version: 66.13
glider: 401
mission: 22
dive: 1093
start: 8 15 117 11 48 19
data:
$ID,401
$MISSION,22
$DIVE,1093
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,150817,113121,6148.2134,-17356.8398,6,0.9,40,7.0,0.7,33.6,10,4.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-35.3
$GPS2,150817,114708,6148.2124,-17356.7188,7,0.9,17,7.0,0.0,182.0,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.345326,0.190981
$KALMAN_X,62362.800781,-678.953735,-329.542847,-261336.265625,87.740356
$KALMAN_Y,-72550.218750,3279.612305,1214.254395,351209.593750,-18.217651
$MHEAD_RNG_PITCHd_Wd,291.9,26814,-11.5,-10.526,-14.94,6953
$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,-487.5,230,1929,1798,4092,0.0,0.0,0,18,6.70,0.00,0.00,0.000,2049,0.103,0.000,787,1928,1798,1798,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.25,49.92
$GC,22,-1.78,-487.5,787,1928,1798,4094,0.8,0.0,1,52,10.48,1.25,-11.80,0.000,18692,0.044,1.265,1765,2384,3057,3057,4095,0,0,0,0,0,0,25.96,24.58,26.03,10.25,50.15
$GC,133,-1.78,-487.5,1764,2384,3059,4095,9.9,-17.0,19,139,0.00,1.05,0.00,0.000,1030,0.000,0.028,1765,1967,3060,3060,4094,0,0,0,0,0,0,26.00,25.97,26.02,10.52,49.56
$GC,172,-1.78,-487.5,1765,1967,3061,4094,17.0,-17.9,25,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1967,3061,3061,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.52,49.25
$GC,211,-1.78,-487.5,1765,1967,3062,4094,23.9,-18.4,31,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1967,3062,3062,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.50,49.48
$GC,249,-1.78,-487.5,1765,1967,3063,4094,29.1,-12.7,37,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1967,3063,3063,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.45,49.01
$GC,288,-1.78,-487.5,1764,1968,3063,4095,33.9,-12.4,43,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1968,3064,3064,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.43,47.83
$GC,326,-1.78,-487.5,1765,1968,3064,4095,38.9,-13.1,49,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1968,3065,3065,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.40,47.00
$GC,365,-1.78,-487.5,1764,1968,3066,4094,43.9,-12.8,55,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1968,3066,3066,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.39,45.62
$GC,403,-1.78,-487.5,1765,1968,3066,4094,49.1,-14.1,61,410,0.00,1.12,0.00,0.000,516,0.000,0.047,1765,1520,3066,3066,4095,0,0,0,0,0,0,26.43,26.12,26.44,10.38,45.27
$GC,449,-1.78,-487.5,1765,1520,3067,4095,55.2,-13.6,68,455,0.00,1.02,0.00,0.000,1030,0.000,0.026,1765,1959,3067,3067,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.38,44.88
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,493,-0.45,0.0,1765,2141,3068,4095,60.6,-13.4,74,529,4.53,0.00,28.33,1.307,10244,0.054,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.17,25.28,24.22,10.37,44.68
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.78,487.5,2186,2141,2484,4094,63.3,0.0,80,575,7.53,0.00,28.00,1.277,11270,0.033,0.000,2892,2141,1915,1915,4094,0,0,0,0,0,0,25.56,25.70,23.84,10.24,44.84
$GC,608,1.78,487.5,2891,2140,1914,4094,57.0,11.9,92,615,0.00,1.15,0.00,0.000,260,0.000,0.051,2892,2558,1914,1914,4094,0,0,0,0,0,0,25.54,25.26,25.56,10.11,43.69
$GC,647,1.78,487.5,2891,2557,1913,4094,51.8,13.3,98,654,0.00,1.10,0.00,0.000,1030,0.000,0.024,2892,2118,1913,1913,4094,0,0,0,0,0,0,25.53,25.49,25.55,10.10,44.09
$GC,687,1.78,487.5,2891,2118,1911,4094,46.9,12.6,104,693,0.00,1.02,0.00,0.000,516,0.000,0.045,2892,1722,1911,1911,4094,0,0,0,0,0,0,25.83,25.55,25.84,10.10,44.88
$GC,780,1.78,487.5,2891,1722,1908,4094,34.5,13.2,119,786,0.00,0.88,0.00,0.000,1030,0.000,0.029,2892,2087,1908,1908,4094,0,0,0,0,0,0,25.82,25.82,25.84,10.08,45.23
$GC,819,1.78,487.5,2891,2086,1907,4094,29.5,12.8,125,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2086,1907,1907,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.08,45.35
$GC,858,1.78,487.5,2891,2086,1906,4094,24.5,12.8,131,864,0.00,0.95,0.00,0.000,516,0.000,0.045,2891,1725,1906,1906,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.09,45.55
$GC,892,1.82,514.1,2891,1724,1905,4094,20.9,10.1,136,899,0.00,0.85,2.88,0.305,9222,0.000,0.028,2892,2083,1883,1883,4094,0,0,0,0,0,0,25.97,25.94,24.87,10.12,46.14
$GC,932,1.97,613.2,2892,2083,1883,4094,17.3,9.1,142,945,0.55,0.00,6.82,0.644,10246,0.033,0.000,2952,2083,1768,1768,4094,0,0,0,0,0,0,25.98,25.67,24.89,10.15,48.81
$GC,978,1.97,613.2,2951,2082,1767,4094,12.3,11.4,149,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2083,1766,1766,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.14,50.07
$GC,1017,1.97,613.2,2951,2083,1765,4094,8.1,11.1,155,1023,0.00,0.95,0.00,0.000,516,0.000,0.047,2951,1723,1765,1765,4094,0,0,0,0,0,0,26.20,25.91,26.22,10.15,51.26
$GC,1062,1.97,613.2,2951,1723,1764,4094,3.2,11.2,162,1068,0.00,0.85,0.00,0.000,1030,0.000,0.031,2952,2077,1764,1764,4095,0,0,0,0,0,0,26.03,26.01,26.06,10.16,51.49
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,1.3,1.023894,119
$GC,1083,0.18,118.9,2951,2144,1763,4094,1.3,12.5,164,1096,5.68,0.00,-5.07,0.000,20998,0.023,0.000,2397,2145,2352,2352,4094,0,0,0,0,0,0,26.06,24.93,26.10,10.16,51.81
$FINISH2,0.3
$STATE,1097,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,114308
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.67
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.84,30.437
$10V_AH,10.32,32.650
$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,35.450,12.750,66.025,0.000,0.000,97.813,88.592,420.293,0.000,0.000,18.700,437.071,378.907,168.190,852.720,225.976,33.458,361.788,0.000,251.472,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1264.545,1306.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,10792,166
$CAP_FILE_SIZE,39698,0
$CFSIZE,1024409600,965771264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,114708,6148.212,-17356.719,7,0.9,17,7.0,0.0,182.0,10,5.0