version: 66.13
glider: 401
mission: 22
dive: 1029
start: 8 14 117 9 18 22
data:
$ID,401
$MISSION,22
$DIVE,1029
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,140817,083617,6133.9761,-17351.9961,9,0.8,20,7.0,0.0,239.9,10,4.5
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.2
$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,0.015075,0.394294
$KALMAN_X,61427.316406,-698.313293,-415.686615,-255825.421875,-27.359833
$KALMAN_Y,-63352.234375,2747.946533,987.208374,316426.687500,-95.827881
$MHEAD_RNG_PITCHd_Wd,355.2,17871,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.78,-487.5,2397,1969,2352,4092,0.0,0.0,0,17,6.40,0.00,-0.12,0.000,20482,0.023,0.000,1771,1969,2365,2365,4095,0,0,0,0,0,0,26.08,28.83,26.13,10.30,52.59
$GC,21,-1.78,-487.5,1771,1969,2365,4095,0.1,0.0,1,34,0.00,1.17,-6.43,0.000,16900,0.000,1.277,1770,1528,3056,3056,4095,0,0,0,0,0,0,26.29,24.72,26.30,10.30,52.99
$GC,42,-1.78,-487.5,1770,1528,3057,4095,0.1,-0.2,4,48,0.00,1.00,0.00,0.000,1030,0.000,0.032,1771,1968,3057,3057,4095,0,0,0,0,0,0,26.00,25.96,26.01,10.45,52.71
$GC,81,-1.78,-487.5,1770,1968,3057,4095,1.4,-5.4,10,87,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1968,3057,3057,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.45,53.03
$GC,120,-1.78,-487.5,1770,1967,3058,4095,7.0,-15.0,16,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1968,3058,3058,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.46,52.24
$GC,158,-1.78,-487.5,1770,1968,3059,4094,13.6,-18.3,22,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1968,3059,3059,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.46,52.16
$GC,196,-1.78,-487.5,1770,1967,3060,4094,20.0,-16.8,28,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1968,3061,3061,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.47,52.40
$GC,235,-1.78,-487.5,1770,1968,3062,4094,26.1,-15.0,34,241,0.00,1.02,0.00,0.000,260,0.000,0.045,1771,2353,3061,3061,4095,0,0,0,0,0,0,26.38,26.09,26.39,10.45,52.59
$GC,274,-1.78,-487.5,1770,2352,3062,4095,30.8,-12.5,40,280,0.00,1.17,0.00,0.000,1030,0.000,0.031,1770,1889,3062,3062,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.41,51.37
$GC,313,-1.78,-487.5,1770,1888,3063,4095,35.8,-13.2,46,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1888,3064,3064,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,50.59
$GC,351,-1.78,-487.5,1770,1888,3064,4095,40.7,-12.5,52,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1888,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,49.56
$GC,390,-1.78,-487.5,1770,1888,3065,4095,45.7,-13.0,58,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1888,3066,3066,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.37,48.93
$GC,428,-1.78,-487.5,1770,1888,3066,4095,50.7,-13.1,64,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1888,3067,3067,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,48.50
$GC,466,-1.78,-487.5,1770,1888,3067,4094,55.8,-12.9,70,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1888,3067,3067,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.34,47.75
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,504,-0.45,0.0,1770,2117,3068,4095,60.1,-13.7,75,540,4.45,0.00,28.12,1.305,10244,0.055,0.000,2187,2117,2484,2484,4094,0,0,0,0,0,0,26.22,25.34,24.30,10.34,47.48
$STATE,541,end apogee,CONTROL_FINISHED_OK
$STATE,541,begin climb
$GC,544,1.78,487.5,2186,2117,2484,4094,62.9,0.0,81,586,7.47,0.00,27.88,1.271,11270,0.032,0.000,2892,2117,1915,1915,4094,0,0,0,0,0,0,25.59,25.75,23.92,10.21,47.00
$GC,618,1.78,487.5,2891,2117,1914,4094,56.6,12.2,93,625,0.00,1.08,0.00,0.000,516,0.000,0.044,2892,1718,1913,1913,4094,0,0,0,0,0,0,25.56,25.29,25.57,10.08,45.51
$GC,682,1.78,487.5,2891,1718,1912,4094,48.2,13.4,103,688,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2120,1912,1912,4093,0,0,0,0,0,0,25.60,25.56,25.63,10.07,45.86
$GC,721,1.78,487.5,2891,2120,1911,4093,43.1,13.3,109,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1911,1911,4094,0,0,0,0,0,0,25.91,25.91,25.91,10.07,46.29
$GC,759,1.78,487.5,2892,2120,1910,4094,38.1,12.7,115,766,0.00,1.08,0.00,0.000,516,0.000,0.044,2892,1716,1910,1910,4094,0,0,0,0,0,0,25.98,25.69,25.99,10.06,46.45
$GC,816,1.78,487.5,2891,1716,1908,4094,30.9,12.5,124,823,0.00,0.90,0.00,0.000,1030,0.000,0.030,2892,2087,1908,1908,4094,0,0,0,0,0,0,25.86,25.83,25.88,10.07,46.77
$GC,856,1.78,487.5,2892,2086,1907,4094,25.8,13.2,130,862,0.00,1.30,0.00,0.000,260,0.000,0.054,2892,2564,1907,1907,4095,0,0,0,0,0,0,26.13,25.81,26.14,10.07,47.95
$GC,961,1.79,497.9,2891,2564,1904,4095,14.8,10.4,147,967,0.00,1.12,0.00,0.000,1030,0.000,0.028,2892,2113,1904,1904,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.16,51.53
$GC,1000,1.85,532.7,2891,2112,1903,4094,10.6,10.0,153,1009,0.12,1.02,3.70,0.392,10756,0.073,0.047,2911,1714,1861,1861,4094,0,0,0,0,0,0,26.06,25.88,25.09,10.16,52.52
$STATE,1075,end climb,SURFACE_DEPTH_REACHED
$STATE,1075,begin surface coast
$FINISH,0.4,1.023943
$STATE,1090,end surface coast,CONTROL_FINISHED_OK
$STATE,1090,begin surface
$SM_CCo,1190,0.00,0.000,0,0,1859,537.48
$SM_GC,1.02,27.73,0.57,0.00,0.020,0.030,0.000,238,1986,1859,-6.55,-1.23,537.48,0,0,0,0,0,0,26.12,26.13,26.15
$IRIDIUM_FIX,6149.06,-17422.35,140817,071459
$TT8_MAMPS,0.026964,0.107107
$HUMID,53.34
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.92,28.494
$10V_AH,10.39,31.091
$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,46.175,13.625,59.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,443.894,318.239,171.024,243.511,78.164,33.416,354.524,0.000,251.244,0.000,0.543,0.000
$DEVICE_MAMPS,72.675,1276.785,1305.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10911,167
$CAP_FILE_SIZE,32372,0
$CFSIZE,1024409600,968933376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,093908,6134.834,-17351.850,4,0.8,18,7.0,0.7,247.4,10,4.9