version: 66.13
glider: 401
mission: 22
dive: 968
start: 8 13 117 6 32 29
data:
$ID,401
$MISSION,22
$DIVE,968
$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,56
$R_STBD_OVSHOOT,22
$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
$GPS1,130817,061010,6122.1509,-17346.3555,5,0.8,30,7.1,0.0,152.6,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.3
$GPS2,130817,061010,6122.1509,-17346.3555,5,0.8,30,7.1,0.0,152.6,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.217188,0.325932
$KALMAN_X,64239.480469,-60.431515,69.141235,-254416.125000,-81.210640
$KALMAN_Y,-53570.347656,2136.135254,612.510071,285730.156250,0.479980
$MHEAD_RNG_PITCHd_Wd,26.6,5038,-11.6,-10.526,-15.04,6829
$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,-1.78,-478.8,2395,1927,2361,4092,0.0,0.0,0,21,6.30,0.00,-3.47,0.000,20482,0.025,0.000,1775,1927,2735,2735,4094,0,0,0,0,0,0,26.16,28.83,26.22,10.33,52.24
$GC,25,-1.78,-478.8,1774,1921,2735,4094,0.3,0.0,1,35,0.00,1.00,-2.83,0.000,16900,0.000,1.289,1775,1552,3047,3047,4094,0,0,0,0,0,0,26.40,24.84,26.40,10.41,52.67
$GC,130,-1.78,-478.8,1773,1552,3050,4094,14.8,-19.1,16,140,0.00,0.98,0.00,0.000,1030,0.000,0.028,1774,1956,3050,3050,4095,0,0,0,0,0,0,26.17,26.14,26.17,10.49,52.44
$GC,177,-1.78,-478.8,1774,1957,3051,4095,22.7,-16.6,22,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1957,3051,3051,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.49,52.24
$GC,224,-1.78,-478.8,1774,1957,3052,4094,27.5,-11.0,28,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1957,3052,3052,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.45,51.69
$GC,268,-1.78,-478.8,1774,1957,3053,4095,33.1,-12.1,34,281,0.00,1.05,0.00,0.000,260,0.000,0.044,1774,2369,3053,3053,4094,0,0,0,0,0,0,26.46,26.17,26.47,10.41,50.35
$GC,320,-1.78,-478.8,1774,2369,3054,4094,39.5,-12.8,40,329,0.00,0.98,0.00,0.000,1030,0.000,0.028,1774,1980,3054,3054,4095,0,0,0,0,0,0,26.29,26.25,26.29,10.39,49.37
$GC,368,-1.78,-478.8,1774,1980,3055,4095,45.5,-12.9,46,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3055,3055,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.38,48.07
$GC,414,-1.78,-478.8,1773,1979,3056,4094,51.8,-13.3,52,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3057,3057,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,47.20
$GC,461,-1.78,-478.8,1773,1979,3058,4095,57.9,-13.1,58,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3058,3058,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.36,46.88
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,485,-0.45,0.0,1774,2151,3058,4094,60.7,-13.5,60,527,4.38,0.00,27.75,1.307,10244,0.056,0.000,2186,2151,2484,2484,4094,0,0,0,0,0,0,26.26,25.10,24.37,10.36,46.85
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,532,1.78,478.8,2186,2151,2485,4094,64.0,0.0,65,576,7.38,1.10,27.35,1.284,10500,0.033,0.050,2891,2559,1929,1929,4094,0,0,0,0,0,0,25.60,25.54,23.97,10.23,45.74
$GC,792,1.78,478.8,2891,2559,1922,4094,33.4,13.2,102,801,0.00,1.08,0.00,0.000,1030,0.000,0.025,2892,2126,1922,1922,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.09,46.61
$GC,838,1.78,478.8,2891,2126,1921,4094,27.4,13.2,108,847,0.00,1.20,0.00,0.000,260,0.000,0.050,2891,2561,1921,1921,4094,0,0,0,0,0,0,26.15,25.85,26.17,10.08,46.61
$GC,1075,1.84,518.5,2891,2560,1915,4094,3.1,9.9,143,1085,0.10,1.05,3.40,0.318,11270,0.056,0.027,2908,2131,1878,1878,4094,0,0,0,0,0,0,26.10,26.13,25.29,10.19,51.89
$STATE,1093,end climb,FINISH_DEPTH_REACHED
$STATE,1093,begin subsurface finish
$FINISH1,0.1,1.001674,0
$GC,1101,0.00,0.0,2908,2123,1877,4094,0.1,13.2,145,1120,5.70,0.00,-5.35,0.000,20998,0.022,0.000,2338,2129,2490,2490,4094,0,0,0,0,0,0,26.17,25.58,26.21,10.19,53.03
$FINISH2,0.3
$STATE,1121,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1121,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,045259
$TT8_MAMPS,0.026215,0.248668
$HUMID,52.63
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.97,26.433
$10V_AH,10.16,29.497
$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,23.850,9.275,58.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,402.907,0.000,104.589,611.403,61.180,33.430,320.719,0.000,357.582,0.000,0.544,0.000
$DEVICE_MAMPS,55.845,1289.025,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.000,399.466,316.142,468.855,609.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,14249,147
$CAP_FILE_SIZE,24125,0
$CFSIZE,1024409600,971931648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,268.75,0x236164,0,24
$GPS,130817,061010,6122.151,-17346.355,5,0.8,30,7.1,0.0,152.6,10,5.0