version: 66.13
glider: 401
mission: 22
dive: 1090
start: 8 15 117 10 28 40
data:
$ID,401
$MISSION,22
$DIVE,1090
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,150817,101831,6147.6387,-17356.4121,5,1.0,50,7.0,0.4,58.6,8,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-38.5
$GPS2,150817,102731,6147.6611,-17356.3672,6,0.9,17,7.0,0.4,29.7,9,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.353358,0.149753
$KALMAN_X,61558.656250,-669.645569,-331.816101,-260203.515625,51.402191
$KALMAN_Y,-73029.328125,3207.935791,1174.512207,350774.125000,70.211792
$MHEAD_RNG_PITCHd_Wd,286.0,27662,-12.0,-10.526,-15.34,6504
$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,-1.77,-455.7,239,1954,1801,4092,0.0,0.0,0,21,10.00,0.00,0.00,0.000,2049,0.096,0.000,1084,1955,1801,1801,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.22,52.00
$GC,24,-1.77,-455.7,1083,1954,1801,4094,0.9,0.0,1,51,7.28,0.00,-11.43,0.000,18694,0.041,0.000,1766,1955,3017,3017,4094,0,0,0,0,0,0,25.96,25.44,26.03,10.23,51.14
$GC,90,-1.77,-455.7,1765,1954,3017,4094,4.0,-12.8,9,99,0.00,1.12,0.00,0.000,260,0.000,0.043,1766,2378,3018,3018,4094,0,0,0,0,0,0,26.15,25.86,26.16,10.49,51.06
$GC,143,-1.77,-455.7,1765,2378,3019,4094,13.3,-18.1,16,152,0.00,1.08,0.00,0.000,1030,0.000,0.028,1766,1952,3019,3019,4093,0,0,0,0,0,0,26.01,25.97,26.02,10.49,51.18
$GC,190,-1.77,-455.7,1765,1952,3021,4093,21.8,-17.8,22,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1952,3021,3021,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.49,50.43
$GC,234,-1.77,-455.7,1766,1952,3022,4094,27.9,-12.2,28,244,0.00,1.15,0.00,0.000,260,0.000,0.044,1766,2380,3022,3022,4094,0,0,0,0,0,0,26.31,26.00,26.32,10.43,49.33
$GC,255,-1.77,-455.7,1765,2379,3023,4094,30.4,-12.4,30,264,0.00,1.10,0.00,0.000,1030,0.000,0.029,1766,1938,3023,3023,4095,0,0,0,0,0,0,26.08,26.04,26.11,10.42,49.13
$GC,302,-1.77,-455.7,1766,1938,3024,4095,36.4,-12.8,36,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1938,3024,3024,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.39,48.03
$GC,347,-1.77,-455.7,1766,1938,3025,4094,42.4,-13.6,42,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1938,3025,3025,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,47.24
$GC,392,-1.77,-455.7,1766,1938,3025,4095,48.8,-14.6,48,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1938,3026,3026,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.37,46.45
$GC,437,-1.77,-455.7,1765,1938,3027,4094,54.8,-12.8,54,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,1938,3027,3027,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.36,45.55
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,482,-0.45,0.0,1766,2146,3029,4094,60.1,-13.5,59,517,4.53,0.00,26.60,1.306,10244,0.057,0.000,2185,2146,2484,2484,4094,0,0,0,0,0,0,26.16,25.32,24.26,10.35,45.58
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,521,1.77,455.7,2185,2146,2484,4094,63.3,0.0,63,566,7.50,1.10,26.15,1.278,10500,0.031,0.051,2890,2557,1955,1955,4094,0,0,0,0,0,0,25.52,25.46,23.87,10.23,44.80
$GC,630,1.77,455.7,2889,2557,1953,4094,52.6,13.0,77,639,0.00,1.08,0.00,0.000,1030,0.000,0.026,2890,2134,1952,1952,4095,0,0,0,0,0,0,25.52,25.47,25.54,10.11,44.52
$GC,676,1.77,455.7,2889,2133,1951,4095,46.6,12.8,83,686,0.00,1.10,0.00,0.000,516,0.000,0.047,2890,1713,1951,1951,4094,0,0,0,0,0,0,25.86,25.57,25.87,10.10,44.64
$GC,762,1.77,455.7,2889,1713,1948,4094,34.9,13.7,95,771,0.00,0.95,0.00,0.000,1030,0.000,0.029,2890,2105,1948,1948,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.08,45.11
$GC,809,1.77,455.7,2889,2105,1947,4094,28.5,13.7,101,818,0.00,1.02,0.00,0.000,516,0.000,0.046,2891,1718,1946,1946,4094,0,0,0,0,0,0,26.10,25.81,26.11,10.08,45.82
$GC,856,1.77,455.7,2890,1718,1946,4094,22.5,12.5,107,864,0.00,0.82,0.00,0.000,1030,0.000,0.028,2890,2070,1946,1946,4094,0,0,0,0,0,0,25.94,25.94,25.95,10.10,46.45
$GC,901,1.95,575.4,2890,2070,1945,4094,18.6,8.6,113,912,0.52,0.00,7.65,0.685,10246,0.035,0.000,2946,2070,1812,1812,4094,0,0,0,0,0,0,25.99,25.67,24.87,10.15,48.46
$GC,951,1.95,575.4,2946,2070,1810,4094,13.6,11.0,119,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2070,1810,1810,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.14,49.52
$GC,998,1.95,575.4,2946,2070,1809,4094,8.3,11.1,125,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2071,1809,1809,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.16,50.70
$GC,1045,1.95,575.4,2946,2070,1807,4095,3.0,11.7,131,1054,0.00,0.93,0.00,0.000,516,0.000,0.048,2946,1719,1807,1807,4094,0,0,0,0,0,0,26.26,25.99,26.27,10.17,51.45
$STATE,1062,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,0.4,1.023892,119
$GC,1072,0.18,119.0,2946,2142,1807,4094,0.4,11.8,133,1092,5.62,1.17,-4.88,0.000,20996,0.022,1.276,2397,1719,2348,2348,4094,0,0,0,0,0,0,26.08,24.67,26.11,10.17,51.69
$FINISH2,0.1
$STATE,1093,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1093,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,102110
$TT8_MAMPS,0.026215,0.242676
$HUMID,51.96
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.87,30.338
$10V_AH,10.14,32.585
$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,35.450,14.225,60.400,0.000,0.000,51.157,45.149,221.067,0.000,0.000,18.821,387.329,45.014,134.927,877.135,205.986,33.456,388.271,0.000,332.347,0.000,0.542,0.000
$DEVICE_MAMPS,96.390,1276.020,1305.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.714,366.754,290.305,430.339,559.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,14372,135
$CAP_FILE_SIZE,33663,0
$CFSIZE,1024409600,965918720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,102731,6147.661,-17356.367,6,0.9,17,7.0,0.4,29.7,9,4.8