version: 66.13
glider: 401
mission: 22
dive: 1037
start: 8 14 117 12 45 6
data:
$ID,401
$MISSION,22
$DIVE,1037
$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,26
$R_STBD_OVSHOOT,39
$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
$GPS1,140817,122314,6136.0811,-17351.4102,6,0.9,19,7.0,0.4,250.7,11,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.5
$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,0.000535,4.783594
$KALMAN_X,61662.023438,-571.413208,-203.292725,-255843.125000,36.344223
$KALMAN_Y,-67352.468750,2598.323975,776.748108,324673.343750,-417.246033
$MHEAD_RNG_PITCHd_Wd,353.0,13962,-0.7,-10.526,-1.26,53616
$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,-487.5,2398,1960,2351,4092,0.0,0.0,0,18,3.15,0.00,-3.40,0.000,20482,0.028,0.000,2089,1960,2719,2719,4095,0,0,0,0,0,0,26.06,28.83,26.11,10.32,52.04
$GC,22,-0.80,-487.5,2089,1960,2718,4095,0.1,0.0,1,29,0.00,0.00,-3.15,0.000,16902,0.000,0.000,2089,1960,3056,3056,4094,0,0,0,0,0,0,26.29,24.98,26.29,10.39,52.95
$GC,62,-0.80,-487.5,2089,1959,3056,4094,0.1,-0.4,7,68,0.00,1.12,0.00,0.000,516,0.000,0.054,2089,1524,3057,3057,4095,0,0,0,0,0,0,26.28,25.96,26.29,10.47,52.55
$GC,119,-0.80,-487.5,2088,1524,3058,4095,5.7,-10.4,16,126,0.00,1.05,0.00,0.000,1030,0.000,0.026,2089,1993,3058,3058,4095,0,0,0,0,0,0,26.15,26.13,26.16,10.47,52.16
$GC,159,-0.80,-487.5,2088,1993,3058,4095,9.2,-8.8,22,165,0.00,0.93,0.00,0.000,260,0.000,0.040,2089,2353,3058,3058,4094,0,0,0,0,0,0,26.36,26.08,26.37,10.47,52.24
$GC,282,-0.80,-487.5,2088,2352,3061,4094,23.1,-11.7,42,289,0.00,0.85,0.00,0.000,1030,0.000,0.030,2089,2014,3061,3061,4094,0,0,0,0,0,0,26.22,26.21,26.25,10.49,51.65
$GC,322,-0.80,-487.5,2088,2013,3061,4094,26.8,-8.7,48,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2014,3062,3062,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.45,52.12
$GC,361,-0.80,-487.5,2088,2014,3062,4094,30.6,-9.9,54,367,0.00,0.90,0.00,0.000,260,0.000,0.042,2089,2354,3062,3062,4094,0,0,0,0,0,0,26.48,26.19,26.49,10.42,50.86
$GC,376,-0.80,-487.5,2088,2354,3062,4094,32.1,-10.0,56,382,0.00,0.85,0.00,0.000,1030,0.000,0.030,2089,2014,3063,3063,4095,0,0,0,0,0,0,26.27,26.24,26.29,10.41,50.43
$GC,415,-0.80,-487.5,2088,2013,3063,4095,36.1,-10.5,62,422,0.00,0.88,0.00,0.000,260,0.000,0.041,2089,2347,3064,3064,4095,0,0,0,0,0,0,26.50,26.22,26.51,10.39,49.05
$GC,430,-0.80,-487.5,2088,2347,3064,4095,37.7,-10.3,64,436,0.00,0.77,0.00,0.000,1030,0.000,0.030,2089,2028,3064,3064,4095,0,0,0,0,0,0,26.29,26.27,26.31,10.39,48.81
$GC,470,-0.80,-487.5,2088,2028,3064,4095,41.8,-10.2,70,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2028,3065,3065,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,48.30
$GC,508,-0.80,-487.5,2088,2028,3065,4094,46.0,-10.8,76,515,0.00,1.30,0.00,0.000,516,0.000,0.054,2089,1521,3065,3065,4095,0,0,0,0,0,0,26.54,26.22,26.55,10.38,47.00
$GC,523,-0.80,-487.5,2088,1521,3066,4095,47.6,-11.0,78,529,0.00,1.12,0.00,0.000,1030,0.000,0.026,2089,2008,3066,3066,4094,0,0,0,0,0,0,26.34,26.32,26.36,10.37,47.44
$GC,562,-0.80,-487.5,2088,2008,3066,4094,52.0,-11.2,84,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2008,3067,3067,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.36,46.41
$GC,601,-0.80,-487.5,2089,2008,3067,4094,56.3,-10.8,90,607,0.00,1.27,0.00,0.000,516,0.000,0.052,2089,1520,3067,3067,4095,0,0,0,0,0,0,26.57,26.25,26.58,10.36,46.33
$STATE,638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,638,begin apogee
$GC,647,-0.45,0.0,2089,2114,3068,4095,60.5,-10.8,96,683,0.75,0.00,28.12,1.314,10244,0.031,0.000,2169,2114,2485,2485,4095,0,0,0,0,0,0,26.36,25.10,24.32,10.35,45.90
$STATE,684,end apogee,CONTROL_FINISHED_OK
$STATE,684,begin climb
$GC,687,0.80,487.5,2169,2113,2485,4095,64.7,0.0,102,723,4.30,0.00,28.00,1.303,11270,0.037,0.000,2575,2114,1916,1916,4094,0,0,0,0,0,0,25.60,25.81,23.88,10.22,45.66
$GC,756,1.79,1151.8,2574,2114,1915,4094,61.2,9.3,113,804,3.50,1.27,37.58,1.252,10500,0.031,0.052,2908,2566,1141,1141,4094,0,0,0,0,0,0,25.36,24.66,23.70,10.09,45.82
$GC,860,1.79,1151.8,2908,2565,1138,4094,46.6,17.7,130,867,0.00,1.12,0.00,0.000,1030,0.000,0.026,2908,2120,1139,1139,4094,0,0,0,0,0,0,25.32,25.27,25.33,9.93,45.98
$GC,900,1.79,1151.8,2907,2119,1137,4094,39.5,18.9,136,906,0.00,1.05,0.00,0.000,516,0.000,0.047,2909,1720,1137,1137,4094,0,0,0,0,0,0,25.65,25.37,25.66,9.92,45.62
$GC,969,1.79,1151.8,2908,1720,1133,4094,27.1,17.6,147,975,0.00,0.95,0.00,0.000,1030,0.000,0.028,2908,2109,1133,1133,4094,0,0,0,0,0,0,25.64,25.60,25.65,9.92,46.18
$GC,1008,1.79,1151.8,2907,2108,1132,4094,20.8,15.5,153,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2109,1132,1132,4094,0,0,0,0,0,0,25.91,25.94,25.93,9.93,47.00
$GC,1047,1.79,1151.8,2908,2108,1130,4094,15.3,14.7,159,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2109,1130,1130,4094,0,0,0,0,0,0,25.98,26.00,26.00,9.97,47.36
$GC,1085,1.79,1151.8,2908,2108,1129,4094,9.0,16.2,165,1092,0.00,1.02,0.00,0.000,516,0.000,0.046,2908,1722,1128,1128,4094,0,0,0,0,0,0,26.04,25.75,26.06,9.99,49.92
$STATE,1121,end climb,FINISH_DEPTH_REACHED
$STATE,1121,begin subsurface finish
$FINISH1,1.8,1.023845,122
$GC,1131,0.18,122.3,2908,2139,1125,4094,1.8,18.2,171,1151,5.07,1.20,-10.55,0.000,21252,0.021,1.279,2414,2564,2347,2347,4095,0,0,0,0,0,0,25.89,24.57,25.93,10.00,51.73
$FINISH2,0.1
$STATE,1152,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1152,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,105124
$TT8_MAMPS,0.026215,0.103362
$HUMID,52.55
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.70,28.790
$10V_AH,10.40,31.293
$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,16.775,20.675,93.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.655,251.891,181.608,253.743,75.485,33.429,378.511,0.000,261.098,0.000,0.543,0.000
$DEVICE_MAMPS,37.485,1279.080,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,14335,174
$CAP_FILE_SIZE,34213,0
$CFSIZE,1024409600,968523776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,122314,6136.081,-17351.410,6,0.9,19,7.0,0.4,250.7,11,5.0