version: 66.13
glider: 401
mission: 22
dive: 1040
start: 8 14 117 13 57 10
data:
$ID,401
$MISSION,22
$DIVE,1040
$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,22
$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
$GPS1,140817,133514,6136.4102,-17351.4160,7,0.7,19,7.0,0.2,287.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.6
$GPS2,140817,133514,6136.4102,-17351.4160,7,0.7,19,7.0,0.2,287.5,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.002887,0.394572
$KALMAN_X,61577.976562,-534.464111,-155.778107,-255849.578125,7.726303
$KALMAN_Y,-72672.062500,2697.805664,875.123169,330404.687500,-424.232788
$MHEAD_RNG_PITCHd_Wd,353.4,13353,-11.5,-10.526,-14.94,6951
$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,-487.5,2399,1971,2351,4092,0.0,0.0,0,21,6.43,0.00,-2.97,0.000,20482,0.024,0.000,1774,1972,2671,2671,4094,0,0,0,0,0,0,26.06,28.83,26.12,10.30,53.11
$GC,25,-1.78,-487.5,1773,1972,2671,4094,0.2,0.0,1,33,0.00,0.00,-3.22,0.000,16390,0.000,0.000,1773,1972,3057,3057,4095,0,0,0,0,0,0,26.29,25.54,26.30,10.38,54.09
$GC,70,-1.78,-487.5,1773,1972,3058,4095,5.2,-13.8,7,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1972,3058,3058,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.46,53.38
$GC,115,-1.78,-487.5,1773,1972,3060,4094,13.1,-17.6,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1972,3060,3060,4095,0,0,0,0,0,0,26.29,26.32,26.31,10.46,53.07
$GC,161,-1.78,-487.5,1773,1972,3062,4095,21.4,-18.5,19,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1973,3062,3062,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.47,52.63
$GC,207,-1.78,-487.5,1773,1972,3062,4095,28.7,-13.9,25,216,0.00,1.20,0.00,0.000,516,0.000,0.050,1773,1505,3063,3063,4095,0,0,0,0,0,0,26.37,26.05,26.38,10.41,52.12
$GC,240,-1.78,-487.5,1773,1504,3063,4095,33.1,-13.3,29,249,0.00,1.08,0.00,0.000,1030,0.000,0.026,1773,1959,3064,3064,4095,0,0,0,0,0,0,26.17,26.16,26.20,10.39,51.18
$GC,287,-1.78,-487.5,1772,1958,3064,4095,39.2,-13.0,35,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3065,3065,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.38,50.11
$GC,333,-1.78,-487.5,1773,1958,3066,4094,45.1,-12.8,41,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,49.21
$GC,378,-1.78,-487.5,1773,1958,3067,4095,50.9,-12.9,47,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3067,3067,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.35,49.09
$GC,424,-1.78,-487.5,1773,1958,3069,4094,56.7,-12.9,53,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3068,3068,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.34,48.11
$STATE,447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,455,-0.45,0.0,1773,2140,3068,4095,60.1,-13.4,56,498,4.43,0.00,28.30,1.313,10244,0.056,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.20,25.31,24.27,10.34,48.11
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,502,1.78,487.5,2185,2140,2484,4094,63.3,0.0,61,547,7.50,0.00,27.92,1.287,11270,0.031,0.000,2892,2140,1918,1918,4094,0,0,0,0,0,0,25.60,25.76,23.86,10.21,46.41
$GC,586,1.78,487.5,2892,2140,1917,4094,56.7,12.3,71,595,0.00,1.15,0.00,0.000,516,0.000,0.043,2892,1706,1918,1918,4094,0,0,0,0,0,0,25.60,25.32,25.61,10.08,45.70
$GC,645,1.78,487.5,2892,1705,1915,4094,48.3,13.4,79,654,0.00,0.93,0.00,0.000,1030,0.000,0.028,2893,2084,1915,1915,4095,0,0,0,0,0,0,25.61,25.58,25.62,10.07,46.02
$GC,693,1.78,487.5,2892,2084,1914,4095,42.1,13.6,85,702,0.00,1.27,0.00,0.000,260,0.000,0.053,2892,2555,1914,1914,4094,0,0,0,0,0,0,25.92,25.63,25.94,10.06,46.57
$GC,741,1.78,487.5,2892,2555,1913,4094,35.9,12.8,91,750,0.00,1.17,0.00,0.000,1030,0.000,0.028,2893,2091,1912,1912,4094,0,0,0,0,0,0,25.81,25.78,25.83,10.06,47.04
$GC,789,1.78,487.5,2892,2091,1911,4094,30.0,12.5,97,798,0.00,0.98,0.00,0.000,516,0.000,0.048,2892,1713,1911,1911,4094,0,0,0,0,0,0,26.08,25.79,26.10,10.06,46.88
$GC,881,1.96,607.2,2892,1713,1909,4094,19.9,8.8,110,900,0.52,0.88,7.43,0.689,11270,0.032,0.028,2950,2084,1778,1778,4094,0,0,0,0,0,0,25.98,25.96,24.86,10.12,48.54
$GC,939,1.96,607.2,2949,2083,1777,4094,13.9,10.9,117,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2085,1777,1777,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,50.27
$GC,986,1.96,607.2,2949,2084,1776,4094,8.3,11.9,123,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2084,1775,1775,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,51.92
$GC,1033,1.96,607.2,2949,2084,1774,4094,2.8,10.7,129,1042,0.00,0.98,0.00,0.000,516,0.000,0.046,2950,1712,1774,1774,4094,0,0,0,0,0,0,26.26,25.98,26.27,10.15,51.77
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,0.1,1.003071,0
$GC,1060,0.00,0.0,2949,2144,1774,4094,0.1,11.3,131,1080,6.18,1.17,-6.43,0.000,20996,0.020,1.278,2340,1709,2488,2488,4094,0,0,0,0,0,0,26.08,24.70,26.11,10.15,52.04
$FINISH2,0.1
$STATE,1081,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1081,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,121542
$TT8_MAMPS,0.026215,0.247919
$HUMID,52.71
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.86,28.874
$10V_AH,10.14,31.373
$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,25.050,13.850,63.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.153,0.000,134.702,557.541,73.629,33.428,381.307,0.000,325.735,0.000,0.541,0.000
$DEVICE_MAMPS,55.845,1278.315,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.267,361.431,285.939,423.687,554.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,14324,133
$CAP_FILE_SIZE,27848,0
$CFSIZE,1024409600,968392704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,133514,6136.410,-17351.416,7,0.7,19,7.0,0.2,287.5,11,5.0