version: 66.13
glider: 401
mission: 22
dive: 1034
start: 8 14 117 11 23 45
data:
$ID,401
$MISSION,22
$DIVE,1034
$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,34
$R_STBD_OVSHOOT,59
$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
$GPS1,140817,105635,6135.6455,-17351.5879,7,0.7,26,7.0,0.0,24.1,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.1
$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,-0.041557,0.564117
$KALMAN_X,61586.710938,-628.946472,-283.870422,-255798.265625,56.592773
$KALMAN_Y,-63936.468750,2572.626465,802.939697,320517.656250,-142.843628
$MHEAD_RNG_PITCHd_Wd,348.8,14771,-6.2,-10.526,-10.54,16896
$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,8,-1.29,-487.5,2409,1977,2349,4092,0.0,0.0,0,20,4.97,0.00,-4.05,0.000,20482,0.024,0.000,1931,1977,2806,2806,4094,0,0,0,0,0,0,25.86,28.83,25.89,10.30,53.11
$GC,24,-1.29,-487.5,1930,1978,2806,4094,0.2,0.0,1,33,0.00,1.23,-2.00,0.000,16900,0.000,1.270,1930,1532,3055,3055,4095,0,0,0,0,0,0,26.08,24.54,26.08,10.40,53.26
$GC,43,-1.29,-487.5,1930,1531,3055,4095,1.7,-6.1,3,52,0.00,0.95,0.00,0.000,1030,0.000,0.026,1930,1943,3054,3054,4095,0,0,0,0,0,0,25.80,25.77,25.82,10.45,53.78
$GC,89,-1.29,-487.5,1929,1943,3056,4095,5.8,-8.6,9,98,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1943,3056,3056,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.47,53.85
$GC,135,-1.29,-487.5,1930,1943,3057,4094,10.5,-10.0,15,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1943,3057,3057,4095,0,0,0,0,0,0,26.13,26.15,26.15,10.47,52.95
$GC,182,-1.29,-487.5,1929,1942,3058,4095,15.6,-11.1,21,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1943,3058,3058,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.48,52.59
$GC,227,-1.29,-487.5,1930,1943,3059,4095,20.8,-11.3,27,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1943,3059,3059,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.48,52.75
$GC,273,-1.29,-487.5,1930,1943,3060,4095,25.0,-8.0,33,283,0.00,1.08,0.00,0.000,260,0.000,0.043,1930,2355,3060,3060,4094,0,0,0,0,0,0,26.28,26.00,26.29,10.44,52.00
$GC,313,-1.29,-487.5,1930,2355,3060,4094,27.7,-6.9,38,323,0.00,1.00,0.00,0.000,1030,0.000,0.030,1930,1958,3060,3060,4094,0,0,0,0,0,0,26.08,26.08,26.10,10.41,51.45
$GC,361,-1.29,-487.5,1930,1957,3061,4094,30.9,-6.8,44,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1958,3061,3061,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.40,50.70
$GC,409,-1.29,-487.5,1930,1957,3061,4094,34.2,-7.2,50,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1958,3062,3062,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,50.03
$GC,457,-1.29,-487.5,1930,1957,3062,4095,37.6,-7.1,56,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1958,3061,3061,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.37,48.42
$GC,504,-1.29,-487.5,1930,1957,3063,4095,41.1,-7.4,62,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1958,3063,3063,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,47.91
$GC,551,-1.29,-487.5,1930,1958,3063,4095,44.4,-7.2,68,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1958,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.35,47.71
$GC,598,-1.29,-487.5,1930,1957,3064,4094,47.8,-7.2,74,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1958,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.34,47.55
$GC,644,-1.29,-487.5,1930,1957,3064,4094,51.3,-7.6,80,653,0.00,1.10,0.00,0.000,516,0.000,0.054,1930,1525,3065,3065,4095,0,0,0,0,0,0,26.51,26.19,26.52,10.33,47.04
$GC,677,-1.29,-487.5,1930,1525,3065,4095,54.0,-8.0,84,686,0.00,0.95,0.00,0.000,1030,0.000,0.026,1930,1943,3065,3065,4094,0,0,0,0,0,0,26.32,26.29,26.32,10.33,47.44
$GC,724,-1.29,-487.5,1930,1943,3066,4094,57.8,-8.0,90,732,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1943,3066,3066,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.33,47.00
$STATE,752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,752,begin apogee
$GC,760,-0.45,0.0,1930,2137,3066,4095,60.2,-7.5,94,795,2.72,0.00,28.08,1.294,10244,0.048,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.27,25.37,24.34,10.32,47.08
$STATE,796,end apogee,CONTROL_FINISHED_OK
$STATE,796,begin climb
$GC,799,1.29,487.5,2186,2137,2484,4094,62.0,0.0,98,843,5.88,0.00,27.77,1.265,11270,0.037,0.000,2736,2138,1916,1916,4094,0,0,0,0,0,0,25.60,25.78,23.91,10.19,46.53
$GC,882,2.06,997.5,2735,2137,1916,4094,57.7,7.4,108,919,2.53,1.15,29.15,1.200,10756,0.024,0.043,2983,1715,1321,1321,4094,0,0,0,0,0,0,25.46,24.79,23.84,10.07,46.25
$GC,975,2.06,997.5,2982,1715,1320,4094,46.8,10.8,120,985,0.00,0.98,0.00,0.000,1030,0.000,0.029,2983,2108,1320,1320,4094,0,0,0,0,0,0,25.37,25.35,25.39,9.95,46.69
$GC,1022,2.06,997.5,2982,2107,1318,4094,41.8,10.9,126,1030,0.00,1.25,0.00,0.000,260,0.000,0.056,2983,2559,1318,1318,4094,0,0,0,0,0,0,25.74,25.43,25.75,9.94,46.14
$GC,1060,2.06,997.5,2982,2558,1317,4094,37.5,11.1,131,1070,0.00,1.12,0.00,0.000,1030,0.000,0.028,2983,2108,1317,1317,4094,0,0,0,0,0,0,25.64,25.62,25.66,9.94,47.04
$GC,1109,2.15,1057.4,2983,2108,1316,4094,32.6,10.2,137,1120,0.17,1.02,4.78,0.627,10756,0.057,0.047,3004,1716,1251,1251,4094,0,0,0,0,0,0,25.70,25.51,24.59,9.94,47.48
$GC,1192,2.53,1315.8,3003,1715,1249,4094,24.4,9.0,148,1220,1.30,0.93,15.07,0.832,11270,0.025,0.028,3135,2101,949,949,4094,0,0,0,0,0,0,25.79,25.79,24.59,9.92,47.51
$GC,1259,3.42,1908.8,3134,2100,948,4094,19.0,6.9,156,1303,2.95,0.00,31.98,0.808,10502,0.023,0.000,3419,2101,260,260,4093,0,0,0,0,0,0,25.69,24.89,24.41,9.94,49.40
$GC,1341,3.42,1908.8,3419,2100,258,4093,8.2,10.6,166,1350,0.00,1.27,0.00,0.000,260,0.000,0.059,3419,2556,258,258,4094,0,0,0,0,0,0,25.69,25.39,25.70,9.84,51.41
$GC,1375,3.57,2006.2,3419,2555,256,4094,4.7,9.9,170,1386,0.40,1.17,6.57,0.513,11270,0.024,0.028,3473,2088,145,145,4094,0,0,0,0,0,0,25.63,25.58,24.73,9.84,51.69
$STATE,1401,end climb,FINISH_DEPTH_REACHED
$STATE,1401,begin subsurface finish
$FINISH1,1.5,1.023922,117
$GC,1410,0.18,117.0,3473,2153,144,4095,1.5,11.1,173,1446,11.27,1.23,-18.85,0.000,20996,0.021,1.266,2399,1717,2353,2353,4094,0,0,0,0,0,0,25.63,24.38,25.65,9.82,52.59
$FINISH2,0.3
$STATE,1448,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1448,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,094141
$TT8_MAMPS,0.026215,0.241927
$HUMID,53.58
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.84,28.675
$10V_AH,10.15,31.230
$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,32.200,17.550,143.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,482.424,1.401,198.445,730.878,94.070,33.429,532.319,0.000,426.444,0.000,0.545,0.000
$DEVICE_MAMPS,57.375,1269.900,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.665,481.004,380.580,563.082,727.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,17808,177
$CAP_FILE_SIZE,39713,0
$CFSIZE,1024409600,968654848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,105635,6135.646,-17351.588,7,0.7,26,7.0,0.0,24.1,11,4.9