version: 66.13
glider: 401
mission: 22
dive: 1077
start: 8 15 117 5 0 7
data:
$ID,401
$MISSION,22
$DIVE,1077
$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,36
$R_STBD_OVSHOOT,31
$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,0.11
$_SM_ANGLEo,-2.2
$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,-0.306291,0.255647
$KALMAN_X,59913.175781,-347.642487,49.816795,-255820.781250,103.796356
$KALMAN_Y,-75180.062500,2954.434082,1019.083679,347418.031250,-91.560486
$MHEAD_RNG_PITCHd_Wd,302.9,33876,-11.3,-10.526,-14.78,7138
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.76,-487.5,2337,1946,2489,4092,0.0,0.0,0,17,5.75,0.00,-0.65,0.000,20482,0.025,0.000,1781,1946,2559,2559,4094,0,0,0,0,0,0,26.08,28.83,26.14,10.33,52.83
$GC,21,-1.76,-487.5,1781,1945,2558,4094,0.1,0.0,1,28,0.00,0.00,-4.70,0.000,16390,0.000,0.000,1781,1946,3056,3056,4094,0,0,0,0,0,0,26.32,25.01,26.33,10.35,53.58
$GC,61,-1.76,-487.5,1780,1946,3057,4094,3.0,-11.7,7,67,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3057,3057,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.45,53.15
$GC,99,-1.76,-487.5,1780,1946,3058,4094,9.3,-16.6,13,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1945,3058,3058,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.46,52.44
$GC,138,-1.76,-487.5,1780,1946,3059,4095,16.3,-18.8,19,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3060,3060,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.46,52.36
$GC,176,-1.76,-487.5,1780,1945,3061,4095,23.3,-17.9,25,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3061,3061,4093,0,0,0,0,0,0,26.42,26.44,26.43,10.46,52.55
$GC,215,-1.76,-487.5,1781,1946,3061,4093,28.0,-11.2,31,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3061,3061,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.42,52.63
$GC,254,-1.76,-487.5,1780,1946,3062,4095,32.0,-10.3,37,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3062,3062,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.39,51.10
$GC,292,-1.76,-487.5,1780,1945,3063,4094,36.3,-11.2,43,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3063,3063,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.38,50.19
$GC,331,-1.76,-487.5,1780,1945,3064,4095,40.8,-12.3,49,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.37,49.60
$GC,369,-1.76,-487.5,1780,1946,3065,4095,45.5,-12.1,55,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3065,3065,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,49.01
$GC,408,-1.76,-487.5,1780,1946,3066,4095,50.4,-12.5,61,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1946,3066,3066,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.35,48.11
$GC,446,-1.76,-487.5,1780,1945,3066,4095,55.4,-12.8,67,453,0.00,1.12,0.00,0.000,260,0.000,0.046,1781,2371,3066,3066,4095,0,0,0,0,0,0,26.54,26.24,26.55,10.34,47.71
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,490,-0.45,0.0,1780,2122,3068,4095,60.4,-12.7,73,526,4.35,0.00,28.20,1.304,10244,0.054,0.000,2185,2119,2484,2484,4094,0,0,0,0,0,0,26.26,25.37,24.31,10.34,48.07
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.76,487.5,2185,2119,2484,4094,63.1,0.0,79,573,7.43,1.20,27.98,1.275,10500,0.031,0.051,2888,2560,1916,1916,4094,0,0,0,0,0,0,25.55,25.50,23.88,10.21,47.20
$GC,618,1.76,487.5,2888,2559,1915,4094,55.4,12.8,93,625,0.00,1.00,0.00,0.000,1030,0.000,0.025,2888,2159,1914,1914,4094,0,0,0,0,0,0,25.45,25.41,25.46,10.08,46.29
$GC,658,1.76,487.5,2888,2158,1913,4094,50.3,13.0,99,664,0.00,1.15,0.00,0.000,516,0.000,0.046,2888,1721,1913,1913,4094,0,0,0,0,0,0,25.77,25.48,25.78,10.07,46.18
$GC,733,1.76,487.5,2888,1721,1911,4094,40.3,13.3,111,739,0.00,0.98,0.00,0.000,1030,0.000,0.029,2888,2117,1910,1910,4094,0,0,0,0,0,0,25.75,25.70,25.77,10.06,46.45
$GC,772,1.76,487.5,2888,2116,1910,4094,35.2,13.1,117,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2117,1911,1911,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.06,46.61
$GC,811,1.76,487.5,2888,2116,1908,4094,30.3,12.8,123,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2116,1908,1908,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.06,47.44
$GC,849,1.76,487.5,2889,2116,1908,4094,25.7,11.6,129,856,0.00,1.05,0.00,0.000,516,0.000,0.046,2888,1721,1907,1907,4094,0,0,0,0,0,0,26.13,25.84,26.15,10.06,47.75
$GC,961,1.87,557.0,2888,1720,1905,4094,14.8,9.5,147,974,0.25,1.00,5.00,0.535,11270,0.043,0.030,2920,2130,1832,1832,4095,0,0,0,0,0,0,26.01,26.01,25.00,10.14,51.29
$GC,1008,1.88,569.4,2919,2130,1832,4095,10.3,10.3,154,1014,0.00,0.00,2.50,0.184,8198,0.000,0.000,2920,2130,1818,1818,4094,0,0,0,0,0,0,26.24,25.79,25.06,10.14,52.04
$GC,1047,1.88,569.4,2920,2129,1817,4094,6.1,10.6,160,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2130,1817,1817,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.15,52.63
$STATE,1082,end climb,SURFACE_DEPTH_REACHED
$STATE,1082,begin surface coast
$FINISH,0.2,1.023873
$STATE,1101,end surface coast,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$SM_CCo,1203,0.00,0.000,0,0,1815,575.26
$SM_GC,1.00,28.10,0.45,0.00,0.019,0.043,0.000,230,1954,1815,-6.59,1.59,575.26,0,0,0,0,0,0,26.04,26.06,26.11
$IRIDIUM_FIX,6149.06,-17422.35,150817,030050
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.93
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.88,29.959
$10V_AH,10.39,32.255
$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,45.875,9.000,63.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,447.076,324.428,171.865,245.824,78.850,33.420,356.437,0.000,254.138,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,51.255,1303.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,10837,169
$CAP_FILE_SIZE,32130,0
$CFSIZE,1024409600,966574080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,052105,6144.930,-17353.506,5,0.8,17,7.0,0.5,57.9,11,4.9