version: 66.13
glider: 401
mission: 22
dive: 1026
start: 8 14 117 8 3 44
data:
$ID,401
$MISSION,22
$DIVE,1026
$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,33
$R_STBD_OVSHOOT,61
$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
$GPS1,140817,071955,6133.1025,-17351.7305,10,0.8,17,7.0,0.0,353.1,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.3
$GPS2,140817,071955,6133.1025,-17351.7305,10,0.8,17,7.0,0.0,353.1,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.009464,0.394469
$KALMAN_X,61668.265625,-659.856384,-416.728394,-255852.781250,-61.558838
$KALMAN_Y,-63409.378906,2598.072998,853.157043,315147.437500,-91.651733
$MHEAD_RNG_PITCHd_Wd,354.4,19482,-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,-487.5,2395,1992,2357,4093,0.0,0.0,0,21,6.40,0.00,-3.05,0.000,20482,0.024,0.000,1774,1992,2690,2690,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.30,53.50
$GC,25,-1.78,-487.5,1774,1992,2689,4094,0.1,0.0,1,35,0.00,0.98,-3.15,0.000,16644,0.000,1.265,1774,2343,3056,3056,4094,0,0,0,0,0,0,26.28,24.73,26.29,10.37,53.26
$GC,85,-1.78,-487.5,1773,2343,3057,4094,7.0,-14.5,9,93,0.00,0.98,0.00,0.000,1030,0.000,0.031,1774,1961,3058,3058,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.45,54.09
$GC,132,-1.78,-487.5,1773,1961,3059,4094,14.8,-17.8,15,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1962,3059,3059,4095,0,0,0,0,0,0,26.28,26.30,26.29,10.46,52.83
$GC,179,-1.78,-487.5,1773,1961,3061,4095,23.4,-18.0,21,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1962,3061,3061,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.46,52.75
$GC,226,-1.78,-487.5,1773,1961,3062,4095,30.0,-12.5,27,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1961,3061,3061,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.42,52.52
$GC,273,-1.78,-487.5,1773,1961,3063,4095,35.6,-12.4,33,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1962,3063,3063,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.39,51.06
$GC,320,-1.78,-487.5,1773,1961,3064,4094,41.4,-12.2,39,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1962,3064,3064,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.38,49.88
$GC,365,-1.78,-487.5,1773,1961,3065,4094,47.0,-12.3,45,373,0.00,1.12,0.00,0.000,516,0.000,0.050,1774,1518,3065,3065,4095,0,0,0,0,0,0,26.44,26.14,26.46,10.35,49.68
$GC,397,-1.78,-487.5,1773,1517,3066,4095,51.3,-13.2,49,407,0.00,0.95,0.00,0.000,1030,0.000,0.025,1774,1928,3066,3066,4094,0,0,0,0,0,0,26.26,26.22,26.29,10.35,48.66
$GC,444,-1.78,-487.5,1773,1928,3067,4094,57.3,-12.8,55,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1928,3067,3067,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.34,48.54
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,475,-0.45,0.0,1773,2131,3067,4094,60.8,-13.3,58,511,4.40,0.00,28.35,1.312,10244,0.057,0.000,2185,2131,2485,2485,4094,0,0,0,0,0,0,26.20,25.31,24.27,10.33,47.75
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,515,1.78,487.5,2184,2131,2484,4094,63.9,0.0,62,560,7.53,0.00,27.88,1.284,11270,0.033,0.000,2891,2131,1919,1919,4094,0,0,0,0,0,0,25.57,25.72,23.85,10.21,47.67
$GC,599,1.78,487.5,2890,2131,1918,4094,57.3,12.3,72,608,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1711,1918,1918,4094,0,0,0,0,0,0,25.60,25.32,25.60,10.08,45.74
$GC,658,1.78,487.5,2890,1710,1916,4094,49.2,13.2,80,666,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2113,1916,1916,4094,0,0,0,0,0,0,25.63,25.58,25.62,10.07,46.65
$GC,705,1.78,487.5,2890,2113,1915,4094,43.3,13.2,86,714,0.00,1.23,0.00,0.000,260,0.000,0.053,2891,2567,1915,1915,4094,0,0,0,0,0,0,25.92,25.61,25.93,10.06,45.94
$GC,738,1.78,487.5,2890,2566,1914,4094,38.6,13.5,90,748,0.00,1.17,0.00,0.000,1030,0.000,0.028,2891,2103,1914,1914,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.06,47.04
$GC,785,1.78,487.5,2890,2102,1913,4094,32.3,13.1,96,793,0.00,1.00,0.00,0.000,516,0.000,0.047,2891,1714,1912,1912,4094,0,0,0,0,0,0,26.06,25.77,26.07,10.05,47.04
$GC,877,1.83,519.0,2890,1714,1909,4094,21.0,10.1,109,888,0.08,0.95,3.28,0.379,11270,0.070,0.029,2902,2106,1878,1878,4094,0,0,0,0,0,0,25.89,25.94,24.91,10.12,48.58
$GC,927,2.05,665.9,2901,2106,1877,4094,16.8,8.4,115,946,0.70,0.00,9.02,0.690,10246,0.032,0.000,2978,2106,1710,1710,4095,0,0,0,0,0,0,26.01,25.44,24.91,10.13,50.31
$GC,984,2.05,665.9,2978,2106,1709,4095,10.6,11.2,122,993,0.00,1.02,0.00,0.000,516,0.000,0.047,2978,1716,1709,1709,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.12,51.61
$GC,1050,2.05,665.9,2978,1716,1706,4094,2.2,12.4,131,1059,0.00,0.88,0.00,0.000,1030,0.000,0.026,2979,2106,1706,1706,4094,0,0,0,0,0,0,26.03,26.01,26.07,10.13,52.00
$STATE,1067,end climb,SURFACE_DEPTH_REACHED
$STATE,1067,begin surface coast
$FINISH,0.3,1.023950
$STATE,1089,end surface coast,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$SM_CCo,1190,0.00,0.000,0,0,1705,669.71
$SM_GC,0.93,28.62,0.40,0.00,0.021,0.050,0.000,231,1955,1705,-6.59,1.41,669.71,0,0,0,0,0,0,25.97,26.00,26.05
$IRIDIUM_FIX,6149.06,-17422.35,140817,055815
$TT8_MAMPS,0.025466,0.253162
$HUMID,52.40
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.85,28.406
$10V_AH,10.14,31.030
$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,47.725,13.825,68.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,399.633,59.760,150.533,566.272,77.882,33.419,386.336,0.000,331.621,0.000,0.540,0.000
$DEVICE_MAMPS,70.380,1264.545,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.611,369.521,292.405,433.543,563.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,14329,136
$CAP_FILE_SIZE,30823,0
$CFSIZE,1024409600,969080832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,082500,6133.957,-17351.941,3,0.9,48,7.0,0.6,309.0,8,4.4