version: 66.13
glider: 401
mission: 22
dive: 1027
start: 8 14 117 8 37 25
data:
$ID,401
$MISSION,22
$DIVE,1027
$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,23
$R_STBD_OVSHOOT,47
$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
$GPS1,140817,082500,6133.9570,-17351.9414,3,0.9,48,7.0,0.6,309.0,8,4.4
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-31.8
$GPS2,140817,083617,6133.9761,-17351.9961,9,0.8,20,7.0,0.0,239.9,10,4.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.014651,0.394310
$KALMAN_X,61487.835938,-694.624939,-445.371124,-255856.890625,-6.827942
$KALMAN_Y,-62741.671875,2787.219238,1045.669922,315690.281250,47.426392
$MHEAD_RNG_PITCHd_Wd,355.1,17871,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-1.78,-487.5,231,1954,1704,4092,0.0,0.0,0,18,6.45,0.00,0.00,0.000,2049,0.103,0.000,772,1955,1705,1705,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.22,50.47
$GC,21,-1.78,-487.5,772,1955,1705,4094,0.9,0.0,1,52,10.68,1.10,-12.35,0.000,18692,0.048,1.262,1765,2362,3056,3056,4095,0,0,0,0,0,0,25.96,24.63,26.02,10.22,50.47
$GC,127,-1.78,-487.5,1764,2366,3057,4095,3.1,-11.7,18,133,0.00,1.05,0.00,0.000,1030,0.000,0.029,1765,1943,3057,3057,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.51,50.39
$GC,166,-1.78,-487.5,1764,1943,3058,4095,9.6,-17.3,24,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3058,3058,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.51,50.39
$GC,204,-1.78,-487.5,1764,1942,3060,4095,15.9,-16.2,30,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3059,3059,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.52,49.68
$GC,243,-1.78,-487.5,1764,1943,3060,4095,22.9,-18.5,36,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3061,3061,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.52,49.48
$GC,281,-1.78,-487.5,1764,1942,3061,4095,27.8,-12.1,42,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3062,3062,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.47,48.97
$GC,320,-1.78,-487.5,1764,1943,3062,4095,32.8,-13.7,48,326,0.00,1.10,0.00,0.000,260,0.000,0.042,1765,2356,3062,3062,4094,0,0,0,0,0,0,26.38,26.09,26.39,10.44,48.70
$GC,353,-1.78,-487.5,1764,2356,3063,4094,37.1,-12.9,53,359,0.00,1.00,0.00,0.000,1030,0.000,0.028,1765,1954,3063,3063,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.42,47.83
$GC,392,-1.78,-487.5,1764,1954,3064,4095,42.0,-13.0,59,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1954,3064,3064,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.40,47.91
$GC,430,-1.78,-487.5,1764,1954,3065,4094,47.2,-13.2,65,437,0.00,1.08,0.00,0.000,516,0.000,0.048,1765,1525,3065,3065,4094,0,0,0,0,0,0,26.45,26.14,26.46,10.39,45.86
$GC,464,-1.78,-487.5,1764,1524,3066,4094,51.8,-14.2,70,470,0.00,0.95,0.00,0.000,1030,0.000,0.026,1765,1938,3066,3066,4094,0,0,0,0,0,0,26.26,26.24,26.28,10.38,45.78
$GC,503,-1.78,-487.5,1764,1937,3066,4094,57.3,-14.1,76,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1938,3067,3067,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.37,45.27
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,528,-0.45,0.0,1765,2134,3067,4095,60.1,-13.4,79,564,4.50,0.00,28.10,1.297,10244,0.055,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.37,45.66
$STATE,565,end apogee,CONTROL_FINISHED_OK
$STATE,565,begin climb
$GC,568,1.78,487.5,2186,2134,2484,4094,62.9,0.0,85,610,7.45,0.00,27.88,1.270,11270,0.032,0.000,2890,2134,1918,1918,4095,0,0,0,0,0,0,25.58,25.72,23.88,10.24,44.60
$GC,643,1.78,487.5,2890,2133,1917,4095,56.6,12.3,97,649,0.00,1.12,0.00,0.000,516,0.000,0.043,2891,1712,1917,1917,4094,0,0,0,0,0,0,25.56,25.29,25.57,10.12,44.52
$GC,694,1.78,487.5,2890,1712,1916,4094,50.0,12.8,105,700,0.00,0.93,0.00,0.000,1030,0.000,0.028,2891,2092,1915,1915,4094,0,0,0,0,0,0,25.56,25.54,25.60,10.10,44.48
$GC,733,1.78,487.5,2890,2091,1915,4094,45.0,13.3,111,740,0.00,1.27,0.00,0.000,260,0.000,0.051,2891,2563,1914,1914,4094,0,0,0,0,0,0,25.88,25.58,25.89,10.10,44.64
$GC,778,1.78,487.5,2890,2563,1913,4094,38.9,13.6,118,785,0.00,1.15,0.00,0.000,1030,0.000,0.026,2891,2105,1913,1913,4094,0,0,0,0,0,0,25.77,25.73,25.78,10.10,45.35
$GC,817,1.78,487.5,2890,2105,1912,4094,33.6,13.3,124,824,0.00,1.00,0.00,0.000,516,0.000,0.047,2891,1717,1912,1912,4094,0,0,0,0,0,0,26.03,25.75,26.06,10.09,45.07
$GC,910,1.78,487.5,2890,1717,1909,4094,21.9,11.7,139,917,0.00,0.90,0.00,0.000,1030,0.000,0.030,2891,2088,1909,1909,4094,0,0,0,0,0,0,25.95,25.92,25.97,10.12,46.37
$GC,950,1.90,568.3,2890,2088,1908,4094,18.1,9.3,145,964,0.32,1.25,5.68,0.594,10500,0.044,0.047,2930,2566,1821,1821,4094,0,0,0,0,0,0,26.00,25.50,24.94,10.15,48.46
$GC,1003,1.90,568.7,2930,2566,1820,4094,12.6,10.5,153,1009,0.00,1.17,0.00,0.000,1030,0.000,0.027,2930,2097,1820,1820,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.16,49.96
$GC,1042,1.90,568.7,2930,2096,1819,4094,8.3,11.2,159,1048,0.00,0.98,0.00,0.000,516,0.000,0.048,2930,1718,1819,1819,4094,0,0,0,0,0,0,26.23,25.94,26.25,10.17,50.82
$STATE,1090,end climb,FINISH_DEPTH_REACHED
$STATE,1090,begin subsurface finish
$FINISH1,1.9,1.023946,115
$GC,1100,0.17,115.3,2930,2142,1817,4094,1.9,13.4,167,1114,5.50,1.17,-4.62,0.000,21252,0.031,1.281,2399,2562,2356,2356,4094,0,0,0,0,0,0,26.03,24.70,26.10,10.18,51.49
$FINISH2,0.1
$STATE,1115,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,071459
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.95
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.88,28.450
$10V_AH,10.32,31.050
$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,34.900,18.750,61.650,0.000,0.000,75.549,76.933,254.199,0.000,0.000,21.440,445.730,340.790,168.492,650.682,202.787,33.454,363.961,0.000,255.550,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1281.375,1297.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14343,169
$CAP_FILE_SIZE,38213,0
$CFSIZE,1024409600,969015296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140817,083617,6133.976,-17351.996,9,0.8,20,7.0,0.0,239.9,10,4.5