version: 66.13
glider: 401
mission: 22
dive: 1058
start: 8 14 117 21 21 4
data:
$ID,401
$MISSION,22
$DIVE,1058
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,140817,205935,6140.4595,-17353.8809,6,0.8,21,7.0,0.6,337.9,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-4.9
$GPS2,140817,205935,6140.4595,-17353.8809,6,0.8,21,7.0,0.6,337.9,11,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.209265,0.350576
$KALMAN_X,57446.554688,-902.821594,-419.375946,-253415.156250,-19.411133
$KALMAN_Y,-76227.789062,2481.507324,790.317139,341775.468750,125.530701
$MHEAD_RNG_PITCHd_Wd,23.8,6276,-11.0,-10.526,-14.46,7546
$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,-1.73,-487.5,2400,1954,2350,4092,0.0,0.0,0,20,6.25,0.00,-2.80,0.000,20482,0.024,0.000,1790,1954,2652,2652,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.32,53.15
$GC,24,-1.73,-487.5,1790,1953,2652,4094,0.1,0.0,1,34,0.00,1.12,-3.80,0.000,16900,0.000,1.291,1790,1528,3054,3054,4095,0,0,0,0,0,0,26.39,24.77,26.39,10.38,52.75
$GC,65,-1.73,-487.5,1789,1527,3054,4095,2.1,-6.6,6,74,0.00,1.00,0.00,0.000,1030,0.000,0.028,1790,1953,3055,3055,4095,0,0,0,0,0,0,26.10,26.08,26.13,10.46,53.30
$GC,111,-1.73,-487.5,1789,1953,3056,4095,8.8,-15.8,12,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3056,3056,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.48,52.95
$GC,158,-1.73,-487.5,1789,1953,3057,4095,16.4,-16.9,18,167,0.00,1.10,0.00,0.000,260,0.000,0.049,1790,2369,3058,3058,4094,0,0,0,0,0,0,26.39,26.12,26.40,10.48,52.28
$GC,205,-1.73,-487.5,1789,2368,3059,4094,23.8,-15.2,24,214,0.00,1.02,0.00,0.000,1030,0.000,0.030,1790,1959,3059,3059,4095,0,0,0,0,0,0,26.22,26.15,26.22,10.47,52.36
$GC,253,-1.73,-487.5,1789,1959,3060,4095,28.9,-11.2,30,262,0.00,1.10,0.00,0.000,516,0.000,0.050,1790,1524,3060,3060,4094,0,0,0,0,0,0,26.44,26.14,26.46,10.42,51.73
$GC,306,-1.73,-487.5,1789,1524,3061,4094,35.4,-11.5,37,315,0.00,1.00,0.00,0.000,1030,0.000,0.026,1790,1955,3061,3061,4095,0,0,0,0,0,0,26.30,26.25,26.29,10.38,50.00
$GC,352,-1.73,-487.5,1789,1955,3062,4095,41.0,-11.7,43,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1955,3062,3062,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,48.97
$GC,398,-1.73,-487.5,1789,1956,3063,4095,46.5,-11.9,49,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1956,3063,3063,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.36,47.59
$GC,444,-1.73,-487.5,1789,1955,3064,4095,52.1,-12.1,55,453,0.00,1.08,0.00,0.000,260,0.000,0.045,1790,2369,3064,3064,4095,0,0,0,0,0,0,26.53,26.23,26.55,10.35,47.32
$GC,497,-1.73,-487.5,1789,2368,3066,4095,58.9,-12.9,62,505,0.00,1.00,0.00,0.000,1030,0.000,0.030,1790,1969,3066,3066,4095,0,0,0,0,0,0,26.32,26.31,26.36,10.35,46.88
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,513,begin apogee
$GC,521,-0.45,0.0,1789,2137,3066,4094,61.4,-12.9,64,557,4.25,0.00,28.17,1.319,10244,0.054,0.000,2187,2138,2484,2484,4094,0,0,0,0,0,0,26.27,25.37,24.32,10.35,46.73
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,562,1.73,487.5,2187,2137,2484,4094,64.5,0.0,68,607,7.32,1.12,27.90,1.293,10500,0.033,0.053,2881,2555,1918,1918,4094,0,0,0,0,0,0,25.55,25.50,23.88,10.22,46.29
$GC,625,1.76,508.1,2881,2554,1919,4094,60.5,10.2,75,635,0.00,1.10,2.90,0.438,9222,0.000,0.025,2882,2120,1897,1897,4094,0,0,0,0,0,0,25.32,25.29,24.06,10.09,45.70
$GC,673,1.76,508.1,2881,2119,1896,4094,54.8,12.2,81,682,0.00,1.02,0.70,0.004,8708,0.000,0.043,2882,1722,1896,1896,4094,0,0,0,0,0,0,25.72,25.44,25.71,10.08,45.27
$GC,745,1.76,508.1,2881,1722,1894,4094,45.6,12.5,91,755,0.00,1.00,0.00,0.000,1030,0.000,0.029,2882,2127,1894,1894,4094,0,0,0,0,0,0,25.72,25.70,25.75,10.07,45.90
$GC,792,1.76,508.1,2881,2126,1892,4094,39.8,12.4,97,801,0.00,1.17,0.00,0.000,260,0.000,0.053,2881,2563,1893,1893,4094,0,0,0,0,0,0,26.01,25.70,26.02,10.06,46.53
$GC,825,1.76,508.1,2881,2563,1892,4094,35.7,12.7,101,834,0.00,1.12,0.00,0.000,1030,0.000,0.026,2882,2111,1892,1892,4094,0,0,0,0,0,0,25.85,25.82,25.87,10.06,45.90
$GC,871,1.76,508.1,2881,2111,1890,4094,30.1,12.1,107,881,0.00,1.00,0.00,0.000,516,0.000,0.046,2882,1719,1890,1890,4095,0,0,0,0,0,0,26.12,25.83,26.13,10.06,46.45
$GC,1044,1.93,625.1,2881,1718,1886,4095,13.0,8.9,132,1063,0.45,0.93,7.53,0.634,11270,0.037,0.028,2932,2105,1753,1753,4094,0,0,0,0,0,0,26.09,26.08,25.04,10.15,51.45
$GC,1102,1.94,626.7,2932,2104,1752,4094,7.1,10.5,139,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2105,1752,1752,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.14,52.04
$STATE,1146,end climb,FINISH_DEPTH_REACHED
$STATE,1146,begin subsurface finish
$FINISH1,1.9,1.023875,120
$GC,1155,0.18,120.3,2932,2150,1749,4094,1.9,11.4,145,1173,5.43,0.00,-4.75,0.000,20998,0.019,0.000,2398,2151,2347,2347,4094,0,0,0,0,0,0,26.09,25.50,26.13,10.16,52.91
$FINISH2,0.8
$STATE,1174,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1174,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,193816
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.63
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.88,29.411
$10V_AH,10.16,31.813
$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,23.700,17.750,67.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,415.942,0.000,128.553,611.235,77.766,33.430,376.773,0.000,357.920,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1290.555,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.271,399.422,316.101,468.562,608.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,14282,147
$CAP_FILE_SIZE,31158,0
$CFSIZE,1024409600,967507968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,205935,6140.459,-17353.881,6,0.8,21,7.0,0.6,337.9,11,4.7