version: 66.13
glider: 401
mission: 22
dive: 1073
start: 8 15 117 3 28 12
data:
$ID,401
$MISSION,22
$DIVE,1073
$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,70
$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
$GPS1,150817,030608,6144.0786,-17352.0449,6,0.7,19,7.0,0.5,342.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.0
$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,-0.314789,0.242133
$KALMAN_X,59179.515625,-305.060547,148.707626,-254587.781250,49.198868
$KALMAN_Y,-74934.054688,3000.775146,1121.575806,346327.125000,-21.851074
$MHEAD_RNG_PITCHd_Wd,300.6,34780,-11.4,-10.526,-14.85,7060
$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,-487.5,2397,1995,2350,4092,0.0,0.0,0,18,6.43,0.00,-0.28,0.000,20482,0.028,0.000,1773,1995,2380,2380,4095,0,0,0,0,0,0,26.08,28.83,26.13,10.30,51.85
$GC,22,-1.77,-487.5,1773,1995,2380,4095,0.3,0.0,1,35,0.00,0.93,-6.20,0.000,16644,0.000,1.268,1773,2338,3055,3055,4095,0,0,0,0,0,0,26.29,24.70,26.29,10.32,52.20
$GC,104,-1.77,-487.5,1772,2338,3057,4095,9.9,-17.0,14,110,0.00,0.95,0.00,0.000,1030,0.000,0.030,1773,1965,3057,3057,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.47,51.89
$GC,143,-1.77,-487.5,1772,1964,3058,4094,16.9,-18.0,20,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1964,3059,3059,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.47,51.92
$GC,181,-1.77,-487.5,1772,1964,3059,4095,23.9,-18.1,26,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1964,3060,3060,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.47,52.16
$GC,220,-1.77,-487.5,1772,1964,3061,4094,29.3,-13.1,32,226,0.00,1.15,0.00,0.000,516,0.000,0.050,1773,1513,3061,3061,4094,0,0,0,0,0,0,26.36,26.06,26.37,10.43,51.33
$GC,289,-1.77,-487.5,1772,1513,3062,4094,37.8,-11.9,43,296,0.00,0.93,0.00,0.000,1030,0.000,0.026,1773,1917,3064,3064,4094,0,0,0,0,0,0,26.21,26.19,26.23,10.38,49.72
$GC,329,-1.77,-487.5,1772,1917,3064,4094,42.7,-12.8,49,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1917,3064,3064,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.37,49.37
$GC,367,-1.77,-487.5,1772,1917,3064,4094,47.6,-12.7,55,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1917,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,48.54
$GC,405,-1.77,-487.5,1772,1917,3065,4095,52.5,-13.0,61,412,0.00,1.15,0.00,0.000,260,0.000,0.044,1773,2360,3066,3066,4095,0,0,0,0,0,0,26.47,26.17,26.48,10.35,47.87
$GC,439,-1.77,-487.5,1772,2360,3066,4095,56.6,-11.9,66,445,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1939,3066,3066,4094,0,0,0,0,0,0,26.27,26.22,26.27,10.34,47.24
$STATE,463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,463,begin apogee
$GC,471,-0.45,0.0,1772,2129,3067,4094,60.2,-12.8,70,507,4.43,0.00,28.17,1.299,10244,0.054,0.000,2185,2129,2484,2484,4095,0,0,0,0,0,0,26.20,25.32,24.27,10.34,47.67
$STATE,508,end apogee,CONTROL_FINISHED_OK
$STATE,508,begin climb
$GC,511,1.77,487.5,2184,2129,2484,4095,62.8,0.0,76,553,7.45,1.17,27.98,1.274,10500,0.031,0.053,2888,2563,1915,1915,4094,0,0,0,0,0,0,25.51,25.45,23.84,10.21,47.48
$GC,605,1.77,487.5,2888,2563,1914,4094,54.1,13.6,91,611,0.00,1.08,0.00,0.000,1030,0.000,0.026,2888,2136,1914,1914,4094,0,0,0,0,0,0,25.44,25.42,25.47,10.08,45.86
$GC,644,1.77,487.5,2888,2136,1913,4094,48.6,13.6,97,651,0.00,1.10,0.00,0.000,516,0.000,0.046,2888,1717,1913,1913,4094,0,0,0,0,0,0,25.78,25.49,25.79,10.07,46.22
$GC,731,1.77,487.5,2888,1717,1910,4094,37.0,12.8,111,738,0.00,0.93,0.00,0.000,1030,0.000,0.028,2889,2097,1910,1910,4094,0,0,0,0,0,0,25.77,25.75,25.79,10.06,46.69
$GC,770,1.77,487.5,2888,2097,1909,4094,32.0,13.1,117,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2097,1909,1909,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.06,47.04
$GC,809,1.77,487.5,2888,2096,1908,4094,27.1,12.4,123,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2097,1907,1907,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.06,47.24
$GC,848,1.84,537.0,2888,2097,1907,4094,23.1,9.8,129,856,0.17,1.00,4.12,0.509,10756,0.059,0.046,2912,1720,1857,1857,4094,0,0,0,0,0,0,25.91,25.72,24.83,10.08,47.87
$GC,937,1.96,612.5,2912,1719,1855,4094,15.1,9.4,143,951,0.32,0.98,5.57,0.562,11270,0.031,0.029,2950,2119,1769,1769,4094,0,0,0,0,0,0,25.99,25.96,24.95,10.14,50.82
$GC,984,1.96,612.5,2950,2118,1767,4094,10.0,11.4,150,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2119,1768,1768,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.14,51.89
$GC,1022,1.96,612.5,2950,2119,1766,4094,5.5,11.7,156,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2119,1766,1766,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.14,52.44
$STATE,1052,end climb,FINISH_DEPTH_REACHED
$STATE,1052,begin subsurface finish
$FINISH1,1.7,1.023873,120
$GC,1060,0.18,120.4,2950,2118,1765,4094,1.7,12.2,161,1080,5.70,1.08,-5.05,0.000,20996,0.024,1.274,2398,1722,2347,2347,4094,0,0,0,0,0,0,26.06,24.67,26.09,10.15,53.22
$FINISH2,0.3
$STATE,1081,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1081,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,014936
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.58
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.84,29.849
$10V_AH,10.39,32.163
$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,24.500,14.525,65.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,427.554,251.738,152.804,238.682,69.096,33.431,333.448,0.000,247.092,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,1274.490,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,10755,164
$CAP_FILE_SIZE,30217,0
$CFSIZE,1024409600,966770688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,030608,6144.079,-17352.045,6,0.7,19,7.0,0.5,342.8,11,4.9