16.6,7,66,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,1986,2656,2656,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.40,53.11
$GC,99,-2.26,-136.1,1634,1985,2657,4094,18.9,-14.6,13,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,1985,2658,2658,4095,0,0,0,0,0,0,26.15,26.15,26.15,10.40,52.79
$GC,137,-2.26,-139.0,1634,1985,2658,4095,22.9,-10.4,19,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,1985,2658,2658,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.38,52.48
$GC,175,-2.26,-139.0,1634,1985,2659,4094,27.4,-12.3,25,182,0.00,1.17,0.00,0.000,516,0.000,0.050,1634,1532,2659,2659,4095,0,0,0,0,0,0,26.23,25.93,26.25,10.36,51.41
$GC,377,-2.35,-194.4,1633,1532,2663,4095,46.2,-7.6,58,385,0.22,0.98,-0.10,0.000,21510,0.035,0.025,1605,1967,2728,2728,4095,0,0,0,0,0,0,26.18,26.18,25.91,10.29,48.62
$GC,418,-2.38,-216.7,1604,1967,2729,4095,49.7,-9.4,64,425,0.00,1.05,-0.05,0.000,16644,0.000,1.253,1605,2354,2765,2765,4095,0,0,0,0,0,0,26.34,24.81,25.31,10.30,47.75
$GC,499,-2.39,-221.0,1604,2354,2766,4095,57.8,-10.3,77,506,0.00,1.02,0.00,0.000,1030,0.000,0.031,1605,1948,2767,2767,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.29,47.99
$STATE,523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,524,begin apogee
$GC,531,-0.45,0.0,1604,2124,2767,4094,60.6,-10.1,81,556,6.45,0.00,14.62,1.192,10244,0.073,0.000,2185,2125,2484,2484,4095,0,0,0,0,0,0,26.01,25.53,24.50,10.28,48.54
$STATE,557,end apogee,CONTROL_FINISHED_OK
$STATE,557,begin climb
$GC,560,2.39,221.0,2185,2124,2485,4095,62.4,0.0,85,591,9.40,1.15,13.68,1.179,10500,0.029,0.051,3086,2555,2225,2225,4094,0,0,0,0,0,0,25.72,25.66,24.26,10.22,47.67
$GC,720,2.39,221.0,3085,2555,2222,4094,46.1,11.9,111,727,0.00,1.05,0.00,0.000,1030,0.000,0.026,3085,2132,2222,2222,4094,0,0,0,0,0,0,25.86,25.83,25.88,10.15,47.32
$GC,759,2.39,221.0,3085,2132,2221,4094,41.6,11.5,117,766,0.00,1.08,0.00,0.000,516,0.000,0.049,3086,1721,2221,2221,4094,0,0,0,0,0,0,26.12,25.83,26.13,10.15,47.95
$GC,894,2.39,221.4,3085,1721,2218,4094,27.1,10.5,139,901,0.00,1.02,0.00,0.000,1030,0.000,0.028,3086,2143,2218,2218,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.15,48.93
$GC,933,2.39,221.4,3085,2143,2217,4094,21.5,15.7,145,939,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2142,2217,2217,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.15,48.46
$GC,972,2.39,221.4,3085,2142,2215,4094,15.1,16.4,151,978,0.00,1.12,0.00,0.000,260,0.000,0.059,3086,2556,2215,2215,4094,0,0,0,0,0,0,26.34,26.02,26.36,10.20,49.64
$STATE,1074,end climb,SURFACE_DEPTH_REACHED
$STATE,1074,begin surface coast
$FINISH,0.2,1.022138
$STATE,1087,end surface coast,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$SM_CCo,1131,5.20,0.454,0,0,2132,300.51
$SM_GC,1.72,29.73,1.58,5.20,0.031,0.037,0.454,240,1970,2132,-6.55,1.69,300.51,0,0,0,0,0,0,26.20,26.12,25.32
$IRIDIUM_FIX,6149.06,-17422.35,110817,234125
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.88
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,24.26,24.477
$10V_AH,10.42,27.781
$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,53.575,12.175,28.300,5.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,462.782,305.222,130.736,246.024,59.413,33.417,294.113,0.000,255.426,0.000,0.541,0.000
$DEVICE_MAMPS,72.675,1253.070,1191.870,453.645,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.781,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,14379,170
$CAP_FILE_SIZE,27793,0
$CFSIZE,1024409600,975421440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,020639,6111.488,-17348.744,9,0.8,107,7.0,1.6,198.2,9,5.0