version: 66.13
glider: 401
mission: 22
dive: 1036
start: 8 14 117 12 24 25
data:
$ID,401
$MISSION,22
$DIVE,1036
$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,40
$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
$GPS1,140817,121300,6136.0723,-17351.3691,52,0.9,63,7.0,0.3,135.9,10,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-26.9
$GPS2,140817,122314,6136.0811,-17351.4102,6,0.9,19,7.0,0.4,250.7,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.001062,0.394581
$KALMAN_X,61685.894531,-585.277161,-228.645355,-255831.156250,66.732971
$KALMAN_Y,-67091.781250,2705.040527,915.007629,324196.750000,-610.178406
$MHEAD_RNG_PITCHd_Wd,353.2,13962,-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,-487.5,237,1952,1185,4092,0.0,0.0,0,20,9.00,0.00,0.00,0.000,2049,0.083,0.000,1018,1952,1185,1185,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.11,51.77
$GC,23,-1.78,-487.5,1017,1952,1185,4094,0.6,0.0,1,51,8.02,0.00,-17.00,0.000,18694,0.046,0.000,1762,1947,3058,3058,4094,0,0,0,0,0,0,25.89,24.85,25.96,10.11,52.00
$GC,90,-1.78,-487.5,1762,1950,3059,4094,3.0,-10.4,9,99,0.00,1.08,0.00,0.000,260,0.000,0.046,1762,2355,3059,3059,4094,0,0,0,0,0,0,26.22,25.93,26.23,10.51,51.73
$GC,137,-1.78,-487.5,1762,2355,3060,4094,11.4,-18.0,15,147,0.00,0.98,0.00,0.000,1030,0.000,0.028,1763,1966,3060,3060,4095,0,0,0,0,0,0,26.05,26.03,26.08,10.51,51.18
$GC,186,-1.78,-487.5,1762,1966,3062,4095,20.3,-18.5,21,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1966,3062,3062,4095,0,0,0,0,0,0,26.32,26.32,26.32,10.52,50.82
$GC,233,-1.78,-487.5,1762,1966,3063,4095,27.4,-12.4,27,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1966,3063,3063,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.47,50.11
$GC,280,-1.78,-487.5,1762,1966,3064,4094,33.3,-12.8,33,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1966,3064,3064,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.43,49.09
$GC,326,-1.78,-487.5,1762,1965,3065,4094,39.1,-12.4,39,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1966,3066,3066,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.40,48.14
$GC,374,-1.78,-487.5,1762,1966,3066,4095,45.1,-13.2,45,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1966,3066,3066,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.39,47.28
$GC,418,-1.78,-487.5,1762,1966,3067,4095,51.2,-13.3,51,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1966,3068,3068,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.38,46.77
$GC,464,-1.78,-487.5,1762,1966,3068,4095,57.3,-13.5,57,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1966,3069,3069,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.37,46.06
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,488,-0.45,0.0,1762,2119,3069,4094,60.0,-13.6,59,531,4.55,0.00,28.35,1.314,10244,0.056,0.000,2186,2119,2484,2484,4095,0,0,0,0,0,0,26.20,25.01,24.26,10.37,45.94
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,535,1.78,487.5,2186,2119,2484,4095,63.5,0.0,64,581,7.47,1.17,27.85,1.288,10500,0.031,0.051,2892,2557,1919,1919,4095,0,0,0,0,0,0,25.50,25.46,23.87,10.24,45.11
$GC,624,1.78,487.5,2891,2557,1917,4095,56.1,12.9,75,634,0.00,1.08,0.00,0.000,1030,0.000,0.025,2892,2130,1917,1917,4094,0,0,0,0,0,0,25.43,25.41,25.45,10.10,44.40
$GC,671,1.78,487.5,2891,2130,1915,4094,50.0,13.2,81,680,0.00,1.05,0.00,0.000,516,0.000,0.044,2892,1721,1915,1915,4094,0,0,0,0,0,0,25.79,25.51,25.80,10.10,44.17
$GC,789,1.78,487.5,2891,1721,1912,4094,34.0,13.1,98,798,0.00,0.98,0.00,0.000,1030,0.000,0.030,2892,2117,1911,1911,4094,0,0,0,0,0,0,25.83,25.79,25.85,10.09,45.39
$GC,837,1.78,487.5,2891,2117,1910,4094,27.9,12.8,104,847,0.00,1.23,0.00,0.000,260,0.000,0.055,2892,2568,1910,1910,4094,0,0,0,0,0,0,26.11,25.79,26.12,10.08,45.55
$GC,910,1.89,563.9,2891,2569,1908,4094,19.7,9.4,114,920,0.30,1.05,5.47,0.601,11270,0.036,0.027,2929,2136,1826,1826,4094,0,0,0,0,0,0,25.96,25.96,24.90,10.14,48.03
$GC,959,1.98,624.2,2929,2136,1825,4094,15.3,9.6,120,971,0.22,1.08,4.80,0.517,10756,0.047,0.046,2962,1719,1756,1756,4094,0,0,0,0,0,0,25.96,25.76,24.95,10.15,50.27
$GC,1059,1.98,624.2,2961,1719,1752,4094,2.2,14.5,134,1069,0.00,1.00,0.00,0.000,1030,0.000,0.025,2961,2144,1752,1752,4094,0,0,0,0,0,0,26.06,26.01,26.05,10.16,52.24
$STATE,1077,end climb,FINISH_DEPTH_REACHED
$STATE,1077,begin subsurface finish
$FINISH1,0.4,1.023908,118
$GC,1086,0.18,117.9,2961,2145,1752,4094,0.4,11.1,136,1104,5.78,0.00,-5.28,0.000,20486,0.024,0.000,2399,2144,2351,2351,4094,0,0,0,0,0,0,26.03,25.49,26.08,10.16,51.69
$FINISH2,0.2
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,105124
$TT8_MAMPS,0.025466,0.259903
$HUMID,52.63
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.87,28.755
$10V_AH,10.12,31.282
$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,35.350,11.050,66.475,0.000,0.000,22.815,27.181,377.971,0.000,0.000,20.956,398.381,0.000,131.553,997.003,212.297,33.455,378.775,0.000,338.617,0.000,0.542,0.000
$DEVICE_MAMPS,83.385,55.080,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.899,374.997,296.689,440.014,572.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14397,138
$CAP_FILE_SIZE,33172,0
$CFSIZE,1024409600,968572928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140817,122314,6136.081,-17351.410,6,0.9,19,7.0,0.4,250.7,11,5.0