version: 66.13
glider: 401
mission: 22
dive: 1056
start: 8 14 117 20 27 3
data:
$ID,401
$MISSION,22
$DIVE,1056
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,140817,194326,6139.4482,-17354.0586,7,0.9,47,7.0,0.7,268.5,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.6
$GPS2,140817,194326,6139.4482,-17354.0586,7,0.9,47,7.0,0.7,268.5,9,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.210718,0.287198
$KALMAN_X,57722.773438,-901.880005,-446.977173,-253834.953125,-141.986023
$KALMAN_Y,-77086.453125,2350.989258,645.906250,341033.500000,-36.718750
$MHEAD_RNG_PITCHd_Wd,29.3,8096,-13.3,-10.526,-16.46,5450
$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,-380.7,2401,1956,2350,4092,0.0,0.0,0,21,6.45,0.00,-3.20,0.000,20482,0.027,0.000,1774,1956,2696,2696,4095,0,0,0,0,0,0,26.14,28.83,26.20,10.31,54.17
$GC,25,-1.78,-380.7,1774,1956,2696,4095,0.0,0.0,1,35,0.00,1.17,-2.00,0.000,16644,0.000,1.272,1774,2375,2928,2928,4094,0,0,0,0,0,0,26.37,24.77,26.38,10.38,53.30
$GC,78,-1.78,-380.7,1774,2375,2929,4094,6.0,-14.1,8,88,0.00,1.05,0.00,0.000,1030,0.000,0.029,1774,1962,2929,2929,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.44,53.89
$GC,125,-1.78,-380.7,1773,1962,2931,4095,13.8,-16.7,14,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1962,2931,2931,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.43,53.38
$GC,169,-1.78,-380.7,1774,1961,2932,4095,21.2,-16.6,20,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1962,2932,2932,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.44,52.71
$GC,215,-1.78,-380.7,1774,1962,2933,4094,27.9,-13.2,26,225,0.00,1.12,0.00,0.000,516,0.000,0.052,1774,1520,2934,2934,4094,0,0,0,0,0,0,26.39,26.08,26.40,10.41,52.71
$GC,281,-1.78,-380.7,1773,1519,2935,4094,35.8,-11.7,35,291,0.00,1.02,0.00,0.000,1030,0.000,0.026,1774,1960,2935,2935,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.37,51.69
$GC,328,-1.78,-380.7,1773,1959,2936,4095,40.8,-10.9,41,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1959,2936,2936,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.35,49.96
$GC,373,-1.78,-380.7,1774,1959,2937,4095,46.0,-11.7,47,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1960,2937,2937,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.34,49.01
$GC,419,-1.78,-380.7,1774,1961,2939,4095,51.4,-12.0,53,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1961,2938,2938,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.32,48.30
$GC,464,-1.78,-380.7,1773,1961,2939,4095,56.9,-12.1,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1961,2939,2939,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.32,47.83
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,497,-0.45,0.0,1774,2133,2940,4095,60.1,-12.0,62,532,4.45,0.00,22.38,1.277,10244,0.058,0.000,2186,2134,2485,2485,4094,0,0,0,0,0,0,26.22,25.20,24.44,10.31,47.71
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,536,1.78,380.7,2186,2133,2485,4094,63.0,0.0,66,572,7.32,1.12,22.23,1.258,10756,0.032,0.042,2888,1702,2040,2040,4094,0,0,0,0,0,0,25.72,25.65,24.06,10.22,47.04
$GC,635,1.78,380.7,2888,1702,2038,4094,54.9,11.7,79,645,0.00,1.08,0.00,0.000,1030,0.000,0.030,2889,2132,2038,2038,4094,0,0,0,0,0,0,25.59,25.56,25.62,10.11,46.02
$GC,682,1.78,380.7,2888,2132,2037,4094,49.3,11.9,85,691,0.00,1.17,0.00,0.000,260,0.000,0.052,2889,2566,2037,2037,4094,0,0,0,0,0,0,25.93,25.64,25.94,10.10,46.06
$GC,735,1.78,380.7,2888,2565,2035,4094,42.7,12.6,92,744,0.00,1.08,0.00,0.000,1030,0.000,0.026,2888,2133,2035,2035,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.09,46.45
$GC,782,1.78,380.7,2888,2132,2034,4094,36.8,12.4,98,790,0.00,1.05,0.00,0.000,516,0.000,0.047,2888,1726,2034,2034,4095,0,0,0,0,0,0,26.10,25.82,26.11,10.09,46.61
$GC,1039,1.89,458.6,2888,1726,2028,4095,10.8,9.1,136,1050,0.35,0.98,5.25,0.522,11270,0.038,0.029,2929,2130,1948,1948,4094,0,0,0,0,0,0,26.14,26.12,25.13,10.19,52.04
$GC,1089,1.94,492.1,2929,2129,1947,4094,6.2,9.9,142,1099,0.10,0.00,3.58,0.354,10246,0.075,0.000,2946,2130,1907,1907,4094,0,0,0,0,0,0,26.14,25.66,25.18,10.19,52.24
$STATE,1126,end climb,SURFACE_DEPTH_REACHED
$STATE,1126,begin surface coast
$FINISH,0.2,1.012800
$STATE,1147,end surface coast,CONTROL_FINISHED_OK
$STATE,1147,begin surface
$SM_CCo,1249,0.00,0.000,0,0,1905,497.99
$SM_GC,1.16,28.35,0.45,0.00,0.021,0.044,0.000,230,1953,1905,-6.59,1.55,497.99,0,0,0,0,0,0,26.06,26.11,26.14
$IRIDIUM_FIX,6149.06,-17422.35,140817,182928
$TT8_MAMPS,0.025466,0.241927
$HUMID,53.22
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,24.06,29.341
$10V_AH,10.14,31.761
$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,47.025,12.150,53.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,422.088,59.947,131.250,625.563,74.561,33.416,354.322,0.000,364.661,0.000,0.541,0.000
$DEVICE_MAMPS,74.970,1272.195,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.163,407.587,322.572,478.326,623.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14319,150
$CAP_FILE_SIZE,28810,0
$CFSIZE,1024409600,967606272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,204858,6140.404,-17353.846,5,0.7,28,7.0,0.3,265.0,11,5.0