version: 66.13
glider: 401
mission: 22
dive: 1049
start: 8 14 117 17 45 16
data:
$ID,401
$MISSION,22
$DIVE,1049
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,140817,172154,6137.8213,-17353.2715,6,0.9,19,7.0,0.5,262.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-4.2
$GPS2,140817,172154,6137.8213,-17353.2715,6,0.9,19,7.0,0.5,262.3,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.175617,0.371601
$KALMAN_X,59602.164062,-736.500122,-343.951141,-255239.281250,-126.022491
$KALMAN_Y,-77243.398438,2131.440430,335.147552,338708.281250,3.271759
$MHEAD_RNG_PITCHd_Wd,18.3,10878,-10.8,-10.526,-14.37,7668
$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,-1.72,-487.5,2398,1960,2349,4092,0.0,0.0,0,18,6.18,0.00,-0.68,0.000,20482,0.022,0.000,1792,1960,2425,2425,4094,0,0,0,0,0,0,26.08,28.83,26.12,10.31,52.04
$GC,22,-1.72,-487.5,1792,1959,2425,4094,0.0,0.0,1,34,0.00,0.00,-5.35,0.000,16390,0.000,0.000,1792,1960,3056,3056,4095,0,0,0,0,0,0,26.28,24.98,26.29,10.34,52.16
$GC,67,-1.72,-487.5,1792,1959,3057,4095,4.5,-12.7,8,73,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1959,3058,3058,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.47,52.12
$GC,105,-1.72,-487.5,1791,1959,3059,4095,10.9,-16.4,14,111,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1960,3058,3058,4095,0,0,0,0,0,0,26.25,26.27,26.26,10.47,51.73
$GC,143,-1.72,-487.5,1791,1959,3060,4095,17.5,-17.9,20,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1959,3060,3060,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.48,51.65
$GC,182,-1.72,-487.5,1792,1959,3061,4094,23.9,-16.8,26,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1960,3061,3061,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.48,52.00
$GC,220,-1.72,-487.5,1792,1959,3062,4095,29.7,-13.6,32,227,0.00,1.12,0.00,0.000,516,0.000,0.050,1792,1517,3062,3062,4094,0,0,0,0,0,0,26.35,26.05,26.36,10.44,51.57
$GC,265,-1.72,-487.5,1792,1517,3063,4094,35.3,-12.2,39,272,0.00,1.02,0.00,0.000,1030,0.000,0.026,1792,1955,3063,3063,4095,0,0,0,0,0,0,26.17,26.15,26.19,10.40,50.90
$GC,305,-1.72,-487.5,1792,1955,3064,4095,39.9,-11.3,45,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1956,3064,3064,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.38,49.37
$GC,343,-1.72,-487.5,1792,1955,3065,4095,44.4,-12.2,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1956,3065,3065,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,48.46
$GC,382,-1.72,-487.5,1792,1955,3066,4095,49.0,-11.6,57,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1956,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,48.18
$GC,420,-1.72,-487.5,1792,1955,3067,4095,53.5,-11.8,63,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1956,3067,3067,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.36,47.36
$GC,458,-1.72,-487.5,1791,1956,3067,4095,58.2,-12.4,69,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1955,3068,3068,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.35,47.71
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,483,-0.45,0.0,1792,2138,3068,4094,60.7,-12.0,72,519,4.20,0.00,28.20,1.302,10244,0.053,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.35,46.81
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,524,1.72,487.5,2185,2139,2484,4094,63.2,0.0,78,566,7.25,1.12,27.95,1.274,10756,0.032,0.041,2879,1709,1915,1915,4094,0,0,0,0,0,0,25.53,25.47,23.87,10.22,46.61
$GC,605,1.72,487.5,2879,1709,1915,4094,56.3,12.4,91,611,0.00,1.05,0.00,0.000,1030,0.000,0.028,2880,2128,1915,1915,4094,0,0,0,0,0,0,25.37,25.34,25.41,10.10,45.31
$GC,644,1.72,487.5,2879,2127,1913,4094,51.3,12.7,97,651,0.00,1.20,0.00,0.000,260,0.000,0.054,2879,2564,1914,1914,4094,0,0,0,0,0,0,25.75,25.45,25.75,10.08,45.62
$GC,689,1.72,487.5,2879,2564,1912,4094,45.5,12.9,104,696,0.00,1.05,0.00,0.000,1030,0.000,0.026,2880,2141,1912,1912,4094,0,0,0,0,0,0,25.67,25.65,25.70,10.08,46.49
$GC,729,1.72,487.5,2879,2140,1911,4094,40.5,12.5,110,735,0.00,1.08,0.00,0.000,516,0.000,0.046,2880,1722,1911,1911,4094,0,0,0,0,0,0,25.96,25.67,25.96,10.07,45.86
$GC,931,1.91,616.9,2879,1722,1906,4094,19.1,8.8,143,945,0.47,1.00,7.97,0.692,11270,0.035,0.030,2936,2131,1764,1764,4094,0,0,0,0,0,0,26.01,25.98,24.91,10.15,50.94
$GC,977,1.91,616.9,2935,2131,1763,4094,14.4,10.8,150,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2132,1762,1762,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.13,51.65
$GC,1016,1.91,616.9,2935,2131,1762,4094,10.0,11.6,156,1022,0.00,1.08,0.00,0.000,516,0.000,0.044,2936,1723,1761,1761,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.15,52.24
$GC,1073,1.91,616.9,2936,1723,1760,4094,3.4,11.6,165,1080,0.00,0.88,0.00,0.000,1030,0.000,0.030,2936,2087,1759,1759,4094,0,0,0,0,0,0,26.05,26.02,26.07,10.15,52.91
$STATE,1084,end climb,FINISH_DEPTH_REACHED
$STATE,1085,begin subsurface finish
$FINISH1,1.6,1.023895,119
$GC,1094,0.18,118.9,2936,2163,1759,4094,1.6,12.4,167,1113,5.47,1.08,-5.20,0.000,20740,0.022,1.293,2399,2540,2351,2351,4095,0,0,0,0,0,0,26.06,24.69,26.10,10.16,52.95
$FINISH2,0.2
$STATE,1114,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1114,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,160029
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.97
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.87,29.175
$10V_AH,10.40,31.584
$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,23.575,12.650,64.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.719,259.934,155.717,247.240,72.824,33.432,342.118,0.000,255.406,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1292.850,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,14227,170
$CAP_FILE_SIZE,30147,0
$CFSIZE,1024409600,967950336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,172154,6137.821,-17353.271,6,0.9,19,7.0,0.5,262.3,10,4.8