version: 66.13
glider: 401
mission: 22
dive: 1081
start: 8 15 117 6 45 57
data:
$ID,401
$MISSION,22
$DIVE,1081
$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
$GPS1,150817,063702,6145.4102,-17354.1836,5,0.8,40,7.0,0.4,346.2,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-39.1
$GPS2,150817,064448,6145.4268,-17354.2090,7,0.7,14,7.0,0.0,24.1,12,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.278893,0.274452
$KALMAN_X,60141.066406,-494.458649,-135.506012,-257112.328125,-9.935455
$KALMAN_Y,-74694.742188,3017.621582,1047.846436,348625.656250,-53.900879
$MHEAD_RNG_PITCHd_Wd,307.5,31717,-11.7,-10.526,-15.06,6813
$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,-477.7,230,1940,1819,4092,0.0,0.0,0,18,7.18,0.00,0.00,0.000,2049,0.101,0.000,832,1941,1819,1819,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.23,51.89
$GC,21,-1.78,-477.7,831,1940,1819,4094,0.9,0.0,1,52,10.00,1.10,-11.50,0.000,18948,0.044,1.280,1762,1530,3047,3047,4094,0,0,0,0,0,0,25.95,24.59,26.01,10.23,51.06
$GC,60,-1.79,-487.5,1762,1530,3047,4094,0.8,-2.6,7,68,0.00,1.00,-0.08,0.000,17414,0.000,0.025,1762,1962,3060,3060,4094,0,0,0,0,0,0,25.90,25.88,25.27,10.49,51.41
$GC,101,-1.79,-487.5,1762,1962,3061,4094,6.6,-15.5,13,106,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3061,3061,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.50,51.06
$GC,139,-1.79,-487.5,1762,1962,3062,4095,13.4,-17.9,19,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1962,3062,3062,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.50,50.19
$GC,178,-1.79,-487.5,1762,1962,3064,4095,20.2,-17.6,25,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3064,3064,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.50,50.94
$GC,216,-1.79,-487.5,1762,1962,3065,4094,26.7,-16.4,31,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3065,3065,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.48,49.88
$GC,255,-1.79,-487.5,1762,1962,3066,4095,31.7,-12.8,37,261,0.00,1.12,0.00,0.000,516,0.000,0.047,1763,1529,3066,3066,4095,0,0,0,0,0,0,26.26,25.96,26.27,10.44,49.13
$GC,300,-1.79,-487.5,1762,1529,3067,4095,37.7,-13.1,44,306,0.00,0.98,0.00,0.000,1030,0.000,0.025,1763,1949,3067,3067,4095,0,0,0,0,0,0,26.10,26.08,26.12,10.41,48.22
$GC,339,-1.79,-487.5,1762,1949,3067,4095,42.7,-13.2,50,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3068,3068,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.39,47.79
$GC,378,-1.79,-487.5,1762,1949,3069,4094,47.8,-13.1,56,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3069,3069,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.38,46.65
$GC,416,-1.79,-487.5,1762,1949,3069,4095,52.9,-13.6,62,423,0.00,1.08,0.00,0.000,260,0.000,0.045,1763,2366,3070,3070,4094,0,0,0,0,0,0,26.39,26.08,26.39,10.37,46.41
$GC,461,-1.79,-487.5,1762,2365,3070,4094,59.1,-13.6,69,468,0.00,1.00,0.00,0.000,1030,0.000,0.028,1763,1970,3070,3070,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.36,46.02
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,481,-0.45,0.0,1763,2137,3071,4095,61.1,-14.0,71,517,4.57,0.00,28.52,1.314,10244,0.054,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.13,25.24,24.18,10.36,45.74
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,521,1.79,487.5,2186,2137,2484,4094,64.0,0.0,77,564,7.53,1.12,28.02,1.286,10500,0.031,0.051,2897,2554,1915,1915,4094,0,0,0,0,0,0,25.43,25.38,23.80,10.23,45.47
$GC,623,1.79,487.5,2896,2553,1914,4094,54.6,13.3,93,629,0.00,1.08,0.00,0.000,1030,0.000,0.024,2897,2129,1914,1914,4095,0,0,0,0,0,0,25.46,25.43,25.46,10.10,44.80
$GC,662,1.79,487.5,2896,2128,1913,4095,49.2,13.2,99,669,0.00,1.08,0.00,0.000,516,0.000,0.046,2897,1717,1912,1912,4095,0,0,0,0,0,0,25.77,25.49,25.79,10.09,44.60
$GC,750,1.79,487.5,2896,1717,1910,4095,37.3,14.1,113,756,0.00,0.90,0.00,0.000,1030,0.000,0.028,2897,2089,1910,1910,4095,0,0,0,0,0,0,25.76,25.74,25.79,10.08,45.31
$GC,789,1.79,487.5,2896,2088,1908,4095,32.0,13.3,119,795,0.00,1.25,0.00,0.000,260,0.000,0.051,2897,2551,1908,1908,4094,0,0,0,0,0,0,26.04,25.73,26.06,10.08,46.22
$GC,830,1.79,487.5,2896,2550,1907,4094,27.0,12.5,125,836,0.00,1.10,0.00,0.000,1030,0.000,0.027,2897,2109,1907,1907,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.08,46.06
$GC,869,1.99,620.5,2896,2109,1906,4094,23.1,8.5,131,883,0.57,1.02,8.18,0.731,10756,0.031,0.048,2962,1714,1760,1760,4094,0,0,0,0,0,0,25.93,25.65,24.77,10.12,47.08
$GC,1055,2.04,656.9,2961,1714,1756,4094,4.8,10.0,161,1064,0.10,0.88,3.58,0.349,11270,0.045,0.027,2981,2084,1716,1716,4094,0,0,0,0,0,0,26.01,26.01,25.10,10.15,52.12
$STATE,1087,end climb,FINISH_DEPTH_REACHED
$STATE,1087,begin subsurface finish
$FINISH1,1.4,1.023875,120
$GC,1097,0.18,120.2,2980,2145,1715,4094,1.4,9.8,166,1116,6.00,1.15,-5.60,0.000,20996,0.027,1.277,2400,1715,2347,2347,4094,0,0,0,0,0,0,26.03,24.65,26.06,10.15,52.04
$FINISH2,0.2
$STATE,1117,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,052341
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.67
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.80,30.085
$10V_AH,10.29,32.359
$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,35.950,16.350,68.300,0.000,0.000,22.534,21.615,246.419,0.000,0.000,15.778,446.060,253.130,165.958,525.182,209.256,33.456,357.792,0.000,255.767,0.000,0.542,0.000
$DEVICE_MAMPS,100.980,1279.845,1313.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,10829,169
$CAP_FILE_SIZE,35989,0
$CFSIZE,1024409600,966361088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,064448,6145.427,-17354.209,7,0.7,14,7.0,0.0,24.1,12,4.7