version: 66.13
glider: 401
mission: 22
dive: 1060
start: 8 14 117 22 20 46
data:
$ID,401
$MISSION,22
$DIVE,1060
$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,33
$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
$GPS1,140817,220405,6141.4810,-17353.2480,30,0.9,34,7.0,0.4,352.8,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-41.5
$GPS2,140817,221935,6141.5610,-17353.2188,7,0.7,15,7.0,0.0,112.6,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.137870,0.344490
$KALMAN_X,57406.636719,-823.651245,-322.982697,-252936.625000,87.525513
$KALMAN_Y,-75504.921875,2718.017090,1031.231567,342577.593750,122.557251
$MHEAD_RNG_PITCHd_Wd,14.8,4168,-12.5,-10.526,-15.84,6003
$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,-1.77,-419.9,230,1948,1819,4092,0.0,0.0,0,21,9.80,0.00,0.00,0.000,2049,0.100,0.000,1049,1942,1818,1818,4094,0,0,0,0,0,0,26.14,28.83,28.83,10.25,50.55
$GC,24,-1.77,-419.9,1049,1942,1818,4094,0.9,0.0,1,51,7.72,0.00,-10.73,0.000,18438,0.044,0.000,1766,1946,2978,2978,4095,0,0,0,0,0,0,25.85,25.35,25.93,10.26,49.56
$GC,90,-1.77,-419.9,1765,1946,2978,4095,4.1,-13.2,9,99,0.00,1.15,0.00,0.000,260,0.000,0.043,1766,2373,2979,2979,4094,0,0,0,0,0,0,26.06,25.77,26.08,10.50,49.56
$GC,130,-1.77,-419.9,1766,2373,2979,4094,11.1,-17.2,14,139,0.00,1.05,0.00,0.000,1030,0.000,0.026,1766,1958,2980,2980,4095,0,0,0,0,0,0,25.91,25.88,25.94,10.51,49.56
$GC,176,-1.77,-419.9,1766,1958,2981,4095,19.4,-17.9,20,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1958,2981,2981,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.51,49.01
$GC,224,-1.77,-419.9,1766,1958,2983,4095,26.5,-13.7,26,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1958,2983,2983,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.47,48.81
$GC,271,-1.77,-419.9,1766,1957,2983,4095,32.0,-11.4,32,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1958,2983,2983,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.43,47.55
$GC,318,-1.77,-419.9,1765,1958,2984,4095,37.4,-11.9,38,328,0.00,1.12,0.00,0.000,516,0.000,0.050,1766,1515,2985,2985,4095,0,0,0,0,0,0,26.32,26.02,26.34,10.40,46.85
$GC,352,-1.77,-419.9,1766,1515,2985,4095,41.7,-12.2,42,361,0.00,1.02,0.00,0.000,1030,0.000,0.026,1766,1954,2986,2986,4094,0,0,0,0,0,0,26.15,26.15,26.18,10.39,45.74
$GC,398,-1.77,-419.9,1766,1954,2987,4094,47.5,-12.6,48,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1954,2987,2987,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.38,44.92
$GC,444,-1.77,-419.9,1766,1954,2988,4094,53.6,-13.5,54,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1954,2988,2988,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.37,44.13
$GC,489,-1.77,-419.9,1766,1954,2988,4095,59.9,-13.9,60,498,0.00,1.08,0.00,0.000,260,0.000,0.042,1766,2369,2989,2989,4095,0,0,0,0,0,0,26.44,26.14,26.45,10.36,43.97
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,514,-0.45,0.0,1766,2111,2990,4094,62.6,-13.7,62,549,4.53,0.00,24.88,1.317,10244,0.057,0.000,2186,2110,2484,2484,4095,0,0,0,0,0,0,26.15,25.04,24.27,10.36,44.17
$STATE,550,end apogee,CONTROL_FINISHED_OK
$STATE,550,begin climb
$GC,554,1.77,419.9,2186,2110,2483,4095,66.0,0.0,66,590,7.47,0.00,24.52,1.292,11270,0.031,0.000,2891,2110,1993,1993,4094,0,0,0,0,0,0,25.62,25.77,23.89,10.24,44.32
$GC,629,1.77,419.9,2890,2110,1992,4094,60.4,11.8,75,638,0.00,0.98,0.00,0.000,516,0.000,0.044,2891,1736,1993,1993,4094,0,0,0,0,0,0,25.62,25.35,25.63,10.13,43.89
$GC,720,1.77,419.9,2890,1736,1990,4094,48.3,12.9,88,730,0.00,0.88,0.00,0.000,1030,0.000,0.028,2891,2097,1990,1990,4095,0,0,0,0,0,0,25.71,25.67,25.72,10.12,43.89
$GC,769,1.77,419.9,2890,2097,1989,4095,42.3,13.1,94,778,0.00,1.25,0.00,0.000,260,0.000,0.051,2891,2559,1989,1989,4095,0,0,0,0,0,0,26.01,25.70,26.02,10.11,44.80
$GC,809,1.77,419.9,2890,2559,1988,4095,36.7,13.5,99,818,0.00,1.12,0.00,0.000,1030,0.000,0.027,2891,2108,1987,1987,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.10,44.99
$GC,855,1.77,419.9,2890,2108,1986,4094,30.9,12.1,105,865,0.00,1.00,0.00,0.000,516,0.000,0.047,2891,1719,1986,1986,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.10,45.07
$GC,1101,2.05,609.5,2890,1719,1981,4094,9.6,7.3,141,1120,0.88,0.82,10.77,0.666,11270,0.028,0.027,2983,2079,1772,1772,4094,0,0,0,0,0,0,26.17,26.15,25.08,10.21,50.90
$GC,1159,2.16,677.1,2983,2078,1771,4094,4.7,9.4,148,1170,0.22,1.30,5.12,0.463,10500,0.050,0.050,3011,2565,1693,1693,4094,0,0,0,0,0,0,26.03,25.85,25.12,10.18,51.53
$STATE,1178,end climb,FINISH_DEPTH_REACHED
$STATE,1178,begin subsurface finish
$FINISH1,1.8,1.023875,120
$GC,1188,0.18,120.2,3011,2135,1692,4094,1.8,11.2,150,1207,6.30,1.25,-5.62,0.000,20740,0.023,1.283,2401,2562,2349,2349,4094,0,0,0,0,0,0,26.00,24.64,26.06,10.16,51.92
$FINISH2,0.3
$STATE,1208,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1208,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,220642
$TT8_MAMPS,0.025466,0.256907
$HUMID,51.45
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.89,29.493
$10V_AH,10.16,31.870
$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,36.925,15.725,65.300,0.000,0.000,47.466,37.200,600.056,0.000,0.000,16.803,433.168,44.606,131.096,1226.700,321.931,33.454,391.010,0.000,370.237,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1282.905,1316.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.752,413.015,326.830,484.668,633.807,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330612
$DATA_FILE_SIZE,14308,152
$CAP_FILE_SIZE,38089,0
$CFSIZE,1024409600,967393280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140817,221935,6141.561,-17353.219,7,0.7,15,7.0,0.0,112.6,11,4.9