version: 66.13
glider: 401
mission: 22
dive: 1078
start: 8 15 117 5 29 32
data:
$ID,401
$MISSION,22
$DIVE,1078
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,150817,052105,6144.9297,-17353.5059,5,0.8,17,7.0,0.5,57.9,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-42.4
$GPS2,150817,052823,6144.9268,-17353.5254,7,0.8,18,7.0,0.7,35.7,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.263651,0.291968
$KALMAN_X,59725.753906,-430.096802,-40.063721,-256207.468750,-40.530090
$KALMAN_Y,-74791.242188,3022.186279,1081.113403,347758.843750,-58.179993
$MHEAD_RNG_PITCHd_Wd,310.9,32774,-11.6,-10.526,-14.98,6901
$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,-484.0,230,1953,1815,4092,0.0,0.0,0,20,10.00,0.00,0.00,0.000,2049,0.096,0.000,1078,1947,1815,1815,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.23,52.24
$GC,24,-1.78,-484.0,1078,1948,1815,4094,0.7,0.0,1,50,7.32,0.00,-11.57,0.000,18950,0.042,0.000,1762,1951,3051,3051,4095,0,0,0,0,0,0,25.96,25.45,26.03,10.23,51.57
$GC,89,-1.78,-484.0,1762,1951,3052,4095,3.6,-12.5,9,98,0.00,1.15,0.00,0.000,260,0.000,0.045,1762,2378,3052,3052,4095,0,0,0,0,0,0,26.17,25.93,26.20,10.50,51.81
$GC,137,-1.78,-484.0,1761,2377,3054,4095,11.9,-18.3,15,146,0.00,1.08,0.00,0.000,1030,0.000,0.028,1762,1953,3054,3054,4095,0,0,0,0,0,0,26.02,25.99,26.05,10.50,51.10
$GC,185,-1.78,-484.0,1762,1953,3055,4095,21.2,-19.5,21,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3056,3056,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.50,51.45
$GC,233,-1.78,-487.5,1762,1954,3056,4094,27.0,-8.6,27,242,0.00,1.10,0.00,0.000,516,0.000,0.053,1762,1520,3057,3057,4095,0,0,0,0,0,0,26.32,26.05,26.34,10.47,50.59
$GC,281,-1.78,-487.5,1762,1520,3058,4095,31.7,-10.2,33,291,0.00,1.02,0.00,0.000,1030,0.000,0.025,1762,1967,3058,3058,4095,0,0,0,0,0,0,26.16,26.14,26.16,10.43,49.13
$GC,330,-1.78,-487.5,1762,1966,3058,4095,36.3,-9.4,39,339,0.00,1.02,0.00,0.000,260,0.000,0.042,1762,2363,3059,3059,4094,0,0,0,0,0,0,26.39,26.10,26.41,10.40,48.18
$GC,378,-1.78,-487.5,1762,2363,3059,4094,40.8,-9.3,45,387,0.00,1.00,0.00,0.000,1030,0.000,0.031,1762,1962,3059,3059,4094,0,0,0,0,0,0,26.18,26.15,26.22,10.39,48.11
$GC,427,-1.78,-487.5,1762,1962,3060,4094,45.3,-9.5,51,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3060,3060,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,47.00
$GC,473,-1.78,-487.5,1762,1962,3061,4095,49.7,-9.5,57,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3062,3062,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.37,46.65
$GC,521,-1.78,-487.5,1762,1962,3062,4094,54.3,-9.7,63,530,0.00,1.05,0.00,0.000,260,0.000,0.041,1762,2360,3062,3062,4095,0,0,0,0,0,0,26.50,26.20,26.51,10.36,45.51
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,586,-0.45,0.0,1762,2115,3063,4095,60.2,-9.6,71,621,4.53,0.00,28.15,1.300,10244,0.053,0.000,2185,2114,2484,2484,4095,0,0,0,0,0,0,26.23,25.34,24.29,10.35,45.62
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,626,1.78,487.5,2185,2114,2484,4095,62.7,0.0,75,670,7.47,0.98,28.02,1.275,10756,0.031,0.042,2894,1731,1917,1917,4094,0,0,0,0,0,0,25.54,25.49,23.85,10.23,45.31
$GC,733,1.78,487.5,2894,1730,1915,4094,54.6,10.8,89,743,0.00,0.98,0.05,0.002,9222,0.000,0.027,2895,2127,1915,1915,4094,0,0,0,0,0,0,25.51,25.49,25.53,10.09,44.76
$GC,781,1.78,487.5,2894,2126,1914,4094,49.5,11.0,95,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2127,1914,1914,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.09,45.39
$GC,828,1.78,487.5,2894,2126,1913,4094,44.4,11.3,101,837,0.00,1.05,0.00,0.000,516,0.000,0.044,2895,1733,1913,1913,4094,0,0,0,0,0,0,25.96,25.67,25.96,10.09,45.35
$GC,952,1.78,487.5,2894,1733,1910,4094,30.2,10.8,119,961,0.00,0.90,0.00,0.000,1030,0.000,0.028,2894,2107,1910,1910,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.07,47.00
$GC,1000,1.79,490.5,2894,2107,1908,4094,25.3,10.5,125,1010,0.00,1.23,0.00,0.000,260,0.000,0.052,2895,2564,1908,1908,4094,0,0,0,0,0,0,26.20,25.89,26.21,10.08,47.20
$GC,1146,2.05,665.8,2894,2564,1906,4094,14.1,7.9,146,1166,0.77,1.12,10.43,0.705,11270,0.027,0.028,2978,2106,1706,1706,4095,0,0,0,0,0,0,26.12,26.09,24.99,10.17,51.14
$GC,1205,2.10,701.5,2977,2106,1704,4095,8.7,10.0,153,1216,0.10,0.95,3.62,0.368,10756,0.073,0.046,2994,1721,1665,1665,4094,0,0,0,0,0,0,26.04,25.56,25.06,10.14,52.24
$STATE,1263,end climb,FINISH_DEPTH_REACHED
$STATE,1263,begin subsurface finish
$FINISH1,2.0,1.023877,120
$GC,1273,0.18,120.1,2993,2149,1663,4094,2.0,11.1,161,1292,6.32,1.15,-6.12,0.000,21252,0.043,1.287,2397,2563,2346,2346,4094,0,0,0,0,0,0,26.06,24.65,26.10,10.14,52.55
$FINISH2,0.2
$STATE,1293,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1293,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,041226
$TT8_MAMPS,0.025466,0.241178
$HUMID,52.87
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.85,29.998
$10V_AH,10.15,32.297
$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,36.525,17.425,70.275,0.000,0.000,24.658,18.170,218.982,0.000,0.000,19.526,471.512,0.000,135.692,937.907,203.587,33.454,403.323,0.000,395.487,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1286.730,1299.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.541,442.881,350.498,519.798,677.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14367,163
$CAP_FILE_SIZE,36013,0
$CFSIZE,1024409600,966508544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,052823,6144.927,-17353.525,7,0.8,18,7.0,0.7,35.7,10,4.9