version: 66.13
glider: 401
mission: 22
dive: 1043
start: 8 14 117 15 9 5
data:
$ID,401
$MISSION,22
$DIVE,1043
$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,28
$R_STBD_OVSHOOT,45
$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
$GPS1,140817,144702,6136.6914,-17351.8379,7,0.7,15,7.0,0.0,342.1,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.0
$GPS2,140817,144702,6136.6914,-17351.8379,7,0.7,15,7.0,0.0,342.1,11,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.050644,0.638816
$KALMAN_X,61165.347656,-548.344849,-168.508118,-255811.296875,-59.470337
$KALMAN_Y,-77118.671875,2462.765137,603.915771,335872.875000,-771.631042
$MHEAD_RNG_PITCHd_Wd,357.5,12841,-4.5,-10.526,-9.33,23203
$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,-1.14,-487.5,2395,1948,2351,4092,0.0,0.0,0,18,4.22,0.00,-2.88,0.000,20482,0.024,0.000,1980,1948,2661,2661,4094,0,0,0,0,0,0,26.06,28.83,26.11,10.31,52.48
$GC,22,-1.14,-487.5,1979,1948,2661,4094,0.1,0.0,1,29,0.00,0.00,-3.50,0.000,16390,0.000,0.000,1979,1948,3058,3058,4094,0,0,0,0,0,0,26.29,25.00,26.29,10.38,52.24
$GC,61,-1.14,-487.5,1978,1948,3058,4094,3.5,-10.6,7,67,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1948,3058,3058,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.46,52.16
$GC,100,-1.14,-487.5,1978,1948,3059,4095,6.9,-8.5,13,107,0.00,1.10,0.00,0.000,260,0.000,0.041,1979,2362,3059,3059,4095,0,0,0,0,0,0,26.32,26.03,26.33,10.46,51.89
$GC,128,-1.14,-487.5,1979,2362,3059,4095,9.2,-8.3,17,134,0.00,1.00,0.00,0.000,1030,0.000,0.031,1979,1965,3060,3060,4095,0,0,0,0,0,0,26.11,26.08,26.14,10.46,52.20
$GC,167,-1.14,-487.5,1978,1964,3060,4095,12.8,-9.6,23,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1965,3060,3060,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.48,51.81
$GC,206,-1.14,-487.5,1978,1964,3061,4095,16.1,-7.9,29,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1964,3061,3061,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.48,51.57
$GC,245,-1.14,-487.5,1978,1965,3061,4095,19.4,-8.4,35,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1965,3062,3062,4095,0,0,0,0,0,0,26.41,26.44,26.43,10.48,51.69
$GC,284,-1.14,-487.5,1978,1964,3062,4095,22.5,-7.8,41,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1965,3062,3062,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.48,51.61
$GC,323,-1.14,-487.5,1978,1964,3062,4095,25.5,-7.6,47,329,0.00,1.12,0.00,0.000,516,0.000,0.051,1979,1521,3062,3062,4094,0,0,0,0,0,0,26.46,26.15,26.47,10.47,50.98
$GC,380,-1.14,-487.5,1978,1521,3063,4094,28.7,-5.9,56,387,0.00,0.98,0.00,0.000,1030,0.000,0.024,1979,1954,3063,3063,4095,0,0,0,0,0,0,26.29,26.27,26.31,10.42,50.82
$GC,420,-1.14,-487.5,1978,1954,3064,4095,31.0,-5.6,62,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1954,3064,3064,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.40,49.88
$GC,459,-1.14,-487.5,1978,1954,3063,4094,33.0,-5.0,68,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1954,3064,3064,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.39,48.89
$GC,498,-1.14,-487.5,1978,1954,3064,4094,35.1,-5.5,74,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1954,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.38,48.34
$GC,537,-1.14,-487.5,1978,1955,3064,4095,37.2,-5.5,80,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1954,3065,3065,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.38,47.99
$GC,575,-1.14,-487.5,1979,1954,3065,4094,39.5,-6.3,86,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1954,3065,3065,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.37,47.24
$GC,614,-1.14,-487.5,1979,1954,3066,4095,42.0,-6.6,92,620,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1954,3066,3066,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.36,47.16
$GC,653,-1.14,-487.5,1978,1954,3066,4095,44.5,-6.3,98,659,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1954,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.35,46.88
$GC,692,-1.14,-487.5,1979,1954,3066,4094,47.0,-6.2,104,698,0.00,1.02,0.00,0.000,260,0.000,0.042,1979,2354,3067,3067,4095,0,0,0,0,0,0,26.60,26.31,26.61,10.34,46.49
$GC,719,-1.14,-487.5,1978,2354,3067,4095,48.6,-6.0,108,726,0.00,1.00,0.00,0.000,1030,0.000,0.031,1979,1950,3067,3067,4095,0,0,0,0,0,0,26.37,26.34,26.41,10.34,47.04
$GC,759,-1.14,-487.5,1978,1950,3067,4095,50.9,-5.9,114,765,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1950,3067,3067,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.33,46.61
$GC,798,-1.14,-487.5,1978,1950,3067,4095,53.2,-5.9,120,804,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1950,3068,3068,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.33,47.12
$GC,837,-1.14,-487.5,1978,1950,3068,4095,55.6,-5.9,126,843,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1950,3068,3068,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.32,46.96
$GC,876,-1.14,-487.5,1978,1950,3068,4095,57.9,-6.2,132,882,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1950,3068,3068,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.31,46.81
$STATE,911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,911,begin apogee
$GC,919,-0.45,0.0,1979,2129,3068,4094,60.3,-6.3,138,955,2.10,0.00,27.95,1.297,10244,0.044,0.000,2186,2129,2484,2484,4094,0,0,0,0,0,0,26.39,25.47,24.42,10.32,46.92
$STATE,956,end apogee,CONTROL_FINISHED_OK
$STATE,956,begin climb
$GC,959,1.14,487.5,2186,2128,2484,4094,61.9,0.0,144,1001,5.28,1.12,27.88,1.274,10500,0.036,0.052,2687,2550,1915,1915,4094,0,0,0,0,0,0,25.65,25.60,23.95,10.19,47.20
$GC,1022,2.45,1359.8,2686,2550,1915,4094,59.2,6.7,154,1082,4.40,1.05,48.62,1.229,11270,0.021,0.026,3105,2126,899,899,4094,0,0,0,0,0,0,25.37,25.35,23.69,10.06,46.61
$GC,1115,2.45,1359.8,3104,2125,898,4094,46.0,11.1,169,1122,0.00,1.05,0.00,0.000,516,0.000,0.045,3105,1732,898,898,4094,0,0,0,0,0,0,25.32,25.06,25.34,9.86,45.47
$GC,1221,2.93,1680.9,3104,1732,896,4094,36.1,9.1,186,1246,1.55,0.98,18.48,0.964,11270,0.021,0.028,3270,2130,525,525,4094,0,0,0,0,0,0,25.54,25.55,24.21,9.84,46.88
$GC,1279,3.31,1932.0,3270,2130,524,4094,29.9,9.4,195,1298,1.08,0.00,14.90,0.877,10246,0.024,0.000,3386,2131,232,232,4094,0,0,0,0,0,0,25.42,24.99,24.22,9.77,47.16
$GC,1331,4.04,2421.2,3386,2130,231,4094,25.1,8.4,203,1351,2.35,1.05,9.95,0.765,10756,0.024,0.039,3616,1730,51,51,4094,0,0,0,0,0,0,25.37,24.86,24.31,9.74,47.32
$GC,1401,4.04,2421.2,3616,1729,48,4094,16.1,13.6,214,1408,0.00,0.98,0.00,0.000,1030,0.000,0.028,3616,2124,47,47,4094,0,0,0,0,0,0,25.48,25.44,25.48,9.77,50.98
$GC,1441,4.04,2421.2,3616,2123,45,4094,9.6,18.0,220,1448,0.00,1.20,0.00,0.000,260,0.000,0.057,3616,2556,45,45,4094,0,0,0,0,0,0,25.78,25.48,25.79,9.78,51.33
$GC,1480,4.04,2421.2,3616,2556,41,4094,2.0,19.0,226,1487,0.00,1.05,0.00,0.000,1030,0.000,0.028,3616,2118,41,41,4094,0,0,0,0,0,0,25.68,25.65,25.70,9.79,52.79
$STATE,1492,end climb,FINISH_DEPTH_REACHED
$STATE,1492,begin subsurface finish
$FINISH1,0.7,1.023904,118
$GC,1500,0.18,118.2,3616,2110,40,4094,0.7,15.2,228,1537,12.52,1.05,-19.73,0.000,20996,0.021,1.271,2414,1736,2354,2354,4094,0,0,0,0,0,0,25.72,24.44,25.74,9.80,52.75
$FINISH2,0.2
$STATE,1538,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1538,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,133008
$TT8_MAMPS,0.026215,0.103362
$HUMID,54.09
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.69,28.996
$10V_AH,10.40,31.438
$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,33.500,16.700,147.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,564.820,323.408,268.948,341.755,99.046,33.430,535.048,0.000,346.026,0.000,0.541,0.000
$DEVICE_MAMPS,43.605,1270.665,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,155.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,17717,234
$CAP_FILE_SIZE,45097,0
$CFSIZE,1024409600,968212480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,144702,6136.691,-17351.838,7,0.7,15,7.0,0.0,342.1,11,4.7