version: 66.13
glider: 401
mission: 22
dive: 1092
start: 8 15 117 11 9 42
data:
$ID,401
$MISSION,22
$DIVE,1092
$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,32
$R_STBD_OVSHOOT,53
$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
$GPS1,150817,102731,6147.6611,-17356.3672,6,0.9,17,7.0,0.4,29.7,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.1
$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,-0.372492,0.113953
$KALMAN_X,62158.300781,-627.338562,-281.110687,-260906.640625,166.094269
$KALMAN_Y,-73163.078125,3178.154297,1116.916870,351017.843750,47.198120
$MHEAD_RNG_PITCHd_Wd,280.0,27662,-11.7,-10.526,-15.12,6740
$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,-472.5,2398,1982,2350,4092,0.0,0.0,0,21,6.43,0.00,-2.72,0.000,20482,0.024,0.000,1776,1983,2639,2639,4094,0,0,0,0,0,0,26.04,28.83,26.10,10.29,53.38
$GC,25,-1.77,-472.5,1776,1982,2639,4094,0.0,0.0,1,34,0.00,0.00,-3.83,0.000,16390,0.000,0.000,1776,1982,3038,3038,4095,0,0,0,0,0,0,26.28,25.53,26.29,10.36,53.58
$GC,71,-1.77,-472.5,1775,1982,3039,4095,3.1,-10.9,7,81,0.00,0.98,0.00,0.000,260,0.000,0.044,1776,2349,3039,3039,4094,0,0,0,0,0,0,26.24,25.96,26.25,10.44,53.42
$GC,137,-1.77,-472.5,1776,2349,3040,4094,14.2,-18.2,16,146,0.00,1.00,0.00,0.000,1030,0.000,0.031,1776,1955,3040,3040,4095,0,0,0,0,0,0,26.06,26.03,26.10,10.45,53.42
$GC,183,-1.77,-472.5,1775,1955,3041,4095,22.0,-17.4,22,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1955,3042,3042,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.45,53.34
$GC,229,-1.77,-472.5,1775,1955,3043,4094,28.7,-13.2,28,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1955,3043,3043,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.40,52.28
$GC,276,-1.77,-472.5,1775,1955,3044,4095,34.1,-12.0,34,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1955,3044,3044,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,50.86
$GC,323,-1.77,-472.5,1775,1955,3045,4095,39.9,-12.4,40,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1955,3045,3045,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.35,49.92
$GC,371,-1.77,-472.5,1775,1955,3046,4094,45.8,-12.6,46,379,0.00,1.10,0.00,0.000,516,0.000,0.051,1775,1520,3047,3047,4095,0,0,0,0,0,0,26.45,26.15,26.46,10.35,48.66
$GC,429,-1.77,-472.5,1775,1520,3048,4095,53.5,-12.6,54,439,0.00,0.95,0.00,0.000,1030,0.000,0.028,1775,1929,3048,3048,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.33,48.03
$GC,477,-1.77,-472.5,1775,1928,3049,4095,59.6,-12.9,60,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1929,3050,3050,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.32,47.91
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,502,-0.45,0.0,1775,2139,3050,4095,62.3,-12.8,62,538,4.40,0.00,27.55,1.333,10244,0.055,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.21,25.32,24.26,10.32,47.51
$STATE,539,end apogee,CONTROL_FINISHED_OK
$STATE,539,begin climb
$GC,542,1.77,472.5,2185,2139,2484,4094,65.5,0.0,66,587,7.50,0.00,27.27,1.302,11270,0.033,0.000,2891,2139,1933,1933,4094,0,0,0,0,0,0,25.59,25.74,23.84,10.20,47.04
$GC,626,1.77,472.5,2890,2138,1932,4094,58.7,12.6,76,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1932,1932,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.08,45.55
$GC,673,1.77,472.5,2890,2138,1931,4094,52.3,13.5,82,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2139,1931,1931,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.07,45.74
$GC,720,1.77,472.5,2890,2138,1930,4094,46.2,13.1,88,730,0.00,1.15,0.00,0.000,516,0.000,0.045,2891,1709,1930,1930,4094,0,0,0,0,0,0,25.90,25.61,25.91,10.06,46.61
$GC,801,1.77,472.5,2890,1709,1927,4094,35.8,13.0,99,809,0.00,1.02,0.00,0.000,1030,0.000,0.030,2891,2124,1927,1927,4094,0,0,0,0,0,0,25.84,25.78,25.84,10.05,46.88
$GC,848,1.77,472.5,2890,2123,1925,4094,29.6,12.9,105,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1926,1926,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.05,46.73
$GC,895,1.77,472.5,2890,2124,1925,4094,23.5,12.3,111,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1924,1924,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.07,47.63
$GC,942,1.94,581.4,2890,2124,1923,4094,19.2,8.9,117,952,0.47,0.00,7.07,0.669,10246,0.036,0.000,2943,2124,1804,1804,4094,0,0,0,0,0,0,26.01,25.69,24.88,10.12,49.40
$GC,991,1.94,581.4,2942,2123,1802,4094,14.2,10.6,123,1000,0.00,1.12,0.00,0.000,516,0.000,0.047,2943,1702,1803,1803,4094,0,0,0,0,0,0,26.17,25.87,26.18,10.11,51.22
$GC,1039,1.95,590.1,2942,1701,1802,4094,9.2,10.4,129,1049,0.00,1.00,0.08,0.003,9222,0.000,0.030,2943,2110,1802,1802,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.13,51.49
$GC,1088,1.95,590.1,2943,2109,1801,4094,3.8,10.7,135,1097,0.00,0.00,1.35,0.003,8198,0.000,0.000,2943,2110,1800,1800,4094,0,0,0,0,0,0,26.27,26.25,26.26,10.15,52.08
$STATE,1104,end climb,SURFACE_DEPTH_REACHED
$STATE,1104,begin surface coast
$FINISH,0.1,1.024003
$STATE,1119,end surface coast,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$SM_CCo,1221,0.00,0.000,0,0,1799,589.00
$SM_GC,0.92,28.38,0.43,0.00,0.020,0.044,0.000,230,1931,1799,-6.59,1.05,589.00,0,0,0,0,0,0,26.01,26.07,26.08
$IRIDIUM_FIX,6149.06,-17422.35,150817,102110
$TT8_MAMPS,0.025466,0.25466
$HUMID,52.63
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.84,30.381
$10V_AH,10.13,32.629
$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,47.175,9.825,63.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,411.567,59.737,150.161,579.441,84.476,33.421,389.251,0.000,338.583,0.000,0.540,0.000
$DEVICE_MAMPS,55.080,51.255,1332.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.909,377.653,298.893,443.101,576.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,14373,139
$CAP_FILE_SIZE,30712,0
$CFSIZE,1024409600,965836800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,113121,6148.213,-17356.840,6,0.9,40,7.0,0.7,33.6,10,4.5