version: 66.13
glider: 401
mission: 22
dive: 1042
start: 8 14 117 14 48 11
data:
$ID,401
$MISSION,22
$DIVE,1042
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,140817,143900,6136.6885,-17351.7773,4,0.8,38,7.0,0.2,209.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-31.1
$GPS2,140817,144702,6136.6914,-17351.8379,7,0.7,15,7.0,0.0,342.1,11,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.016095,0.394254
$KALMAN_X,61199.863281,-549.539734,-170.605087,-255835.171875,-54.677582
$KALMAN_Y,-76759.617188,2567.478760,728.386719,335356.781250,-870.870789
$MHEAD_RNG_PITCHd_Wd,355.3,12841,-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,8,-1.78,-487.5,238,1940,1251,4092,0.0,0.0,0,20,9.30,0.00,0.00,0.000,2049,0.079,0.000,1052,1940,1253,1253,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.11,52.00
$GC,23,-1.78,-487.5,1052,1942,1252,4094,0.4,0.0,1,51,7.62,0.00,-16.42,0.000,19206,0.044,0.000,1765,1942,3057,3057,4094,0,0,0,0,0,0,25.95,24.89,26.01,10.12,52.20
$GC,90,-1.78,-487.5,1764,1941,3058,4094,2.2,-8.5,9,98,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1942,3057,3057,4094,0,0,0,0,0,0,26.23,26.24,26.24,10.50,51.85
$GC,137,-1.78,-487.5,1763,1941,3059,4094,9.9,-18.0,15,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1941,3059,3059,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.50,52.16
$GC,184,-1.78,-487.5,1764,1941,3061,4094,18.5,-18.5,21,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1942,3061,3061,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.50,51.61
$GC,231,-1.78,-487.5,1764,1941,3062,4094,27.2,-17.9,27,240,0.00,1.08,0.00,0.000,516,0.000,0.049,1765,1519,3062,3062,4094,0,0,0,0,0,0,26.35,26.04,26.36,10.46,50.74
$GC,279,-1.78,-487.5,1764,1519,3064,4094,33.6,-12.6,33,289,0.00,1.00,0.00,0.000,1030,0.000,0.027,1765,1948,3064,3064,4095,0,0,0,0,0,0,26.18,26.16,26.19,10.42,49.21
$GC,327,-1.78,-487.5,1764,1947,3064,4095,39.6,-12.6,39,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1948,3065,3065,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.40,49.09
$GC,374,-1.78,-487.5,1764,1948,3066,4094,45.8,-13.3,45,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1949,3066,3066,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.38,47.20
$GC,422,-1.78,-487.5,1764,1949,3067,4095,52.1,-13.0,51,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1949,3067,3067,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,46.41
$GC,469,-1.78,-487.5,1764,1949,3068,4095,58.5,-13.7,57,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1949,3068,3068,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.37,45.82
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,493,-0.45,0.0,1764,2139,3069,4095,61.3,-13.6,59,529,4.50,0.00,28.40,1.331,10244,0.056,0.000,2184,2139,2484,2484,4094,0,0,0,0,0,0,26.20,25.30,24.25,10.36,45.78
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,533,1.78,487.5,2184,2139,2484,4094,64.5,0.0,63,578,7.55,0.00,28.02,1.297,11270,0.032,0.000,2893,2140,1915,1915,4094,0,0,0,0,0,0,25.56,25.71,23.82,10.23,45.11
$GC,617,1.78,487.5,2892,2139,1914,4094,57.8,12.6,73,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,1913,1913,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.10,44.52
$GC,664,1.78,487.5,2892,2139,1912,4094,51.6,13.3,79,673,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1713,1912,1912,4094,0,0,0,0,0,0,25.77,25.48,25.78,10.10,44.40
$GC,769,1.78,487.5,2892,1713,1909,4094,37.5,13.1,94,779,0.00,0.98,0.00,0.000,1030,0.000,0.029,2893,2110,1909,1909,4094,0,0,0,0,0,0,25.79,25.77,25.81,10.08,45.78
$GC,816,1.78,487.5,2892,2109,1908,4094,31.5,12.4,100,825,0.00,1.27,0.00,0.000,260,0.000,0.054,2893,2581,1907,1907,4094,0,0,0,0,0,0,26.08,25.76,26.09,10.08,45.98
$GC,856,1.78,487.5,2892,2580,1906,4094,26.5,12.6,105,865,0.00,1.20,0.00,0.000,1030,0.000,0.027,2893,2101,1906,1906,4094,0,0,0,0,0,0,25.94,25.89,25.94,10.08,46.14
$GC,902,2.01,643.4,2892,2100,1906,4094,22.3,8.2,111,921,0.60,1.00,9.20,0.751,10756,0.033,0.048,2961,1712,1736,1736,4094,0,0,0,0,0,0,25.97,25.40,24.82,10.13,47.20
$GC,997,2.01,643.4,2960,1711,1733,4094,12.2,11.2,124,1006,0.00,0.93,0.00,0.000,1030,0.000,0.029,2961,2096,1733,1733,4094,0,0,0,0,0,0,25.95,25.92,25.96,10.14,50.51
$GC,1044,2.01,643.4,2960,2095,1733,4094,7.4,10.7,130,1053,0.00,1.25,0.00,0.000,260,0.000,0.057,2961,2556,1732,1732,4094,0,0,0,0,0,0,26.22,25.90,26.22,10.15,51.45
$GC,1070,2.01,643.4,2960,2555,1732,4094,4.4,11.2,133,1080,0.00,1.20,0.00,0.000,1030,0.000,0.028,2961,2080,1731,1731,4095,0,0,0,0,0,0,26.02,25.98,26.04,10.15,51.22
$STATE,1088,end climb,FINISH_DEPTH_REACHED
$STATE,1088,begin subsurface finish
$FINISH1,1.9,1.023909,118
$GC,1097,0.18,117.9,2961,2166,1730,4094,1.9,12.1,135,1116,5.75,1.25,-5.30,0.000,20996,0.022,1.275,2395,1713,2352,2352,4094,0,0,0,0,0,0,26.06,24.68,26.10,10.16,51.41
$FINISH2,0.5
$STATE,1118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,133008
$TT8_MAMPS,0.026215,0.237433
$HUMID,51.69
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.82,28.948
$10V_AH,10.14,31.423
$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,35.325,12.875,65.625,0.000,0.000,26.267,28.084,255.142,0.000,0.000,16.732,399.222,0.000,137.978,882.645,198.090,33.452,398.605,0.000,336.121,0.000,0.542,0.000
$DEVICE_MAMPS,78.795,1275.255,1331.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.949,372.247,294.562,436.741,571.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,14326,137
$CAP_FILE_SIZE,32801,0
$CFSIZE,1024409600,968278016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140817,144702,6136.691,-17351.838,7,0.7,15,7.0,0.0,342.1,11,4.7