version: 66.13
glider: 401
mission: 22
dive: 1076
start: 8 15 117 4 39 39
data:
$ID,401
$MISSION,22
$DIVE,1076
$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,32
$R_STBD_OVSHOOT,44
$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
$GPS1,150817,041825,6144.4546,-17352.7227,6,0.8,15,7.0,0.0,330.4,11,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.7
$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,-0.289433,0.264611
$KALMAN_X,59593.285156,-335.464447,72.802666,-255536.937500,4.102657
$KALMAN_Y,-74956.625000,2969.738281,1045.128784,347153.906250,-36.242065
$MHEAD_RNG_PITCHd_Wd,305.4,33876,-11.6,-10.526,-15.03,6849
$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,-480.3,2398,1950,2349,4092,0.0,0.0,0,21,6.40,0.00,-3.38,0.000,20482,0.023,0.000,1774,1950,2709,2709,4094,0,0,0,0,0,0,26.13,28.83,26.18,10.30,52.59
$GC,25,-1.78,-480.3,1773,1949,2709,4094,0.0,0.0,1,35,0.00,1.12,-3.22,0.000,16644,0.000,1.271,1774,2371,3049,3049,4095,0,0,0,0,0,0,26.35,24.75,26.34,10.38,53.11
$GC,98,-1.78,-480.3,1773,2371,3050,4095,7.5,-15.7,11,108,0.00,1.05,0.00,0.000,1030,0.000,0.030,1774,1956,3051,3051,4095,0,0,0,0,0,0,26.08,26.03,26.10,10.46,52.95
$GC,145,-1.78,-480.3,1773,1955,3052,4095,15.8,-18.2,17,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3052,3052,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.47,53.11
$GC,192,-1.78,-480.3,1773,1955,3053,4095,24.3,-18.5,23,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3053,3053,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.46,52.48
$GC,239,-1.78,-480.3,1773,1955,3055,4094,30.9,-13.7,29,249,0.00,1.10,0.00,0.000,516,0.000,0.050,1773,1521,3054,3054,4094,0,0,0,0,0,0,26.41,26.10,26.42,10.40,51.69
$GC,292,-1.78,-480.3,1773,1521,3056,4094,37.9,-12.5,36,302,0.00,0.98,0.00,0.000,1030,0.000,0.025,1773,1944,3056,3056,4095,0,0,0,0,0,0,26.27,26.21,26.25,10.38,50.27
$GC,339,-1.78,-480.3,1773,1944,3056,4095,43.7,-12.6,42,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1944,3057,3057,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.37,48.74
$GC,384,-1.78,-480.3,1773,1944,3058,4094,49.4,-12.8,48,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1944,3058,3058,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,47.83
$GC,430,-1.78,-480.3,1773,1944,3060,4094,55.4,-13.2,54,439,0.00,1.10,0.00,0.000,260,0.000,0.044,1773,2368,3060,3060,4095,0,0,0,0,0,0,26.51,26.21,26.52,10.35,47.28
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,475,-0.45,0.0,1773,2112,3060,4095,60.6,-12.9,59,511,4.43,0.00,28.02,1.307,10244,0.055,0.000,2185,2111,2484,2484,4095,0,0,0,0,0,0,26.22,25.34,24.30,10.34,47.00
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,515,1.78,480.3,2184,2111,2484,4095,63.7,0.0,63,559,7.45,1.23,27.75,1.281,10500,0.032,0.050,2889,2555,1923,1923,4094,0,0,0,0,0,0,25.53,25.48,23.87,10.21,46.61
$GC,610,1.78,480.3,2889,2555,1921,4094,55.4,13.1,75,619,0.00,1.00,0.00,0.000,1030,0.000,0.025,2889,2155,1921,1921,4094,0,0,0,0,0,0,25.46,25.45,25.45,10.08,45.55
$GC,658,1.78,480.3,2889,2154,1920,4094,49.3,13.0,81,667,0.00,1.12,0.00,0.000,516,0.000,0.044,2889,1722,1920,1920,4094,0,0,0,0,0,0,25.82,25.53,25.83,10.08,45.47
$GC,750,1.78,480.3,2889,1722,1917,4094,36.7,13.3,94,759,0.00,0.95,0.00,0.000,1030,0.000,0.029,2889,2110,1917,1917,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.07,45.90
$GC,798,1.78,480.3,2889,2109,1916,4094,30.4,13.3,100,808,0.00,1.23,0.00,0.000,260,0.000,0.054,2889,2562,1915,1915,4094,0,0,0,0,0,0,26.09,25.77,26.10,10.07,46.53
$GC,846,1.78,480.3,2889,2561,1914,4094,24.3,12.3,106,856,0.00,1.12,0.00,0.000,1030,0.000,0.027,2890,2111,1914,1914,4094,0,0,0,0,0,0,25.94,25.89,25.96,10.07,46.96
$GC,895,1.99,620.8,2889,2111,1914,4094,20.0,8.4,112,914,0.68,1.00,8.60,0.711,10756,0.031,0.045,2965,1721,1757,1757,4094,0,0,0,0,0,0,25.98,25.43,24.86,10.13,49.05
$GC,1044,1.99,620.8,2964,1721,1753,4094,3.2,12.1,133,1054,0.00,0.90,0.00,0.000,1030,0.000,0.029,2965,2098,1752,1752,4094,0,0,0,0,0,0,26.03,26.01,26.07,10.14,52.55
$STATE,1062,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,0.1,1.002664,0
$GC,1072,0.00,0.0,2965,2142,1753,4094,0.1,13.2,135,1090,6.40,0.00,-6.60,0.000,20486,0.020,0.000,2337,2142,2490,2490,4095,0,0,0,0,0,0,26.08,24.94,26.11,10.15,52.04
$FINISH2,0.1
$STATE,1091,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,030050
$TT8_MAMPS,0.026215,0.247919
$HUMID,52.87
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.87,29.938
$10V_AH,10.14,32.244
$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,25.350,15.100,64.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.866,0.000,118.588,572.579,70.875,33.432,350.136,0.000,334.012,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1270.665,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.577,372.209,294.607,436.697,570.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,14341,137
$CAP_FILE_SIZE,27214,0
$CFSIZE,1024409600,966623232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,041825,6144.455,-17352.723,6,0.8,15,7.0,0.0,330.4,11,4.9