version: 66.13
glider: 401
mission: 22
dive: 1041
start: 8 14 117 14 17 26
data:
$ID,401
$MISSION,22
$DIVE,1041
$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,39
$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,0.14
$_SM_ANGLEo,-2.9
$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,0.039474,4.224013
$KALMAN_X,61556.367188,-525.319336,-145.473480,-255847.906250,-6.352997
$KALMAN_Y,-73093.062500,2690.236328,860.100647,330851.312500,-83.962830
$MHEAD_RNG_PITCHd_Wd,353.5,13353,-0.7,-10.526,-1.43,53616
$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,-0.80,-487.5,2340,1963,2488,4092,0.0,0.0,0,18,2.40,0.00,-4.22,0.000,20482,0.021,0.000,2099,1963,2975,2975,4095,0,0,0,0,0,0,26.11,28.83,26.14,10.33,52.87
$GC,22,-0.80,-487.5,2098,1963,2975,4095,0.5,0.0,1,29,0.00,1.15,-0.62,0.000,16900,0.000,1.284,2099,1525,3056,3056,4095,0,0,0,0,0,0,26.31,24.73,26.23,10.43,52.63
$GC,62,-0.80,-487.5,2098,1525,3057,4095,3.7,-9.2,7,69,0.00,0.98,0.00,0.000,1030,0.000,0.027,2099,1960,3057,3057,4095,0,0,0,0,0,0,26.06,26.05,26.07,10.45,53.18
$GC,102,-0.80,-487.5,2098,1965,3058,4095,7.1,-8.4,13,108,0.00,1.00,0.00,0.000,260,0.000,0.038,2098,2349,3057,3057,4094,0,0,0,0,0,0,26.29,26.01,26.29,10.46,53.42
$GC,123,-0.80,-487.5,2098,2349,3058,4094,8.8,-8.0,16,130,0.00,1.00,0.00,0.000,1030,0.000,0.028,2098,1952,3058,3058,4095,0,0,0,0,0,0,26.09,26.07,26.10,10.46,52.55
$GC,163,-0.80,-487.5,2098,1952,3058,4095,12.2,-9.2,22,169,0.00,1.10,0.00,0.000,516,0.000,0.054,2099,1523,3059,3059,4095,0,0,0,0,0,0,26.34,26.03,26.34,10.46,52.71
$GC,355,-0.80,-487.5,2098,1523,3062,4095,32.2,-9.5,53,361,0.00,0.85,0.00,0.000,1030,0.000,0.025,2099,1919,3062,3062,4095,0,0,0,0,0,0,26.28,26.27,26.29,10.40,50.82
$GC,394,-0.80,-487.5,2098,1918,3063,4095,36.3,-9.9,59,401,0.00,1.10,0.00,0.000,260,0.000,0.037,2099,2347,3063,3063,4094,0,0,0,0,0,0,26.48,26.19,26.49,10.38,50.11
$GC,458,-0.80,-487.5,2098,2347,3064,4094,43.3,-11.2,69,464,0.00,1.05,0.00,0.000,1030,0.000,0.032,2098,1931,3065,3065,4095,0,0,0,0,0,0,26.29,26.25,26.30,10.37,48.66
$GC,497,-0.80,-487.5,2098,1931,3065,4095,47.7,-11.0,75,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1930,3065,3065,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.36,48.42
$GC,535,-0.80,-487.5,2098,1931,3066,4095,52.0,-11.3,81,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1932,3066,3066,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.35,47.00
$GC,574,-0.80,-487.5,2098,1931,3067,4095,56.2,-11.1,87,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1930,3067,3067,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.34,47.32
$STATE,609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,609,begin apogee
$GC,617,-0.45,0.0,2098,2123,3068,4095,60.4,-10.9,93,652,0.73,0.00,28.05,1.316,10244,0.031,0.000,2175,2123,2485,2485,4095,0,0,0,0,0,0,26.34,25.08,24.32,10.33,46.85
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,654,begin climb
$GC,657,0.80,487.5,2175,2122,2486,4095,64.5,0.0,99,693,4.25,0.00,27.88,1.304,11270,0.037,0.000,2577,2123,1915,1915,4095,0,0,0,0,0,0,25.60,25.79,23.86,10.21,46.53
$GC,726,1.63,1043.6,2577,2122,1915,4095,61.0,9.5,110,768,2.92,1.10,31.65,1.249,10756,0.033,0.039,2857,1702,1269,1269,4094,0,0,0,0,0,0,25.35,24.43,23.73,10.08,46.25
$GC,839,1.63,1043.6,2856,1701,1266,4094,45.5,16.6,128,845,0.00,1.05,0.00,0.000,1030,0.000,0.026,2857,2129,1265,1265,4094,0,0,0,0,0,0,25.40,25.38,25.42,9.94,45.94
$GC,878,1.63,1043.6,2856,2129,1264,4094,38.7,16.1,134,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2129,1263,1263,4094,0,0,0,0,0,0,25.72,25.74,25.73,9.94,46.41
$GC,916,1.63,1043.6,2856,2129,1262,4094,32.6,16.1,140,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2129,1262,1262,4094,0,0,0,0,0,0,25.82,25.83,25.83,9.94,45.90
$GC,955,1.63,1043.6,2857,2129,1261,4094,26.5,15.4,146,961,0.00,1.12,0.00,0.000,516,0.000,0.043,2857,1704,1260,1260,4094,0,0,0,0,0,0,25.90,25.61,25.91,9.94,46.25
$GC,1054,1.63,1043.6,2857,1704,1256,4094,11.6,17.9,162,1061,0.00,1.02,0.00,0.000,1030,0.000,0.026,2857,2132,1256,1256,4094,0,0,0,0,0,0,25.86,25.84,25.87,10.01,50.03
$GC,1093,1.63,1043.6,2856,2131,1254,4094,4.7,18.1,168,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2132,1254,1254,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.01,51.53
$STATE,1111,end climb,SURFACE_DEPTH_REACHED
$STATE,1111,begin surface coast
$FINISH,0.2,1.023882
$STATE,1118,end surface coast,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$SM_CCo,1218,0.00,0.000,0,0,1252,1058.65
$SM_GC,0.80,27.27,0.50,0.00,0.019,0.047,0.000,238,1943,1252,-6.55,0.91,1058.65,0,0,0,0,0,0,25.94,25.89,25.98
$IRIDIUM_FIX,6149.06,-17422.35,140817,121542
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.58
$INTERNAL_PRESSURE,9.98441
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.73,28.906
$10V_AH,10.39,31.385
$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,37.575,14.050,87.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.133,332.970,175.704,250.080,74.513,33.417,359.361,0.000,258.348,0.000,0.542,0.000
$DEVICE_MAMPS,36.720,1284.435,1315.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,14274,172
$CAP_FILE_SIZE,31623,0
$CFSIZE,1024409600,968343552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,143900,6136.688,-17351.777,4,0.8,38,7.0,0.2,209.1,10,4.9