version: 66.13
glider: 401
mission: 22
dive: 1051
start: 8 14 117 18 35 42
data:
$ID,401
$MISSION,22
$DIVE,1051
$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,12
$R_STBD_OVSHOOT,56
$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
$GPS1,140817,182651,6138.5654,-17353.7637,5,0.8,19,7.0,0.3,357.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-49.0
$GPS2,140817,183433,6138.5776,-17353.8496,6,0.8,21,7.0,0.2,358.5,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.199287,0.292160
$KALMAN_X,58847.382812,-800.756042,-402.124451,-254902.140625,-120.644226
$KALMAN_Y,-76920.328125,2265.703125,495.383118,339463.250000,81.622437
$MHEAD_RNG_PITCHd_Wd,27.3,9603,-13.4,-10.526,-16.58,5359
$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,-374.2,229,1970,2096,4092,0.0,0.0,0,18,6.47,0.00,0.00,0.000,2049,0.112,0.000,763,1963,2096,2096,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.29,51.02
$GC,21,-1.78,-374.2,763,1963,2096,4094,1.1,0.0,1,46,11.30,0.00,-7.68,0.000,19206,0.076,0.000,1763,1967,2923,2923,4095,0,0,0,0,0,0,25.96,24.91,26.04,10.29,51.65
$GC,79,-1.95,-487.5,1762,1968,2924,4095,1.3,-4.8,10,86,0.25,0.00,-0.85,0.000,20486,0.038,0.000,1727,1968,3059,3059,4094,0,0,0,0,0,0,26.03,25.43,26.04,10.47,50.90
$GC,118,-1.95,-487.5,1726,1968,3060,4094,7.2,-16.1,16,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,1968,3060,3060,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.50,50.55
$GC,157,-1.95,-487.5,1727,1968,3061,4094,14.7,-20.4,22,163,0.00,1.17,0.00,0.000,516,0.000,0.047,1727,1509,3061,3061,4095,0,0,0,0,0,0,26.22,25.92,26.23,10.51,50.51
$GC,184,-1.95,-487.5,1727,1509,3062,4095,20.3,-20.0,26,191,0.00,0.98,0.00,0.000,1030,0.000,0.027,1727,1924,3062,3062,4095,0,0,0,0,0,0,26.04,26.03,26.06,10.51,50.23
$GC,223,-1.95,-487.5,1726,1924,3064,4095,27.9,-18.8,32,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,1925,3064,3064,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.47,50.07
$GC,262,-1.95,-487.5,1726,1926,3065,4095,33.7,-15.1,38,268,0.00,1.08,0.00,0.000,516,0.000,0.049,1727,1511,3065,3065,4094,0,0,0,0,0,0,26.32,26.01,26.33,10.43,49.76
$GC,313,-1.95,-487.5,1726,1510,3066,4094,41.3,-14.9,46,320,0.00,0.93,0.00,0.000,1030,0.000,0.026,1727,1913,3066,3066,4094,0,0,0,0,0,0,26.16,26.14,26.17,10.40,47.95
$GC,352,-1.95,-487.5,1726,1913,3067,4094,47.2,-14.6,52,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,1913,3068,3068,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.39,47.28
$GC,391,-1.95,-487.5,1726,1913,3068,4095,52.8,-14.4,58,397,0.00,1.17,0.00,0.000,260,0.000,0.043,1727,2366,3069,3069,4095,0,0,0,0,0,0,26.41,26.12,26.42,10.38,46.77
$GC,424,-1.95,-487.5,1727,2365,3069,4095,57.6,-14.5,63,431,0.00,1.15,0.00,0.000,1030,0.000,0.030,1727,1906,3069,3069,4095,0,0,0,0,0,0,26.21,26.17,26.23,10.37,46.22
$STATE,442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,442,begin apogee
$GC,450,-0.45,0.0,1726,2136,3070,4095,60.7,-14.9,66,486,4.95,0.00,28.40,1.314,10244,0.057,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.14,25.25,24.20,10.37,46.25
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,490,1.95,487.5,2185,2136,2483,4094,63.9,0.0,72,532,8.10,0.00,28.02,1.282,11270,0.031,0.000,2947,2136,1915,1915,4094,0,0,0,0,0,0,25.52,25.67,23.82,10.24,45.35
$GC,565,1.95,487.5,2946,2136,1914,4094,56.8,14.9,84,572,0.00,1.15,0.00,0.000,516,0.000,0.045,2947,1713,1914,1914,4094,0,0,0,0,0,0,25.53,25.26,25.54,10.11,44.95
$GC,634,1.95,487.5,2946,1713,1911,4094,45.7,16.1,95,641,0.00,1.00,0.00,0.000,1030,0.000,0.029,2947,2115,1911,1911,4094,0,0,0,0,0,0,25.59,25.56,25.61,10.10,44.40
$GC,673,1.95,487.5,2946,2115,1910,4094,39.5,15.5,101,680,0.00,1.23,0.00,0.000,260,0.000,0.052,2947,2567,1910,1910,4094,0,0,0,0,0,0,25.90,25.59,25.91,10.09,45.11
$GC,714,1.95,487.5,2946,2566,1909,4094,33.2,16.0,107,721,0.00,1.12,0.00,0.000,1030,0.000,0.027,2947,2119,1908,1908,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.08,45.31
$GC,753,1.95,487.5,2946,2118,1908,4094,27.4,14.4,113,760,0.00,1.05,0.00,0.000,516,0.000,0.048,2947,1715,1907,1907,4094,0,0,0,0,0,0,26.04,25.75,26.06,10.09,46.06
$GC,927,1.95,487.5,2946,1714,1902,4094,7.7,11.6,141,933,0.00,0.95,0.00,0.000,1030,0.000,0.027,2947,2110,1902,1902,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.19,51.22
$GC,966,1.95,487.5,2947,2110,1901,4094,2.2,13.5,147,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2110,1900,1900,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.20,51.69
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,0.4,1.023892,119
$GC,986,0.18,119.0,2947,2110,1900,4094,0.4,13.4,149,1000,5.57,1.08,-3.97,0.000,21252,0.021,1.272,2402,1714,2351,2351,4095,0,0,0,0,0,0,26.06,24.71,26.12,10.19,51.85
$FINISH2,0.1
$STATE,1001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,171446
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.71
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.82,29.226
$10V_AH,10.30,31.633
$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,36.650,14.700,56.425,0.000,0.000,23.448,20.974,233.107,0.000,0.000,23.033,407.170,224.133,148.794,498.805,201.100,33.455,325.777,0.000,230.567,0.000,0.542,0.000
$DEVICE_MAMPS,111.690,1272.195,1313.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10806,151
$CAP_FILE_SIZE,33694,0
$CFSIZE,1024409600,967835648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,678.60,0x2138dc,1,24
$GPS,140817,183433,6138.578,-17353.850,6,0.8,21,7.0,0.2,358.5,10,4.9