version: 66.13
glider: 401
mission: 22
dive: 1009
start: 8 14 117 0 49 5
data:
$ID,401
$MISSION,22
$DIVE,1009
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,140817,003946,6130.7314,-17348.7266,3,0.7,15,7.1,0.0,178.8,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-39.8
$GPS2,140817,004754,6130.7246,-17348.7734,10,0.8,19,7.1,0.4,265.7,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039959,0.392554
$KALMAN_X,63805.128906,-343.220123,-217.248611,-255705.546875,44.374908
$KALMAN_Y,-57937.152344,2655.346436,1001.610046,305046.531250,-44.309631
$MHEAD_RNG_PITCHd_Wd,347.1,23985,-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,9,-1.78,-487.5,230,1979,1841,4092,0.0,0.0,0,18,7.18,0.00,0.00,0.000,2049,0.097,0.000,840,1981,1841,1841,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.23,52.00
$GC,21,-1.78,-487.5,840,1973,1841,4094,0.9,0.0,1,46,9.85,0.00,-11.25,0.000,18438,0.047,0.000,1762,1974,3056,3056,4095,0,0,0,0,0,0,25.92,24.89,26.01,10.24,51.29
$GC,78,-1.78,-487.5,1761,1977,3057,4095,3.3,-12.1,10,84,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1977,3057,3057,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.50,51.53
$GC,117,-1.78,-487.5,1761,1977,3058,4094,9.7,-17.7,16,123,0.00,1.02,0.00,0.000,260,0.000,0.048,1762,2359,3058,3058,4095,0,0,0,0,0,0,26.27,25.97,26.28,10.50,51.33
$GC,156,-1.78,-487.5,1761,2359,3060,4095,16.7,-18.3,22,162,0.00,1.00,0.00,0.000,1030,0.000,0.027,1762,1963,3060,3060,4095,0,0,0,0,0,0,26.10,26.07,26.11,10.50,50.74
$GC,195,-1.78,-487.5,1762,1963,3061,4095,23.4,-17.1,28,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1963,3061,3061,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.48,50.39
$GC,233,-1.78,-487.5,1761,1963,3062,4095,28.8,-12.8,34,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1963,3062,3062,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.44,49.68
$GC,272,-1.78,-487.5,1761,1963,3062,4095,33.4,-12.2,40,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1963,3062,3062,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.41,48.85
$GC,310,-1.78,-487.5,1762,1963,3063,4095,38.1,-12.3,46,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1963,3064,3064,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.39,48.03
$GC,349,-1.78,-487.5,1761,1963,3064,4095,42.9,-12.4,52,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1963,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.38,47.63
$GC,387,-1.78,-487.5,1761,1963,3065,4095,47.9,-13.2,58,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1963,3065,3065,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.37,46.73
$GC,426,-1.78,-487.5,1762,1963,3066,4094,52.8,-12.7,64,432,0.00,1.12,0.00,0.000,516,0.000,0.049,1762,1517,3066,3066,4094,0,0,0,0,0,0,26.48,26.17,26.48,10.36,46.25
$GC,459,-1.78,-487.5,1761,1517,3066,4094,57.2,-13.4,69,465,0.00,1.05,0.00,0.000,1030,0.000,0.026,1762,1967,3067,3067,4094,0,0,0,0,0,0,26.29,26.26,26.30,10.36,46.53
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,490,-0.45,0.0,1762,2139,3067,4095,60.7,-12.8,73,527,4.53,0.00,28.25,1.308,10244,0.055,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.35,46.06
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.78,487.5,2186,2139,2483,4094,63.3,0.0,79,573,7.45,0.00,27.92,1.280,11270,0.032,0.000,2890,2139,1915,1915,4094,0,0,0,0,0,0,25.58,25.72,23.87,10.22,45.31
$GC,605,1.78,487.5,2890,2138,1914,4094,57.1,12.4,91,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1914,1914,4094,0,0,0,0,0,0,25.56,25.56,25.56,10.09,44.92
$GC,644,1.78,487.5,2890,2138,1912,4094,52.0,13.1,97,650,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1711,1913,1913,4095,0,0,0,0,0,0,25.72,25.44,25.73,10.09,45.43
$GC,737,1.78,487.5,2890,1710,1910,4095,39.9,13.0,112,743,0.00,0.98,0.00,0.000,1030,0.000,0.029,2891,2107,1910,1910,4095,0,0,0,0,0,0,25.75,25.72,25.77,10.08,45.70
$GC,776,1.78,487.5,2890,2107,1909,4095,34.8,13.2,118,783,0.00,1.25,0.00,0.000,260,0.000,0.053,2891,2567,1908,1908,4094,0,0,0,0,0,0,26.03,25.72,26.04,10.07,46.22
$GC,809,1.78,487.5,2890,2567,1908,4094,30.5,13.1,123,816,0.00,1.23,0.00,0.000,1030,0.000,0.027,2891,2083,1907,1907,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.07,46.61
$GC,848,1.78,487.5,2891,2082,1907,4094,25.0,14.4,129,855,0.00,0.98,0.00,0.000,516,0.000,0.048,2891,1704,1906,1906,4095,0,0,0,0,0,0,26.13,25.84,26.14,10.07,46.45
$GC,900,1.98,624.4,2890,1703,1905,4095,19.4,8.5,137,914,0.57,0.90,8.35,0.702,11270,0.032,0.029,2961,2080,1755,1755,4094,0,0,0,0,0,0,25.97,25.95,24.87,10.11,47.32
$GC,947,1.98,624.4,2960,2079,1754,4094,14.4,11.1,144,953,0.00,1.33,0.00,0.000,260,0.000,0.050,2960,2571,1753,1753,4094,0,0,0,0,0,0,26.12,25.81,26.13,10.12,49.92
$GC,980,1.98,624.4,2960,2570,1753,4094,10.3,12.7,149,986,0.00,1.25,0.00,0.000,1030,0.000,0.027,2961,2073,1752,1752,4094,0,0,0,0,0,0,25.97,25.91,25.96,10.13,50.74
$GC,1019,2.02,645.7,2959,2073,1751,4094,6.5,10.2,155,1027,0.00,0.95,2.85,0.251,8708,0.000,0.048,2961,1702,1729,1729,4094,0,0,0,0,0,0,26.20,25.82,25.06,10.13,51.89
$STATE,1051,end climb,FINISH_DEPTH_REACHED
$STATE,1051,begin subsurface finish
$FINISH1,1.8,1.024004,111
$GC,1060,0.17,111.2,2960,2149,1727,4094,1.8,14.1,160,1080,5.82,1.20,-5.55,0.000,20996,0.031,1.275,2393,1712,2359,2359,4094,0,0,0,0,0,0,26.02,24.65,26.06,10.14,51.81
$FINISH2,0.2
$STATE,1081,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1081,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,130817,232533
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.91
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.87,27.831
$10V_AH,10.30,30.582
$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,35.400,16.925,67.375,0.000,0.000,23.709,16.460,271.749,0.000,0.000,20.879,431.668,234.014,173.289,542.931,206.713,33.455,368.027,0.000,247.204,0.000,0.542,0.000
$DEVICE_MAMPS,97.155,1275.255,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,10794,163
$CAP_FILE_SIZE,37420,0
$CFSIZE,1024409600,969900032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140817,004754,6130.725,-17348.773,10,0.8,19,7.1,0.4,265.7,11,4.8