version: 66.13
glider: 401
mission: 22
dive: 1061
start: 8 14 117 22 43 13
data:
$ID,401
$MISSION,22
$DIVE,1061
$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,18
$R_STBD_OVSHOOT,30
$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
$GPS1,140817,221935,6141.5610,-17353.2188,7,0.7,15,7.0,0.0,112.6,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.5
$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,0.174260,0.349150
$KALMAN_X,57284.226562,-820.900085,-301.223816,-252825.875000,47.959564
$KALMAN_Y,-75659.664062,2668.816650,975.331604,342874.593750,119.828552
$MHEAD_RNG_PITCHd_Wd,19.5,4168,-11.7,-10.526,-15.10,6768
$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,-474.5,2400,1962,2349,4091,0.0,0.0,0,17,6.32,0.00,0.00,0.000,4097,0.021,0.000,1783,1962,2349,2349,4095,0,0,0,0,0,0,26.32,28.83,28.83,10.32,51.29
$GC,20,-1.78,-474.5,1783,1962,2349,4095,0.1,0.0,1,33,0.00,1.12,-6.40,0.000,16644,0.000,1.268,1782,2378,3040,3040,4095,0,0,0,0,0,0,26.30,24.71,26.32,10.31,52.00
$GC,114,-1.78,-474.5,1782,2383,3042,4095,9.0,-16.1,16,120,0.00,1.10,0.00,0.000,1030,0.000,0.030,1782,1938,3042,3042,4095,0,0,0,0,0,0,26.08,26.03,26.09,10.47,51.69
$GC,153,-1.78,-474.5,1782,1939,3043,4095,15.6,-17.1,22,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1938,3044,3044,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.47,51.22
$GC,192,-1.78,-474.5,1781,1938,3044,4094,21.5,-15.7,28,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1938,3044,3044,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.48,51.33
$GC,230,-1.79,-487.5,1782,1938,3045,4095,25.9,-10.2,34,237,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1783,1938,3072,3072,4095,0,0,0,0,0,0,26.39,25.02,25.32,10.44,51.77
$GC,270,-1.79,-487.5,1782,1938,3074,4095,30.5,-11.8,40,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1938,3074,3074,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.41,50.35
$GC,308,-1.79,-487.5,1782,1938,3074,4094,35.2,-12.2,46,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1939,3074,3074,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.38,49.25
$GC,347,-1.79,-487.5,1781,1938,3075,4095,39.8,-11.7,52,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1938,3075,3075,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.38,48.66
$GC,385,-1.79,-487.5,1781,1938,3076,4094,44.4,-12.2,58,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1938,3076,3076,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.37,47.48
$GC,423,-1.79,-487.5,1782,1938,3077,4094,49.0,-11.9,64,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1938,3077,3077,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.36,47.83
$GC,462,-1.79,-487.5,1782,1938,3078,4095,53.7,-12.7,70,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1938,3078,3078,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,46.77
$GC,500,-1.79,-487.5,1782,1938,3079,4095,58.6,-12.6,76,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1939,3079,3079,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,46.53
$STATE,511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,519,-0.45,0.0,1782,2146,3079,4095,60.3,-12.6,78,555,4.32,0.00,28.73,1.300,10244,0.054,0.000,2186,2146,2484,2484,4094,0,0,0,0,0,0,26.17,25.28,24.24,10.35,47.16
$STATE,556,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,560,1.79,487.5,2186,2146,2484,4094,62.9,0.0,84,601,7.57,0.00,27.92,1.271,11270,0.031,0.000,2896,2146,1914,1914,4094,0,0,0,0,0,0,25.55,25.69,23.87,10.22,46.02
$GC,634,1.79,487.5,2895,2146,1914,4094,56.6,12.4,96,641,0.00,1.17,0.00,0.000,516,0.000,0.046,2896,1716,1913,1913,4094,0,0,0,0,0,0,25.55,25.27,25.56,10.09,45.58
$GC,727,1.79,487.5,2896,1716,1911,4094,45.0,12.5,111,734,0.00,1.02,0.00,0.000,1030,0.000,0.030,2896,2128,1911,1911,4094,0,0,0,0,0,0,25.66,25.63,25.68,10.08,46.14
$GC,767,1.79,487.5,2896,2128,1910,4094,40.0,12.7,117,773,0.00,1.17,0.00,0.000,260,0.000,0.053,2896,2565,1909,1909,4094,0,0,0,0,0,0,25.96,25.65,25.97,10.07,46.22
$GC,794,1.79,487.5,2895,2565,1909,4094,36.4,13.4,121,800,0.00,1.12,0.00,0.000,1030,0.000,0.027,2896,2116,1908,1908,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.07,46.53
$GC,833,1.79,487.5,2896,2115,1908,4094,31.4,12.7,127,840,0.00,1.02,0.00,0.000,516,0.000,0.047,2896,1720,1907,1907,4094,0,0,0,0,0,0,26.07,25.77,26.08,10.07,46.65
$GC,915,1.88,543.3,2896,1719,1905,4094,22.5,9.7,140,928,0.20,0.95,4.35,0.527,11270,0.044,0.028,2924,2112,1850,1850,4094,0,0,0,0,0,0,25.95,25.94,24.87,10.10,48.22
$GC,961,1.90,556.7,2924,2112,1849,4094,17.9,10.3,147,968,0.00,0.00,2.60,0.230,8198,0.000,0.000,2924,2112,1832,1832,4094,0,0,0,0,0,0,26.18,25.73,24.93,10.12,50.47
$GC,1001,1.93,580.4,2924,2112,1833,4094,13.7,10.2,153,1008,0.10,0.00,3.00,0.301,10246,0.073,0.000,2941,2112,1807,1807,4094,0,0,0,0,0,0,26.03,25.76,25.00,10.14,51.22
$GC,1041,1.93,580.4,2940,2112,1806,4094,9.4,10.6,159,1048,0.00,1.05,0.00,0.000,516,0.000,0.047,2942,1711,1806,1806,4094,0,0,0,0,0,0,26.23,25.93,26.24,10.15,51.96
$STATE,1107,end climb,FINISH_DEPTH_REACHED
$STATE,1108,begin subsurface finish
$FINISH1,1.6,1.023870,121
$GC,1117,0.18,120.6,2941,2145,1803,4094,1.6,12.0,170,1137,5.60,1.17,-4.80,0.000,20740,0.028,1.284,2400,2563,2350,2350,4095,0,0,0,0,0,0,26.07,24.70,26.12,10.16,52.67
$FINISH2,0.2
$STATE,1138,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1138,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,220642
$TT8_MAMPS,0.026215,0.111601
$HUMID,52.95
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.87,29.515
$10V_AH,10.40,31.882
$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,24.125,14.150,66.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.800,264.784,160.662,251.478,73.959,33.429,351.306,0.000,259.662,0.000,0.541,0.000
$DEVICE_MAMPS,72.675,1283.670,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14198,173
$CAP_FILE_SIZE,31719,0
$CFSIZE,1024409600,967360512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,221935,6141.561,-17353.219,7,0.7,15,7.0,0.0,112.6,11,4.9