version: 66.13
glider: 401
mission: 22
dive: 1030
start: 8 14 117 9 47 38
data:
$ID,401
$MISSION,22
$DIVE,1030
$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,60
$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
$GPS1,140817,093908,6134.8345,-17351.8496,4,0.8,18,7.0,0.7,247.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-41.2
$GPS2,140817,094629,6134.8442,-17351.8770,7,0.8,21,7.0,0.5,36.2,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.011959,0.394401
$KALMAN_X,61494.476562,-693.150513,-402.778076,-255798.937500,55.254242
$KALMAN_Y,-62639.160156,2910.855225,1148.035034,316969.687500,51.017944
$MHEAD_RNG_PITCHd_Wd,354.7,16261,-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,-487.5,237,1958,1858,4092,0.0,0.0,0,21,9.55,0.00,0.00,0.000,2049,0.096,0.000,1048,1956,1859,1859,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.23,51.57
$GC,24,-1.78,-487.5,1048,1958,1859,4094,0.8,0.0,1,52,7.68,1.08,-11.07,0.000,18692,0.045,1.267,1764,2346,3056,3056,4094,0,0,0,0,0,0,25.98,24.65,26.05,10.24,51.57
$GC,63,-1.78,-487.5,1763,2349,3056,4094,-0.0,1.7,5,73,0.00,1.02,0.00,0.000,1030,0.000,0.031,1764,1940,3056,3056,4095,0,0,0,0,0,0,25.93,25.86,25.92,10.50,51.65
$GC,110,-1.78,-487.5,1764,1938,3057,4095,5.8,-15.6,11,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1938,3057,3057,4093,0,0,0,0,0,0,26.19,26.20,26.20,10.50,51.61
$GC,155,-1.78,-487.5,1763,1938,3059,4093,14.0,-18.6,17,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1938,3059,3059,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.50,51.45
$GC,201,-1.78,-487.5,1763,1938,3060,4094,21.9,-17.7,23,210,0.00,1.08,0.00,0.000,260,0.000,0.044,1764,2340,3060,3060,4094,0,0,0,0,0,0,26.28,25.99,26.29,10.51,50.66
$GC,266,-1.78,-487.5,1764,2340,3061,4094,30.2,-11.9,32,276,0.00,0.98,0.00,0.000,1030,0.000,0.029,1764,1951,3062,3062,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.44,49.44
$GC,314,-1.78,-487.5,1764,1950,3062,4094,36.0,-12.6,38,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1951,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.40,48.22
$GC,361,-1.78,-487.5,1763,1950,3063,4095,41.8,-12.7,44,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1950,3064,3064,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.39,47.40
$GC,408,-1.78,-487.5,1763,1950,3065,4095,48.1,-13.5,50,417,0.00,1.08,0.00,0.000,516,0.000,0.049,1764,1520,3065,3065,4095,0,0,0,0,0,0,26.44,26.13,26.45,10.38,46.37
$GC,456,-1.78,-487.5,1764,1520,3066,4095,54.7,-13.8,56,465,0.00,0.95,0.00,0.000,1030,0.000,0.026,1764,1932,3066,3066,4095,0,0,0,0,0,0,26.26,26.23,26.27,10.37,45.55
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,500,-0.45,0.0,1764,2141,3067,4095,60.4,-13.7,61,536,4.53,0.00,28.27,1.313,10244,0.056,0.000,2186,2141,2484,2484,4095,0,0,0,0,0,0,26.18,25.29,24.25,10.36,46.06
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,541,1.78,487.5,2186,2141,2483,4095,63.5,0.0,65,585,7.53,0.00,27.90,1.286,11270,0.032,0.000,2893,2141,1916,1916,4094,0,0,0,0,0,0,25.56,25.71,23.84,10.23,45.58
$GC,624,1.78,487.5,2892,2141,1914,4094,56.7,12.5,75,633,0.00,1.15,0.00,0.000,516,0.000,0.044,2893,1711,1914,1914,4095,0,0,0,0,0,0,25.60,25.34,25.60,10.10,44.40
$GC,704,1.78,487.5,2892,1710,1912,4095,46.0,13.2,86,714,0.00,0.98,0.00,0.000,1030,0.000,0.029,2893,2106,1912,1912,4094,0,0,0,0,0,0,25.67,25.63,25.68,10.09,44.44
$GC,752,1.78,487.5,2893,2106,1911,4094,39.6,13.6,92,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2106,1911,1911,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.08,45.19
$GC,799,1.78,487.5,2892,2106,1909,4094,33.1,13.4,98,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2107,1909,1909,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.08,45.39
$GC,847,1.78,487.5,2892,2106,1908,4094,27.4,12.1,104,856,0.00,1.05,0.00,0.000,516,0.000,0.045,2893,1709,1907,1907,4094,0,0,0,0,0,0,26.12,25.83,26.13,10.08,45.82
$GC,895,1.78,487.5,2892,1709,1907,4094,22.2,10.6,110,904,0.00,0.93,0.00,0.000,1030,0.000,0.030,2893,2093,1907,1907,4094,0,0,0,0,0,0,25.95,25.93,25.98,10.12,46.77
$GC,943,1.91,576.0,2892,2092,1906,4094,18.0,9.2,116,954,0.35,1.27,5.95,0.617,10500,0.042,0.050,2934,2567,1812,1812,4094,0,0,0,0,0,0,26.01,25.77,24.94,10.16,49.25
$GC,993,1.91,576.0,2934,2567,1810,4094,12.5,11.5,122,1002,0.00,1.23,0.00,0.000,1030,0.000,0.028,2934,2077,1810,1810,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.16,50.47
$GC,1041,1.91,576.0,2934,2077,1809,4094,6.4,13.1,128,1050,0.00,0.93,0.00,0.000,516,0.000,0.050,2935,1715,1809,1809,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.16,51.06
$STATE,1077,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.3,1.023931,116
$GC,1088,0.17,116.3,2934,2136,1807,4095,1.3,12.4,133,1106,5.45,1.15,-4.72,0.000,20996,0.018,1.270,2394,1712,2354,2354,4094,0,0,0,0,0,0,26.08,24.72,26.12,10.17,51.26
$FINISH2,0.4
$STATE,1107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,083055
$TT8_MAMPS,0.025466,0.250915
$HUMID,52.08
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.84,28.532
$10V_AH,10.14,31.128
$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,35.075,16.500,62.125,0.000,0.000,26.030,19.340,219.688,0.000,0.000,22.686,401.339,0.000,134.772,834.024,195.940,33.456,389.056,0.000,332.494,0.000,0.542,0.000
$DEVICE_MAMPS,95.625,1269.900,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.653,366.799,290.270,430.314,562.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,10936,135
$CAP_FILE_SIZE,33623,0
$CFSIZE,1024409600,968867840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140817,094629,6134.844,-17351.877,7,0.8,21,7.0,0.5,36.2,10,4.8