version: 66.13
glider: 401
mission: 22
dive: 1084
start: 8 15 117 8 3 4
data:
$ID,401
$MISSION,22
$DIVE,1084
$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,27
$R_STBD_OVSHOOT,32
$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
$GPS1,150817,074934,6146.0830,-17355.0879,5,0.9,23,7.0,0.5,304.5,9,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-43.3
$GPS2,150817,080155,6146.1250,-17355.1270,7,0.7,23,7.0,0.5,347.5,11,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.307538,0.246628
$KALMAN_X,60398.652344,-563.794861,-223.671051,-258077.484375,-33.336777
$KALMAN_Y,-74275.992188,3041.820312,1049.796509,349467.968750,12.895813
$MHEAD_RNG_PITCHd_Wd,301.7,30272,-11.5,-10.526,-14.95,6936
$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,-486.5,230,1956,1802,4091,0.0,0.0,0,20,9.05,0.00,0.00,0.000,2049,0.096,0.000,997,1956,1802,1802,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.24,51.02
$GC,23,-1.78,-486.5,997,1956,1802,4094,0.9,0.0,1,50,8.20,0.00,-11.75,0.000,18950,0.043,0.000,1764,1956,3052,3052,4095,0,0,0,0,0,0,25.99,25.46,26.06,10.24,51.14
$GC,89,-1.78,-486.5,1763,1956,3053,4095,3.0,-11.2,9,98,0.00,1.10,0.00,0.000,260,0.000,0.043,1764,2370,3053,3053,4095,0,0,0,0,0,0,26.19,25.89,26.20,10.51,50.35
$GC,129,-1.78,-486.5,1763,2370,3055,4095,9.8,-17.1,14,139,0.00,1.08,0.00,0.000,1030,0.000,0.026,1764,1935,3055,3055,4094,0,0,0,0,0,0,26.03,26.00,26.05,10.52,50.35
$GC,176,-1.78,-486.5,1763,1935,3056,4094,18.1,-18.1,20,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1935,3056,3056,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.52,49.68
$GC,223,-1.78,-486.5,1763,1935,3058,4095,25.8,-15.8,26,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1935,3058,3058,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.49,49.44
$GC,270,-1.78,-486.5,1763,1935,3059,4095,31.7,-12.6,32,280,0.00,1.02,0.00,0.000,516,0.000,0.050,1764,1528,3058,3058,4095,0,0,0,0,0,0,26.36,26.06,26.37,10.44,48.38
$GC,310,-1.78,-486.5,1763,1527,3060,4095,37.1,-13.2,37,320,0.00,0.98,0.00,0.000,1030,0.000,0.026,1764,1948,3060,3060,4094,0,0,0,0,0,0,26.18,26.16,26.20,10.41,47.99
$GC,357,-1.78,-486.5,1763,1948,3061,4094,43.2,-13.1,43,367,0.00,1.10,0.00,0.000,260,0.000,0.044,1764,2370,3061,3061,4095,0,0,0,0,0,0,26.41,26.12,26.43,10.39,46.02
$GC,405,-1.78,-486.5,1763,2370,3062,4095,49.4,-13.4,49,415,0.00,1.00,0.00,0.000,1030,0.000,0.028,1764,1971,3062,3062,4094,0,0,0,0,0,0,26.24,26.22,26.25,10.38,45.51
$GC,453,-1.78,-486.5,1763,1971,3063,4094,55.8,-13.3,55,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1971,3063,3063,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,44.99
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,491,-0.45,0.0,1764,2143,3064,4095,60.5,-13.7,59,534,4.53,0.00,28.23,1.310,10244,0.055,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.18,25.30,24.25,10.37,44.92
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,538,1.78,486.5,2185,2143,2484,4094,64.0,0.0,64,584,7.53,1.10,28.02,1.285,10500,0.031,0.050,2892,2555,1917,1917,4094,0,0,0,0,0,0,25.51,25.47,23.84,10.24,44.64
$GC,640,1.78,486.5,2892,2555,1915,4094,54.9,12.9,77,650,0.00,1.08,0.00,0.000,1030,0.000,0.025,2893,2127,1915,1915,4094,0,0,0,0,0,0,25.48,25.44,25.50,10.10,43.81
$GC,687,1.78,486.5,2892,2127,1913,4094,48.9,12.7,83,696,0.00,1.05,0.00,0.000,516,0.000,0.045,2892,1722,1914,1914,4094,0,0,0,0,0,0,25.83,25.54,25.84,10.10,44.21
$GC,785,1.78,486.5,2892,1722,1911,4094,35.8,13.5,97,795,0.00,0.93,0.00,0.000,1030,0.000,0.028,2892,2103,1910,1910,4094,0,0,0,0,0,0,25.82,25.79,25.83,10.08,45.03
$GC,832,1.78,486.5,2892,2103,1909,4094,29.5,13.4,103,846,0.00,1.20,0.00,0.000,260,0.000,0.052,2893,2557,1908,1908,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.08,45.35
$GC,857,1.78,486.5,2892,2557,1908,4094,26.4,13.0,105,866,0.00,1.10,0.00,0.000,1030,0.000,0.027,2892,2115,1908,1908,4095,0,0,0,0,0,0,25.92,25.89,25.93,10.08,45.07
$GC,904,1.85,536.2,2892,2114,1907,4095,21.2,9.8,111,915,0.15,1.00,4.05,0.491,10756,0.061,0.042,2916,1712,1859,1859,4094,0,0,0,0,0,0,25.96,25.46,24.87,10.13,46.88
$GC,1054,1.88,555.0,2915,1712,1855,4094,6.8,10.2,132,1064,0.00,0.90,2.78,0.233,9222,0.000,0.028,2916,2091,1834,1834,4095,0,0,0,0,0,0,26.09,26.06,25.15,10.18,50.86
$STATE,1100,end climb,FINISH_DEPTH_REACHED
$STATE,1100,begin subsurface finish
$FINISH1,1.3,1.023893,119
$GC,1109,0.18,119.0,2916,2155,1833,4094,1.3,10.6,138,1129,5.30,1.23,-4.65,0.000,20996,0.022,1.275,2396,1712,2348,2348,4095,0,0,0,0,0,0,26.11,24.72,26.15,10.18,51.22
$FINISH2,0.1
$STATE,1130,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,063944
$TT8_MAMPS,0.026964,0.25466
$HUMID,52.00
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.84,30.172
$10V_AH,10.14,32.443
$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,34.750,16.375,63.075,0.000,0.000,97.069,96.379,217.180,0.000,0.000,24.855,404.266,135.584,131.765,1008.430,208.458,33.456,386.428,0.000,343.501,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1275.255,1309.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.295,380.348,301.049,446.471,583.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,14429,140
$CAP_FILE_SIZE,35306,0
$CFSIZE,1024409600,966213632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,833.38,0x236164,1,24
$GPS,150817,080155,6146.125,-17355.127,7,0.7,23,7.0,0.5,347.5,11,4.6