version: 66.13
glider: 401
mission: 22
dive: 1013
start: 8 14 117 2 29 49
data:
$ID,401
$MISSION,22
$DIVE,1013
$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,19
$R_STBD_OVSHOOT,54
$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
$GPS1,140817,020127,6131.1528,-17348.9980,4,0.9,35,7.1,0.7,112.6,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-4.3
$GPS2,140817,020127,6131.1528,-17348.9980,4,0.9,35,7.1,0.7,112.6,9,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.040008,0.548465
$KALMAN_X,63762.578125,-326.409546,-170.516922,-255940.375000,-4.080063
$KALMAN_Y,-58728.867188,2517.251221,824.132446,306974.531250,-98.926025
$MHEAD_RNG_PITCHd_Wd,348.7,23177,-6.5,-10.526,-10.84,15736
$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,-1.33,-487.5,2418,1975,2344,4092,0.0,0.0,0,18,5.15,0.00,-1.80,0.000,20482,0.024,0.000,1915,1975,2543,2543,4094,0,0,0,0,0,0,25.82,28.83,25.85,10.29,52.55
$GC,22,-1.33,-487.5,1915,1975,2543,4094,0.2,0.0,1,35,0.00,1.05,-4.60,0.000,16644,0.000,1.252,1915,2349,3056,3056,4095,0,0,0,0,0,0,26.01,24.50,26.02,10.34,52.91
$GC,74,-1.33,-487.5,1914,2349,3057,4095,4.0,-9.6,9,80,0.00,1.05,0.00,0.000,1030,0.000,0.032,1915,1942,3057,3057,4095,0,0,0,0,0,0,25.75,25.71,25.76,10.44,53.11
$GC,113,-1.33,-487.5,1914,1942,3058,4095,7.5,-9.4,15,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1942,3058,3058,4095,0,0,0,0,0,0,26.03,26.05,26.04,10.45,53.03
$GC,152,-1.33,-487.5,1914,1942,3059,4095,11.6,-11.0,21,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1942,3059,3059,4095,0,0,0,0,0,0,26.09,26.10,26.10,10.45,53.26
$GC,190,-1.33,-487.5,1914,1942,3060,4095,16.3,-11.7,27,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1942,3060,3060,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.46,52.67
$GC,228,-1.33,-487.5,1914,1942,3060,4095,20.7,-11.1,33,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1942,3061,3061,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.46,52.44
$GC,267,-1.33,-487.5,1914,1942,3061,4094,25.0,-11.0,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1942,3061,3061,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.45,52.40
$GC,305,-1.33,-487.5,1914,1942,3062,4095,27.7,-6.6,45,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1942,3062,3062,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.41,52.44
$GC,344,-1.33,-487.5,1914,1942,3062,4095,30.3,-7.1,51,351,0.00,1.10,0.00,0.000,260,0.000,0.042,1914,2353,3062,3062,4094,0,0,0,0,0,0,26.29,26.00,26.29,10.39,51.45
$GC,372,-1.33,-487.5,1914,2353,3062,4094,32.3,-7.4,55,378,0.00,1.02,0.00,0.000,1030,0.000,0.031,1915,1946,3062,3062,4094,0,0,0,0,0,0,26.08,26.04,26.09,10.38,50.59
$GC,411,-1.33,-487.5,1914,1946,3063,4094,35.3,-7.4,61,418,0.00,1.10,0.00,0.000,516,0.000,0.054,1915,1518,3063,3063,4095,0,0,0,0,0,0,26.34,26.03,26.34,10.38,50.15
$GC,463,-1.33,-487.5,1914,1517,3064,4095,39.1,-7.5,69,469,0.00,0.90,0.00,0.000,1030,0.000,0.027,1915,1921,3064,3064,4095,0,0,0,0,0,0,26.17,26.17,26.20,10.36,49.05
$GC,502,-1.33,-487.5,1914,1921,3064,4095,42.0,-7.4,75,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1921,3064,3064,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.35,48.89
$GC,541,-1.33,-487.5,1914,1920,3065,4095,45.0,-7.6,81,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1921,3065,3065,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.34,48.38
$GC,580,-1.33,-487.5,1914,1921,3066,4095,47.9,-7.6,87,586,0.00,1.12,0.00,0.000,260,0.000,0.042,1915,2355,3066,3066,4094,0,0,0,0,0,0,26.44,26.15,26.45,10.34,47.79
$GC,613,-1.33,-487.5,1914,2354,3066,4094,50.5,-7.7,92,620,0.00,1.08,0.00,0.000,1030,0.000,0.031,1915,1929,3066,3066,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.33,47.79
$GC,653,-1.33,-487.5,1914,1928,3067,4095,53.6,-8.0,98,659,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,1929,3067,3067,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.33,48.30
$GC,692,-1.33,-487.5,1914,1929,3067,4094,56.6,-8.0,104,697,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1929,3067,3067,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.32,47.91
$GC,730,-1.33,-487.5,1914,1928,3068,4095,59.8,-7.8,110,736,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1929,3068,3068,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.31,47.67
$STATE,741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,741,begin apogee
$GC,749,-0.45,0.0,1915,2122,3068,4095,60.9,-8.1,112,784,2.83,0.00,28.12,1.295,10244,0.048,0.000,2185,2123,2484,2484,4094,0,0,0,0,0,0,26.23,25.33,24.30,10.32,48.54
$STATE,785,end apogee,CONTROL_FINISHED_OK
$STATE,786,begin climb
$GC,789,1.33,487.5,2185,2122,2484,4094,62.7,0.0,118,830,5.97,0.00,27.92,1.268,11270,0.036,0.000,2751,2123,1916,1916,4094,0,0,0,0,0,0,25.58,25.75,23.88,10.19,47.32
$GC,863,1.95,905.7,2750,2123,1915,4094,58.4,7.8,130,894,1.98,1.15,24.17,1.196,10756,0.025,0.045,2946,1706,1429,1429,4094,0,0,0,0,0,0,25.37,24.81,23.84,10.06,46.73
$GC,939,1.95,905.7,2946,1705,1428,4094,49.9,10.9,142,945,0.00,1.02,0.00,0.000,1030,0.000,0.028,2946,2114,1427,1427,4094,0,0,0,0,0,0,25.32,25.29,25.35,9.96,46.18
$GC,978,1.95,905.7,2945,2114,1426,4094,45.7,10.9,148,985,0.00,1.25,0.00,0.000,260,0.000,0.055,2946,2566,1426,1426,4094,0,0,0,0,0,0,25.67,25.37,25.68,9.96,47.12
$GC,1011,1.95,905.7,2945,2565,1426,4094,42.0,11.5,153,1018,0.00,1.15,0.00,0.000,1030,0.000,0.028,2946,2110,1426,1426,4094,0,0,0,0,0,0,25.58,25.55,25.59,9.96,47.12
$GC,1051,1.95,905.7,2945,2109,1425,4094,37.7,10.9,159,1057,0.00,1.02,0.00,0.000,516,0.000,0.047,2946,1718,1425,1425,4094,0,0,0,0,0,0,25.86,25.58,25.87,9.95,47.36
$GC,1126,1.95,905.7,2946,1718,1423,4094,29.6,10.9,171,1133,0.00,0.95,0.00,0.000,1030,0.000,0.028,2946,2107,1423,1423,4093,0,0,0,0,0,0,25.79,25.77,25.81,9.95,47.99
$GC,1165,1.95,905.7,2945,2107,1422,4093,25.3,11.2,177,1172,0.00,1.25,0.00,0.000,260,0.000,0.056,2945,2564,1422,1422,4094,0,0,0,0,0,0,26.06,25.74,26.07,9.95,48.22
$GC,1193,1.99,932.8,2946,2564,1421,4094,22.4,10.3,181,1200,0.00,1.17,3.03,0.343,9222,0.000,0.028,2946,2099,1396,1396,4094,0,0,0,0,0,0,25.88,25.85,24.82,9.96,48.70
$GC,1234,2.97,1582.3,2946,2099,1396,4094,19.6,6.3,187,1276,3.33,1.02,34.72,0.823,10756,0.024,0.047,3279,1712,640,640,4094,0,0,0,0,0,0,25.92,25.24,24.51,10.01,49.72
$GC,1333,2.97,1582.3,3279,1711,637,4094,5.4,10.8,203,1339,0.00,0.88,0.00,0.000,1030,0.000,0.027,3279,2079,637,637,4094,0,0,0,0,0,0,25.62,25.60,25.63,9.89,52.24
$STATE,1363,end climb,FINISH_DEPTH_REACHED
$STATE,1363,begin subsurface finish
$FINISH1,1.9,1.024003,111
$GC,1372,0.17,111.3,3279,2157,635,4094,1.9,11.2,208,1403,9.10,1.23,-13.95,0.000,21252,0.019,1.255,2393,1706,2358,2358,4094,0,0,0,0,0,0,25.71,24.43,25.75,9.90,52.95
$FINISH2,0.4
$STATE,1404,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1404,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,004221
$TT8_MAMPS,0.026215,0.104111
$HUMID,54.41
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.84,27.982
$10V_AH,10.39,30.685
$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,28.350,22.625,117.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,528.818,298.265,236.310,309.902,91.211,33.430,479.462,0.000,316.299,0.000,0.542,0.000
$DEVICE_MAMPS,48.195,1255.365,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,141.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,17732,213
$CAP_FILE_SIZE,42442,0
$CFSIZE,1024409600,969687040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,020127,6131.153,-17348.998,4,0.9,35,7.1,0.7,112.6,9,5.0