version: 66.13
glider: 401
mission: 22
dive: 1064
start: 8 14 117 23 55 14
data:
$ID,401
$MISSION,22
$DIVE,1064
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,140817,233331,6142.4590,-17352.2539,7,0.8,34,7.0,0.6,51.2,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.1
$GPS2,140817,233331,6142.4590,-17352.2539,7,0.8,34,7.0,0.6,51.2,11,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.091173,0.357648
$KALMAN_X,57422.375000,-669.025269,-128.246536,-252376.375000,97.328140
$KALMAN_Y,-75397.101562,2820.446045,1099.141357,343998.750000,71.962402
$MHEAD_RNG_PITCHd_Wd,7.3,2307,-12.6,-10.526,-15.92,5927
$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,-1.77,-414.6,2397,1987,2350,4092,0.0,0.0,0,20,6.35,0.00,-2.00,0.000,20482,0.022,0.000,1771,1988,2565,2565,4094,0,0,0,0,0,0,26.17,28.83,26.21,10.31,52.99
$GC,24,-1.77,-414.6,1771,1987,2566,4094,0.1,0.0,1,34,0.00,0.98,-3.75,0.000,16644,0.000,1.268,1771,2358,2970,2970,4095,0,0,0,0,0,0,26.36,24.77,26.38,10.36,53.62
$GC,97,-1.77,-414.6,1771,2357,2971,4095,8.6,-16.6,11,107,0.00,1.00,0.00,0.000,1030,0.000,0.030,1771,1963,2972,2972,4094,0,0,0,0,0,0,26.11,26.07,26.13,10.44,53.11
$GC,144,-1.77,-414.6,1770,1962,2973,4094,16.7,-17.9,17,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1963,2973,2973,4095,0,0,0,0,0,0,26.36,26.39,26.39,10.45,53.03
$GC,191,-1.77,-414.6,1770,1963,2974,4095,24.7,-17.3,23,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1963,2975,2975,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.43,52.48
$GC,238,-1.77,-414.6,1770,1963,2976,4095,30.5,-11.8,29,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1963,2976,2976,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.39,51.92
$GC,285,-1.77,-414.6,1770,1962,2978,4095,35.9,-11.7,35,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1963,2977,2977,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.36,50.43
$GC,331,-1.77,-414.6,1770,1963,2978,4094,41.5,-12.2,41,340,0.00,1.12,0.00,0.000,516,0.000,0.051,1771,1519,2978,2978,4094,0,0,0,0,0,0,26.48,26.17,26.49,10.35,49.17
$GC,371,-1.77,-414.6,1771,1519,2978,4094,46.7,-12.7,46,380,0.00,0.98,0.00,0.000,1030,0.000,0.028,1771,1939,2979,2979,4094,0,0,0,0,0,0,26.29,26.27,26.30,10.34,48.34
$GC,417,-1.77,-414.6,1770,1939,2980,4094,52.9,-13.5,52,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1939,2980,2980,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.33,48.07
$GC,465,-1.77,-414.6,1770,1939,2981,4095,59.2,-13.7,58,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1939,2981,2981,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.32,47.75
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,488,-0.45,0.0,1771,2132,2981,4094,61.9,-13.5,60,523,4.45,0.00,24.40,1.313,10244,0.057,0.000,2185,2132,2484,2484,4094,0,0,0,0,0,0,26.24,25.44,24.38,10.32,47.28
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,527,1.77,414.6,2185,2132,2484,4094,65.0,0.0,64,564,7.40,1.15,24.05,1.287,10500,0.032,0.052,2889,2559,2000,2000,4094,0,0,0,0,0,0,25.63,25.58,23.98,10.20,46.77
$GC,603,1.77,414.6,2889,2559,2000,4094,59.2,12.5,73,613,0.00,1.10,0.00,0.000,1030,0.000,0.025,2889,2126,2000,2000,4094,0,0,0,0,0,0,25.46,25.44,25.49,10.09,46.33
$GC,651,1.77,414.6,2889,2126,1999,4094,53.0,12.7,79,661,0.00,1.08,0.00,0.000,516,0.000,0.047,2890,1714,1999,1999,4094,0,0,0,0,0,0,25.83,25.58,25.84,10.08,46.06
$GC,764,1.77,414.6,2889,1714,1996,4094,38.8,13.0,95,774,0.00,1.00,0.00,0.000,1030,0.000,0.030,2889,2121,1996,1996,4094,0,0,0,0,0,0,25.85,25.82,25.87,10.08,47.12
$GC,813,1.77,414.6,2889,2121,1994,4094,32.7,12.5,101,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2121,1994,1994,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.07,46.65
$GC,860,1.77,414.6,2889,2121,1993,4094,26.8,12.5,107,869,0.00,1.05,0.00,0.000,516,0.000,0.046,2890,1722,1993,1993,4094,0,0,0,0,0,0,26.20,25.91,26.21,10.07,47.36
$GC,913,1.87,480.7,2889,1722,1992,4094,20.6,9.4,114,923,0.28,0.88,4.85,0.561,11270,0.043,0.028,2925,2090,1922,1922,4094,0,0,0,0,0,0,26.01,26.02,24.93,10.12,47.87
$GC,962,1.93,520.0,2924,2089,1921,4094,16.2,9.8,120,973,0.10,1.23,3.88,0.441,10500,0.073,0.050,2942,2566,1876,1876,4094,0,0,0,0,0,0,26.04,25.54,24.98,10.14,50.74
$GC,1004,1.93,520.0,2941,2566,1875,4094,11.3,11.7,125,1013,0.00,1.23,0.00,0.000,1030,0.000,0.028,2942,2082,1875,1875,4094,0,0,0,0,0,0,26.03,25.99,26.08,10.15,51.45
$GC,1050,1.93,520.0,2942,2082,1874,4094,6.0,11.5,131,1060,0.00,0.93,0.00,0.000,516,0.000,0.051,2942,1721,1874,1874,4094,0,0,0,0,0,0,26.28,25.98,26.29,10.16,51.89
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,1.9,1.023869,121
$GC,1091,0.18,120.7,2942,2140,1873,4094,1.9,12.0,135,1109,5.57,0.00,-4.25,0.000,20998,0.026,0.000,2400,2140,2346,2346,4094,0,0,0,0,0,0,26.10,25.50,26.14,10.17,52.28
$FINISH2,0.2
$STATE,1110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,220931
$TT8_MAMPS,0.026215,0.250915
$HUMID,52.67
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.98,29.593
$10V_AH,10.14,31.962
$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,24.150,15.775,57.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,401.309,0.000,121.757,570.429,75.352,33.432,357.715,0.000,333.702,0.000,0.542,0.000
$DEVICE_MAMPS,72.675,1267.605,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.549,372.250,294.626,436.624,567.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,14253,137
$CAP_FILE_SIZE,29775,0
$CFSIZE,1024409600,967213056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,233331,6142.459,-17352.254,7,0.8,34,7.0,0.6,51.2,11,4.6