version: 66.13
glider: 401
mission: 22
dive: 1045
start: 8 14 117 16 7 58
data:
$ID,401
$MISSION,22
$DIVE,1045
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,140817,155746,6137.2241,-17352.4863,5,0.8,14,7.0,0.0,307.6,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-40.1
$GPS2,140817,160647,6137.2285,-17352.5801,7,0.8,16,7.0,0.4,33.3,11,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.110910,0.330153
$KALMAN_X,60570.367188,-609.926819,-231.693161,-255782.937500,-98.658295
$KALMAN_Y,-76986.953125,2252.193115,388.208191,337151.281250,-102.110443
$MHEAD_RNG_PITCHd_Wd,11.6,11890,-13.7,-10.526,-16.82,5170
$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,-360.8,239,1956,1802,4092,0.0,0.0,0,18,7.10,0.00,0.00,0.000,2049,0.101,0.000,835,1949,1802,1802,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.23,51.06
$GC,21,-1.78,-360.8,835,1954,1802,4094,0.8,0.0,1,46,10.05,0.00,-10.23,0.000,18950,0.054,0.000,1761,1955,2910,2910,4094,0,0,0,0,0,0,25.92,24.87,25.99,10.23,51.57
$GC,79,-1.97,-487.5,1760,1955,2910,4094,0.1,-0.0,10,86,0.30,0.00,-1.25,0.000,20998,0.035,0.000,1721,1955,3056,3056,4094,0,0,0,0,0,0,26.01,24.89,26.03,10.48,51.06
$GC,119,-1.97,-487.5,1721,1955,3057,4094,4.9,-14.6,16,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,1955,3058,3058,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.50,50.90
$GC,157,-1.97,-487.5,1720,1954,3058,4094,12.7,-21.6,22,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,1955,3059,3059,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.51,51.02
$GC,196,-1.97,-487.5,1721,1955,3060,4094,20.9,-20.4,28,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,1955,3060,3060,4095,0,0,0,0,0,0,26.25,26.27,26.26,10.51,50.31
$GC,234,-1.97,-487.5,1721,1955,3061,4095,28.5,-20.0,34,241,0.00,1.10,0.00,0.000,516,0.000,0.049,1721,1521,3062,3062,4095,0,0,0,0,0,0,26.29,25.98,26.29,10.48,50.66
$GC,297,-1.97,-487.5,1721,1521,3063,4095,38.2,-14.6,44,304,0.00,1.02,0.00,0.000,1030,0.000,0.024,1721,1959,3064,3064,4095,0,0,0,0,0,0,26.13,26.11,26.17,10.42,48.70
$GC,337,-1.97,-487.5,1721,1959,3064,4095,43.8,-14.3,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,1959,3064,3064,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.40,47.91
$GC,375,-1.97,-487.5,1721,1959,3065,4095,49.3,-14.5,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,1960,3066,3066,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,46.69
$GC,414,-1.97,-487.5,1721,1959,3066,4095,54.9,-14.6,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,1960,3067,3067,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.38,45.78
$STATE,449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,457,-0.45,0.0,1721,2142,3067,4095,60.5,-14.3,68,493,5.03,0.00,28.23,1.308,10244,0.057,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.13,25.26,24.21,10.37,46.22
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,497,1.97,487.5,2186,2143,2484,4094,63.6,0.0,74,539,8.12,0.00,27.98,1.280,11270,0.031,0.000,2957,2143,1915,1915,4094,0,0,0,0,0,0,25.52,25.67,23.83,10.24,46.10
$GC,572,1.97,487.5,2957,2142,1914,4094,56.3,15.2,86,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2143,1914,1914,4094,0,0,0,0,0,0,25.53,25.54,25.53,10.11,44.25
$GC,610,1.97,487.5,2957,2142,1913,4094,50.1,15.6,92,616,0.00,1.15,0.00,0.000,516,0.000,0.044,2957,1711,1913,1913,4094,0,0,0,0,0,0,25.70,25.41,25.71,10.11,44.32
$GC,691,1.97,487.5,2957,1710,1910,4094,37.4,15.5,105,698,0.00,0.90,0.00,0.000,1030,0.000,0.028,2957,2082,1910,1910,4094,0,0,0,0,0,0,25.71,25.68,25.72,10.10,45.78
$GC,730,1.97,487.5,2957,2082,1908,4094,31.5,15.4,111,737,0.00,1.27,0.00,0.000,260,0.000,0.050,2957,2554,1907,1907,4094,0,0,0,0,0,0,25.99,25.69,26.00,10.09,45.39
$GC,775,1.97,487.5,2957,2554,1907,4094,24.8,14.0,118,782,0.00,1.17,0.00,0.000,1030,0.000,0.027,2957,2089,1907,1907,4094,0,0,0,0,0,0,25.85,25.82,25.86,10.11,46.85
$GC,815,1.98,489.3,2957,2089,1906,4094,20.7,10.5,124,822,0.00,0.98,0.00,0.000,516,0.000,0.048,2958,1708,1906,1906,4095,0,0,0,0,0,0,26.12,25.82,26.13,10.15,47.95
$GC,914,1.99,500.2,2957,1708,1903,4095,10.9,10.3,140,921,0.00,0.85,0.00,0.000,1030,0.000,0.027,2958,2075,1903,1903,4094,0,0,0,0,0,0,26.03,26.00,26.04,10.19,51.06
$GC,954,1.99,500.2,2957,2075,1902,4094,5.8,13.0,146,960,0.00,1.27,0.00,0.000,260,0.000,0.050,2957,2557,1902,1902,4095,0,0,0,0,0,0,26.27,25.96,26.27,10.20,51.92
$STATE,984,end climb,FINISH_DEPTH_REACHED
$STATE,984,begin subsurface finish
$FINISH1,1.3,1.023899,119
$GC,994,0.18,118.6,2957,2105,1900,4094,1.3,13.7,151,1007,5.72,0.00,-3.53,0.000,20742,0.022,0.000,2401,2105,2349,2349,4095,0,0,0,0,0,0,26.05,24.98,26.10,10.21,51.77
$FINISH2,0.6
$STATE,1008,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,144134
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.81
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.83,29.059
$10V_AH,10.30,31.487
$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,36.325,11.250,56.200,0.000,0.000,25.459,23.776,308.402,0.000,0.000,17.716,407.768,230.973,150.084,569.726,209.591,33.481,326.874,0.000,233.092,0.000,0.542,0.000
$DEVICE_MAMPS,100.980,50.490,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,10796,153
$CAP_FILE_SIZE,33489,0
$CFSIZE,1024409600,968130560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140817,160647,6137.229,-17352.580,7,0.8,16,7.0,0.4,33.3,11,4.7