version: 66.13
glider: 401
mission: 22
dive: 1031
start: 8 14 117 10 8 21
data:
$ID,401
$MISSION,22
$DIVE,1031
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,140817,094629,6134.8442,-17351.8770,7,0.8,21,7.0,0.5,36.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-1.0
$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,0.012489,0.394384
$KALMAN_X,61466.367188,-688.710999,-376.999542,-255797.625000,31.128998
$KALMAN_Y,-62815.972656,2842.834717,1061.868530,317330.687500,56.516724
$MHEAD_RNG_PITCHd_Wd,354.8,16261,-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,-487.5,2394,1970,2353,4092,0.0,0.0,0,18,6.25,0.00,-0.68,0.000,20482,0.027,0.000,1787,1970,2427,2427,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.31,52.16
$GC,22,-1.78,-487.5,1787,1970,2427,4094,0.1,0.0,1,35,0.00,1.10,-5.85,0.000,16644,0.000,1.261,1787,2370,3056,3056,4094,0,0,0,0,0,0,26.30,24.75,26.32,10.33,51.92
$GC,42,-1.78,-487.5,1786,2370,3056,4094,0.2,-0.2,4,49,0.00,1.05,0.00,0.000,1030,0.000,0.028,1787,1953,3056,3056,4095,0,0,0,0,0,0,26.00,25.97,26.02,10.46,51.96
$GC,82,-1.78,-487.5,1786,1951,3057,4095,4.2,-13.1,10,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1952,3057,3057,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.46,52.40
$GC,120,-1.78,-487.5,1786,1952,3058,4095,10.2,-17.1,16,126,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1952,3058,3058,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.47,51.85
$GC,158,-1.78,-487.5,1786,1952,3060,4094,17.3,-18.7,22,165,0.00,1.12,0.00,0.000,260,0.000,0.047,1787,2367,3059,3059,4094,0,0,0,0,0,0,26.32,26.03,26.33,10.48,51.69
$GC,234,-1.78,-487.5,1787,2368,3061,4094,28.7,-12.3,34,240,0.00,1.05,0.00,0.000,1030,0.000,0.030,1787,1947,3061,3061,4095,0,0,0,0,0,0,26.14,26.11,26.17,10.43,51.53
$GC,273,-1.78,-487.5,1786,1947,3062,4095,33.4,-11.9,40,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1947,3062,3062,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.40,50.86
$GC,311,-1.78,-487.5,1786,1947,3063,4094,38.0,-12.3,46,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1947,3063,3063,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.38,50.31
$GC,350,-1.78,-487.5,1786,1947,3064,4094,42.7,-11.8,52,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1947,3064,3064,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,48.97
$GC,388,-1.78,-487.5,1786,1947,3065,4094,47.4,-12.7,58,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1947,3065,3065,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,48.54
$GC,426,-1.78,-487.5,1786,1947,3066,4095,52.3,-12.6,64,433,0.00,1.08,0.00,0.000,516,0.000,0.051,1787,1521,3066,3066,4094,0,0,0,0,0,0,26.48,26.17,26.50,10.35,47.71
$GC,460,-1.78,-487.5,1787,1521,3066,4094,56.7,-13.3,69,466,0.00,1.00,0.00,0.000,1030,0.000,0.026,1787,1950,3067,3067,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.35,47.32
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,491,-0.45,0.0,1787,2140,3068,4094,60.3,-13.1,73,527,4.25,0.00,28.12,1.308,10244,0.054,0.000,2184,2140,2483,2483,4094,0,0,0,0,0,0,26.22,25.32,24.30,10.34,47.00
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.78,487.5,2184,2140,2484,4094,63.0,0.0,79,573,7.47,0.00,27.90,1.276,11270,0.032,0.000,2891,2140,1916,1916,4095,0,0,0,0,0,0,25.59,25.74,23.88,10.21,46.57
$GC,606,1.78,487.5,2890,2140,1915,4095,56.8,12.0,91,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1915,1915,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.09,45.98
$GC,645,1.78,487.5,2890,2140,1914,4094,51.8,13.0,97,651,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1716,1914,1914,4094,0,0,0,0,0,0,25.72,25.45,25.74,10.08,45.27
$GC,726,1.78,487.5,2890,1715,1911,4094,41.2,13.2,110,732,0.00,0.93,0.00,0.000,1030,0.000,0.029,2891,2094,1911,1911,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.06,46.10
$GC,765,1.78,487.5,2890,2094,1910,4094,35.9,13.4,116,772,0.00,1.27,0.00,0.000,260,0.000,0.053,2891,2565,1910,1910,4094,0,0,0,0,0,0,26.01,25.71,26.03,10.06,46.88
$GC,810,1.78,487.5,2890,2564,1909,4094,29.9,13.1,123,817,0.00,1.17,0.00,0.000,1030,0.000,0.027,2891,2096,1908,1908,4094,0,0,0,0,0,0,25.88,25.84,25.89,10.06,47.20
$GC,849,1.78,487.5,2890,2096,1907,4094,25.0,12.5,129,856,0.00,0.98,0.00,0.000,516,0.000,0.047,2891,1717,1907,1907,4094,0,0,0,0,0,0,26.13,25.84,26.15,10.06,47.36
$GC,943,1.86,543.5,2890,1717,1906,4094,15.7,9.7,144,951,0.22,0.85,4.38,0.495,11270,0.047,0.028,2919,2078,1849,1849,4094,0,0,0,0,0,0,25.99,26.00,25.00,10.14,50.82
$GC,984,1.91,577.4,2919,2077,1848,4094,11.4,10.0,150,993,0.10,1.33,3.53,0.372,10500,0.075,0.056,2937,2565,1810,1810,4094,0,0,0,0,0,0,26.04,25.83,25.04,10.15,51.77
$GC,1019,1.91,577.4,2937,2565,1809,4094,7.5,10.8,155,1026,0.00,1.23,0.00,0.000,1030,0.000,0.028,2937,2080,1809,1809,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.14,52.16
$GC,1058,1.91,577.4,2936,2080,1808,4094,3.2,11.2,161,1065,0.00,0.95,0.00,0.000,516,0.000,0.050,2937,1712,1807,1807,4094,0,0,0,0,0,0,26.27,25.96,26.28,10.15,52.79
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.5,1.023930,116
$GC,1080,0.17,116.4,2936,2150,1808,4094,1.5,10.5,163,1100,5.55,1.20,-4.75,0.000,20996,0.025,1.278,2399,1712,2353,2353,4094,0,0,0,0,0,0,26.06,24.71,26.10,10.16,52.83
$FINISH2,0.3
$STATE,1101,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,083055
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.58
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.88,28.554
$10V_AH,10.40,31.139
$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,23.850,19.550,63.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.552,245.478,160.543,242.135,74.410,33.429,348.102,0.000,249.897,0.000,0.542,0.000
$DEVICE_MAMPS,74.970,1277.550,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10819,166
$CAP_FILE_SIZE,32949,0
$CFSIZE,1024409600,968818688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,094629,6134.844,-17351.877,7,0.8,21,7.0,0.5,36.2,10,4.8