version: 66.13
glider: 401
mission: 22
dive: 1033
start: 8 14 117 10 57 44
data:
$ID,401
$MISSION,22
$DIVE,1033
$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,16
$R_STBD_OVSHOOT,54
$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
$GPS1,140817,104848,6135.6372,-17351.5684,5,0.9,18,7.0,0.4,51.7,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-38.1
$GPS2,140817,105635,6135.6455,-17351.5879,7,0.7,26,7.0,0.0,24.1,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.028701,2.449342
$KALMAN_X,61591.894531,-646.620056,-318.013367,-255756.593750,85.202118
$KALMAN_Y,-62599.085938,3015.186768,1219.604614,318239.812500,20.228149
$MHEAD_RNG_PITCHd_Wd,352.3,14771,-0.7,-10.526,-2.46,53616
$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,-0.80,-487.5,230,1960,1731,4092,0.0,0.0,0,18,6.62,0.00,0.00,0.000,2049,0.093,0.000,794,1955,1731,1731,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.21,51.26
$GC,21,-0.80,-487.5,793,1957,1731,4094,0.7,0.0,1,53,13.77,1.23,-12.23,0.000,19204,0.047,1.279,2078,1512,3057,3057,4095,0,0,0,0,0,0,25.96,24.63,26.03,10.21,51.69
$GC,98,-0.80,-487.5,2077,1512,3057,4095,2.6,-8.5,13,104,0.00,0.98,0.00,0.000,1030,0.000,0.027,2078,1968,3057,3057,4095,0,0,0,0,0,0,26.07,26.05,26.08,10.50,51.41
$GC,137,-0.80,-487.5,2077,1968,3058,4095,5.7,-8.0,19,144,0.00,0.95,0.00,0.000,260,0.000,0.037,2078,2335,3057,3057,4095,0,0,0,0,0,0,26.28,26.01,26.29,10.50,51.02
$GC,201,-0.80,-487.5,2077,2335,3059,4095,10.2,-7.9,29,207,0.00,0.95,0.00,0.000,1030,0.000,0.031,2078,1956,3058,3058,4095,0,0,0,0,0,0,26.10,26.07,26.13,10.50,51.14
$GC,240,-0.80,-487.5,2078,1955,3059,4095,12.5,-5.0,35,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1955,3059,3059,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.50,50.39
$GC,279,-0.80,-487.5,2077,1955,3059,4095,14.5,-5.1,41,286,0.00,1.10,0.00,0.000,516,0.000,0.052,2078,1523,3059,3059,4095,0,0,0,0,0,0,26.39,26.08,26.40,10.51,50.35
$GC,294,-0.80,-487.5,2077,1522,3060,4095,15.2,-5.2,43,301,0.00,0.93,0.00,0.000,1030,0.000,0.024,2078,1940,3058,3058,4095,0,0,0,0,0,0,26.20,26.19,26.22,10.50,50.63
$GC,334,-0.80,-487.5,2078,1939,3060,4095,17.4,-5.6,49,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1939,3060,3060,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.51,50.51
$GC,373,-0.80,-487.5,2077,1939,3059,4094,19.6,-5.7,55,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1939,3060,3060,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.51,49.96
$GC,412,-0.80,-487.5,2077,1939,3061,4094,21.7,-5.3,61,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1941,3061,3061,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.51,50.15
$GC,450,-0.80,-487.5,2077,1941,3061,4094,23.7,-5.0,67,457,0.00,1.05,0.00,0.000,260,0.000,0.039,2078,2349,3061,3061,4094,0,0,0,0,0,0,26.48,26.20,26.49,10.49,49.64
$GC,532,-0.80,-487.5,2077,2349,3062,4094,31.2,-10.0,80,539,0.00,0.98,0.00,0.000,1030,0.000,0.030,2078,1957,3062,3062,4094,0,0,0,0,0,0,26.29,26.26,26.32,10.43,48.34
$GC,572,-0.80,-487.5,2078,1957,3063,4094,35.0,-9.2,86,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1957,3063,3063,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.41,47.55
$GC,610,-0.80,-487.5,2077,1957,3065,4094,38.5,-9.2,92,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1957,3064,3064,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.40,46.77
$GC,649,-0.80,-487.5,2077,1957,3064,4094,42.3,-10.0,98,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1957,3065,3065,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.38,46.18
$GC,688,-0.80,-487.5,2078,1957,3066,4094,46.2,-10.5,104,695,0.00,1.02,0.00,0.000,260,0.000,0.037,2078,2351,3065,3065,4095,0,0,0,0,0,0,26.58,26.29,26.59,10.38,46.06
$GC,787,-0.80,-487.5,2078,2351,3067,4095,57.0,-11.0,120,794,0.00,1.08,0.00,0.000,1030,0.000,0.032,2078,1923,3067,3067,4095,0,0,0,0,0,0,26.39,26.34,26.41,10.36,45.58
$STATE,817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,817,begin apogee
$GC,825,-0.45,0.0,2078,2127,3068,4095,60.6,-10.8,125,861,0.95,0.00,28.05,1.314,10244,0.031,0.000,2177,2127,2483,2483,4094,0,0,0,0,0,0,26.39,25.12,24.37,10.36,45.39
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,865,0.80,487.5,2177,2127,2483,4094,64.5,0.0,131,901,4.22,0.00,27.83,1.300,11270,0.036,0.000,2578,2127,1916,1916,4094,0,0,0,0,0,0,25.64,25.84,23.90,10.23,44.99
$GC,934,1.14,714.0,2577,2127,1915,4094,60.8,10.1,142,954,1.23,1.12,13.98,1.157,10756,0.034,0.041,2695,1709,1652,1652,4094,0,0,0,0,0,0,25.36,24.98,23.96,10.11,44.60
$GC,1049,1.14,714.0,2694,1708,1648,4094,46.3,13.5,160,1056,0.00,0.93,0.00,0.000,1030,0.000,0.025,2695,2095,1648,1648,4094,0,0,0,0,0,0,25.62,25.59,25.63,10.03,45.23
$GC,1089,1.14,714.0,2695,2094,1647,4094,40.6,14.0,166,1095,0.00,1.25,0.00,0.000,260,0.000,0.051,2695,2553,1647,1647,4094,0,0,0,0,0,0,25.90,25.61,25.91,10.02,45.90
$GC,1176,1.14,714.0,2695,2553,1644,4094,28.6,13.5,180,1182,0.00,1.12,0.00,0.000,1030,0.000,0.026,2695,2099,1644,1644,4094,0,0,0,0,0,0,25.86,25.84,25.88,10.02,46.18
$GC,1215,1.14,714.0,2695,2098,1643,4094,23.5,12.6,186,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2097,1643,1643,4094,0,0,0,0,0,0,26.09,26.13,26.13,10.02,46.53
$GC,1254,2.59,1682.7,2695,2097,1642,4094,20.0,8.7,192,1314,4.85,1.00,50.35,0.838,11012,0.027,0.044,3173,1720,523,523,4094,0,0,0,0,0,0,25.97,25.08,24.34,10.05,47.04
$GC,1373,2.59,1682.7,3173,1719,519,4094,5.1,19.9,211,1380,0.00,0.93,0.00,0.000,1030,0.000,0.027,3173,2106,518,518,4094,0,0,0,0,0,0,25.56,25.53,25.58,9.90,50.78
$STATE,1385,end climb,FINISH_DEPTH_REACHED
$STATE,1385,begin subsurface finish
$FINISH1,1.6,1.023908,118
$GC,1393,0.18,117.9,3173,2107,517,4094,1.6,20.5,213,1424,7.88,1.05,-15.62,0.000,20996,0.019,1.259,2410,1719,2349,2349,4095,0,0,0,0,0,0,25.62,24.34,25.65,9.91,51.92
$FINISH2,0.1
$STATE,1425,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1425,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,094141
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.36
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.90,28.632
$10V_AH,10.30,31.189
$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,39.525,18.225,120.200,0.000,0.000,25.818,18.020,236.294,0.000,0.000,27.368,539.986,320.935,230.441,603.664,214.058,33.457,473.801,0.000,324.875,0.000,0.542,0.000
$DEVICE_MAMPS,92.565,1279.080,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,144.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,17703,218
$CAP_FILE_SIZE,43527,0
$CFSIZE,1024409600,968704000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140817,105635,6135.646,-17351.588,7,0.7,26,7.0,0.0,24.1,11,4.9