version: 66.13
glider: 401
mission: 22
dive: 1019
start: 8 14 117 5 9 40
data:
$ID,401
$MISSION,22
$DIVE,1019
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,140817,044041,6131.8525,-17350.2363,10,1.1,18,7.0,0.4,176.5,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.8
$GPS2,140817,044041,6131.8525,-17350.2363,10,1.1,18,7.0,0.4,176.5,9,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.031140,1.133991
$KALMAN_X,62891.703125,-457.398376,-274.527893,-256005.390625,-88.327423
$KALMAN_Y,-60300.906250,2432.721924,701.082520,310047.437500,-150.830688
$MHEAD_RNG_PITCHd_Wd,354.6,21813,-0.7,-10.526,-5.30,53616
$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,-0.80,-487.5,2406,1944,2361,4092,0.0,0.0,0,18,3.20,0.00,-3.83,0.000,20482,0.021,0.000,2086,1945,2790,2790,4095,0,0,0,0,0,0,25.92,28.83,25.96,10.30,52.87
$GC,22,-0.80,-487.5,2086,1945,2790,4095,0.4,0.0,1,29,0.00,1.25,-2.22,0.000,16644,0.000,1.268,2086,2385,3058,3058,4095,0,0,0,0,0,0,26.13,24.58,26.12,10.39,52.75
$GC,80,-0.80,-487.5,2085,2385,3060,4095,5.9,-11.1,10,87,0.00,1.12,0.00,0.000,1030,0.000,0.030,2086,1940,3059,3059,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.46,52.95
$GC,120,-0.80,-487.5,2085,1940,3060,4094,9.6,-9.8,16,126,0.00,1.08,0.00,0.000,516,0.000,0.056,2085,1525,3060,3060,4094,0,0,0,0,0,0,26.18,25.86,26.19,10.46,53.11
$GC,165,-0.80,-487.5,2085,1525,3061,4094,14.0,-10.0,23,172,0.00,1.02,0.00,0.000,1030,0.000,0.026,2086,1980,3061,3061,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.46,52.91
$GC,205,-0.80,-487.5,2085,1981,3061,4095,17.8,-9.2,29,211,0.00,0.98,0.00,0.000,260,0.000,0.044,2085,2350,3062,3062,4095,0,0,0,0,0,0,26.26,25.97,26.27,10.47,53.38
$GC,238,-0.80,-487.5,2085,2350,3062,4095,20.5,-8.1,34,245,0.00,0.98,0.00,0.000,1030,0.000,0.031,2086,1963,3062,3062,4095,0,0,0,0,0,0,26.06,26.02,26.08,10.47,52.48
$GC,278,-0.80,-487.5,2085,1963,3063,4095,24.3,-10.0,40,284,0.00,1.12,0.00,0.000,516,0.000,0.054,2086,1526,3063,3063,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.47,53.22
$GC,329,-0.80,-487.5,2085,1526,3064,4095,29.0,-7.7,48,336,0.00,0.95,0.00,0.000,1030,0.000,0.026,2086,1952,3063,3063,4095,0,0,0,0,0,0,26.16,26.14,26.17,10.44,52.12
$GC,369,-0.80,-487.5,2085,1953,3064,4095,32.6,-9.5,54,375,0.00,1.02,0.00,0.000,260,0.000,0.037,2086,2351,3064,3064,4094,0,0,0,0,0,0,26.38,26.10,26.39,10.41,51.77
$GC,384,-0.80,-487.5,2085,2351,3064,4094,34.0,-9.0,56,390,0.00,1.02,0.00,0.000,1030,0.000,0.031,2086,1948,3064,3064,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.40,51.57
$GC,423,-0.80,-487.5,2085,1948,3065,4094,37.6,-9.1,62,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1948,3065,3065,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,49.92
$GC,462,-0.80,-487.5,2085,1947,3066,4095,41.4,-9.7,68,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1948,3066,3066,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,48.66
$GC,501,-0.80,-487.5,2085,1948,3066,4095,45.5,-10.5,74,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1948,3067,3067,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.36,47.91
$GC,539,-0.80,-487.5,2085,1947,3067,4094,49.7,-10.9,80,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1948,3067,3067,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.35,47.44
$GC,578,-0.80,-487.5,2085,1948,3068,4095,53.8,-10.9,86,584,0.00,1.05,0.00,0.000,260,0.000,0.038,2086,2348,3068,3068,4095,0,0,0,0,0,0,26.48,26.21,26.50,10.35,47.28
$STATE,632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,632,begin apogee
$GC,640,-0.45,0.0,2085,2112,3069,4095,60.0,-10.4,95,675,0.88,0.00,28.25,1.303,10244,0.033,0.000,2176,2112,2484,2484,4094,0,0,0,0,0,0,26.27,25.04,24.30,10.34,46.88
$STATE,676,end apogee,CONTROL_FINISHED_OK
$STATE,676,begin climb
$GC,679,0.80,487.5,2175,2112,2484,4094,63.9,0.0,101,715,4.25,0.00,27.92,1.289,11270,0.038,0.000,2576,2112,1915,1915,4094,0,0,0,0,0,0,25.56,25.75,23.86,10.21,46.57
$GC,748,1.80,1154.9,2574,2112,1915,4094,60.3,9.2,112,795,3.55,0.00,37.62,1.238,10502,0.033,0.000,2909,2112,1137,1137,4094,0,0,0,0,0,0,25.33,24.60,23.69,10.08,46.57
$GC,828,1.80,1154.9,2909,2112,1136,4094,50.1,16.8,125,834,0.00,1.20,0.00,0.000,260,0.000,0.048,2909,2537,1136,1136,4094,0,0,0,0,0,0,25.34,25.07,25.36,9.92,45.43
$GC,873,1.80,1154.9,2909,2536,1134,4094,42.1,17.7,132,880,0.00,0.93,0.00,0.000,1030,0.000,0.026,2909,2159,1134,1134,4094,0,0,0,0,0,0,25.38,25.36,25.39,9.91,45.90
$GC,912,1.80,1154.9,2909,2155,1132,4094,35.2,18.0,138,919,0.00,1.12,0.00,0.000,516,0.000,0.040,2910,1726,1132,1132,4094,0,0,0,0,0,0,25.69,25.41,25.70,9.91,46.57
$GC,1071,1.80,1154.9,2909,1726,1125,4094,8.9,17.8,164,1078,0.00,0.88,0.00,0.000,1030,0.000,0.027,2909,2097,1124,1124,4094,0,0,0,0,0,0,25.82,25.79,25.84,9.98,51.06
$GC,1111,1.80,1154.9,2909,2097,1121,4094,2.0,17.4,170,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2097,1121,1121,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.00,52.08
$STATE,1121,end climb,FINISH_DEPTH_REACHED
$STATE,1122,begin subsurface finish
$FINISH1,0.5,1.023978,113
$GC,1130,0.17,113.0,2909,2096,1121,4094,0.5,14.3,172,1149,5.10,0.00,-10.68,0.000,20486,0.021,0.000,2410,2101,2357,2357,4094,0,0,0,0,0,0,25.87,24.82,25.91,10.00,52.67
$FINISH2,0.3
$STATE,1150,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1150,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,031836
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.66
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.69,28.179
$10V_AH,10.39,30.843
$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,16.975,16.800,93.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.093,258.458,176.535,254.405,71.787,33.429,371.897,0.000,262.508,0.000,0.542,0.000
$DEVICE_MAMPS,38.250,1268.370,1302.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,14352,175
$CAP_FILE_SIZE,33372,0
$CFSIZE,1024409600,969408512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,044041,6131.853,-17350.236,10,1.1,18,7.0,0.4,176.5,9,4.8