version: 66.13
glider: 401
mission: 22
dive: 1075
start: 8 15 117 4 19 34
data:
$ID,401
$MISSION,22
$DIVE,1075
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,150817,040931,6144.4556,-17352.7090,5,0.8,39,7.0,0.3,230.9,11,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-42.3
$GPS2,150817,041825,6144.4546,-17352.7227,6,0.8,15,7.0,0.0,330.4,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.255414,0.295861
$KALMAN_X,59421.187500,-372.695770,59.902504,-255301.578125,-13.540852
$KALMAN_Y,-74854.250000,3046.300293,1145.225830,346861.593750,-89.020630
$MHEAD_RNG_PITCHd_Wd,312.2,33876,-11.7,-10.526,-15.07,6795
$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,-476.4,238,1944,1763,4092,0.0,0.0,0,18,7.22,0.00,0.00,0.000,2049,0.100,0.000,843,1944,1763,1763,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.22,50.94
$GC,21,-1.78,-476.4,843,1943,1763,4094,0.8,0.0,1,52,9.85,1.20,-11.88,0.000,18692,0.044,1.261,1764,2387,3043,3043,4094,0,0,0,0,0,0,25.91,24.58,25.98,10.23,51.14
$GC,153,-1.78,-476.4,1763,2387,3046,4094,15.7,-17.8,22,160,0.00,1.08,0.00,0.000,1030,0.000,0.027,1764,1959,3046,3046,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.50,50.39
$GC,193,-1.78,-476.4,1763,1959,3047,4095,23.2,-17.9,28,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1960,3047,3047,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.51,49.96
$GC,231,-1.78,-476.4,1763,1959,3048,4095,28.7,-13.6,34,238,0.00,1.12,0.00,0.000,516,0.000,0.050,1764,1518,3048,3048,4095,0,0,0,0,0,0,26.28,25.98,26.29,10.46,49.60
$GC,306,-1.78,-476.4,1763,1517,3050,4095,38.2,-12.1,46,313,0.00,1.02,0.00,0.000,1030,0.000,0.025,1764,1956,3050,3050,4094,0,0,0,0,0,0,26.16,26.12,26.16,10.40,48.03
$GC,346,-1.78,-476.4,1763,1956,3051,4094,43.2,-12.5,52,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1956,3051,3051,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.38,47.28
$GC,384,-1.78,-476.4,1763,1956,3052,4094,48.1,-13.1,58,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1956,3052,3052,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.38,47.20
$GC,423,-1.78,-476.4,1763,1955,3052,4095,53.2,-13.2,64,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1956,3052,3052,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.38,46.22
$GC,461,-1.78,-476.4,1763,1956,3053,4095,58.2,-13.2,70,468,0.00,1.08,0.00,0.000,260,0.000,0.046,1764,2367,3053,3053,4094,0,0,0,0,0,0,26.44,26.15,26.46,10.37,45.55
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,481,-0.45,0.0,1764,2111,3054,4095,60.1,-12.8,72,517,4.55,0.00,27.70,1.296,10244,0.055,0.000,2186,2110,2484,2484,4095,0,0,0,0,0,0,26.15,25.29,24.23,10.37,45.74
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,521,1.78,476.4,2186,2110,2484,4095,63.1,0.0,78,563,7.53,0.00,27.42,1.271,11270,0.031,0.000,2892,2110,1929,1929,4094,0,0,0,0,0,0,25.56,25.70,23.86,10.23,45.19
$GC,596,1.78,476.4,2892,2109,1928,4094,57.0,12.7,90,602,0.00,1.23,0.00,0.000,260,0.000,0.051,2892,2548,1927,1927,4094,0,0,0,0,0,0,25.55,25.27,25.56,10.11,44.21
$GC,635,1.78,476.4,2892,2548,1926,4094,51.5,14.1,96,642,0.00,1.00,0.00,0.000,1030,0.000,0.025,2892,2144,1926,1926,4094,0,0,0,0,0,0,25.53,25.51,25.55,10.10,45.07
$GC,674,1.78,476.4,2892,2144,1925,4094,46.3,13.9,102,681,0.00,1.10,0.00,0.000,516,0.000,0.044,2892,1722,1925,1925,4094,0,0,0,0,0,0,25.83,25.55,25.84,10.09,45.03
$GC,762,1.78,476.4,2892,1722,1923,4094,34.6,13.5,116,768,0.00,0.90,0.00,0.000,1030,0.000,0.028,2892,2094,1922,1922,4094,0,0,0,0,0,0,25.81,25.78,25.83,10.08,45.70
$GC,801,1.78,476.4,2892,2094,1921,4094,29.2,13.8,122,807,0.00,1.25,0.00,0.000,260,0.000,0.052,2892,2556,1921,1921,4094,0,0,0,0,0,0,26.08,25.77,26.09,10.09,45.78
$GC,846,1.78,476.4,2892,2556,1920,4094,23.5,12.0,129,853,0.00,1.12,0.00,0.000,1030,0.000,0.026,2892,2106,1920,1920,4095,0,0,0,0,0,0,25.93,25.90,25.94,10.09,46.45
$GC,886,2.02,639.4,2892,2106,1919,4095,20.2,8.1,135,905,0.73,1.00,9.70,0.737,10756,0.029,0.047,2973,1716,1737,1737,4094,0,0,0,0,0,0,25.98,25.66,24.81,10.14,48.14
$GC,1028,2.02,639.4,2972,1715,1734,4094,3.9,12.6,158,1034,0.00,0.88,0.00,0.000,1030,0.000,0.028,2973,2084,1734,1734,4094,0,0,0,0,0,0,25.99,25.97,26.02,10.15,51.92
$STATE,1046,end climb,FINISH_DEPTH_REACHED
$STATE,1046,begin subsurface finish
$FINISH1,1.3,1.023875,120
$GC,1055,0.18,120.3,2973,2158,1733,4094,1.3,12.3,161,1069,5.95,0.00,-5.30,0.000,20742,0.030,0.000,2398,2159,2349,2349,4094,0,0,0,0,0,0,26.03,24.92,26.06,10.16,52.20
$FINISH2,0.2
$STATE,1070,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1070,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,030050
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.20
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.86,29.915
$10V_AH,10.30,32.212
$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,35.825,14.675,64.825,0.000,0.000,36.994,20.892,299.693,0.000,0.000,17.190,426.889,248.024,158.299,584.428,202.809,33.457,342.375,0.000,247.340,0.000,0.544,0.000
$DEVICE_MAMPS,100.215,1261.485,1295.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,10836,163
$CAP_FILE_SIZE,33597,0
$CFSIZE,1024409600,966656000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,041825,6144.455,-17352.723,6,0.8,15,7.0,0.0,330.4,11,4.9