version: 66.13
glider: 401
mission: 22
dive: 1072
start: 8 15 117 3 7 17
data:
$ID,401
$MISSION,22
$DIVE,1072
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,150817,025810,6144.0786,-17352.0586,5,0.8,15,7.0,0.0,267.5,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-38.9
$GPS2,150817,030608,6144.0786,-17352.0449,6,0.7,19,7.0,0.5,342.8,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.292242,0.268202
$KALMAN_X,58986.589844,-357.257538,122.357208,-254307.578125,43.919708
$KALMAN_Y,-74850.015625,3069.279053,1218.902344,346063.625000,-68.270630
$MHEAD_RNG_PITCHd_Wd,305.5,34780,-11.4,-10.526,-14.86,7039
$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,-487.5,229,1938,1775,4092,0.0,0.0,0,20,9.12,0.00,0.00,0.000,2049,0.101,0.000,994,1942,1775,1775,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.22,51.85
$GC,23,-1.77,-487.5,993,1942,1774,4094,0.8,0.0,1,50,8.18,1.17,-11.98,0.000,18692,0.041,1.261,1759,2382,3054,3054,4094,0,0,0,0,0,0,25.96,24.60,26.00,10.22,52.28
$GC,133,-1.77,-487.5,1759,2382,3055,4094,10.4,-18.2,16,142,0.00,1.05,0.00,0.000,1030,0.000,0.028,1760,1966,3056,3056,4094,0,0,0,0,0,0,26.01,25.98,26.08,10.50,51.37
$GC,181,-1.77,-487.5,1759,1966,3057,4094,19.0,-18.7,22,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1966,3058,3058,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.51,51.02
$GC,228,-1.77,-487.5,1759,1966,3058,4094,26.4,-13.2,28,238,0.00,1.15,0.00,0.000,516,0.000,0.051,1760,1515,3059,3059,4095,0,0,0,0,0,0,26.32,26.01,26.34,10.46,50.43
$GC,327,-1.77,-487.5,1759,1515,3061,4095,38.1,-12.7,42,337,0.00,1.00,0.00,0.000,1030,0.000,0.025,1760,1947,3061,3061,4095,0,0,0,0,0,0,26.22,26.17,26.21,10.39,48.22
$GC,374,-1.77,-487.5,1759,1947,3062,4095,44.2,-13.3,48,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1947,3062,3062,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.38,47.08
$GC,419,-1.77,-487.5,1760,1946,3063,4094,50.4,-13.7,54,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1947,3063,3063,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,46.41
$GC,465,-1.77,-487.5,1759,1947,3064,4095,56.5,-13.3,60,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1947,3064,3064,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.37,45.70
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,497,-0.45,0.0,1759,2136,3065,4095,60.1,-13.6,63,533,4.57,0.00,28.20,1.310,10244,0.056,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.19,25.30,24.25,10.36,46.02
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,537,1.77,487.5,2185,2136,2484,4094,63.5,0.0,67,582,7.53,0.00,27.88,1.279,11270,0.032,0.000,2890,2136,1920,1920,4094,0,0,0,0,0,0,25.56,25.70,23.85,10.23,44.88
$GC,620,1.77,487.5,2890,2135,1919,4094,56.7,12.9,77,630,0.00,1.15,0.00,0.000,260,0.000,0.053,2891,2558,1919,1919,4094,0,0,0,0,0,0,25.59,25.31,25.60,10.10,44.21
$GC,654,1.77,487.5,2890,2558,1918,4094,51.9,13.6,81,664,0.00,1.10,0.12,0.003,9222,0.000,0.025,2891,2119,1918,1918,4094,0,0,0,0,0,0,25.57,25.51,25.56,10.10,45.15
$GC,701,1.77,487.5,2890,2119,1917,4094,45.6,13.2,87,710,0.00,1.02,0.00,0.000,516,0.000,0.045,2891,1720,1916,1916,4095,0,0,0,0,0,0,25.86,25.56,25.87,10.09,44.84
$GC,780,1.77,487.5,2890,1719,1914,4095,35.4,12.6,98,789,0.00,0.93,0.00,0.000,1030,0.000,0.028,2891,2100,1914,1914,4094,0,0,0,0,0,0,25.78,25.78,25.83,10.08,45.35
$GC,826,1.77,487.5,2890,2100,1913,4094,29.6,12.7,104,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2100,1913,1913,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.08,45.74
$GC,872,1.77,487.5,2890,2100,1911,4094,24.1,11.5,110,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2100,1911,1911,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.08,46.37
$GC,917,1.95,604.7,2890,2101,1911,4094,20.1,8.8,116,935,0.47,1.00,7.65,0.689,10756,0.035,0.044,2943,1720,1777,1777,4094,0,0,0,0,0,0,25.98,25.43,24.85,10.13,47.28
$GC,999,1.96,615.3,2941,1719,1775,4094,11.9,10.4,127,1009,0.00,0.88,2.30,0.132,9222,0.000,0.029,2942,2086,1766,1766,4094,0,0,0,0,0,0,25.96,25.94,24.99,10.14,50.86
$GC,1047,1.96,615.3,2942,2085,1764,4094,6.7,11.0,133,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2085,1764,1764,4094,0,0,0,0,0,0,26.22,26.25,26.23,10.15,51.29
$STATE,1088,end climb,FINISH_DEPTH_REACHED
$STATE,1089,begin subsurface finish
$FINISH1,1.7,1.023876,120
$GC,1098,0.18,120.2,2942,2145,1762,4094,1.7,11.2,139,1117,5.60,1.17,-5.15,0.000,20996,0.024,1.274,2397,1715,2350,2350,4095,0,0,0,0,0,0,26.06,24.68,26.10,10.16,51.29
$FINISH2,0.3
$STATE,1118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,014936
$TT8_MAMPS,0.025466,0.245672
$HUMID,51.81
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.85,29.827
$10V_AH,10.13,32.152
$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,35.475,12.200,66.150,0.000,0.000,25.843,25.125,249.725,0.000,0.000,21.071,399.568,0.000,130.296,886.688,197.576,33.457,378.930,0.000,344.491,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1273.725,1309.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.067,383.114,303.171,449.341,585.072,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,14357,141
$CAP_FILE_SIZE,32313,0
$CFSIZE,1024409600,966819840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,030608,6144.079,-17352.045,6,0.7,19,7.0,0.5,342.8,11,4.9