version: 66.13
glider: 401
mission: 22
dive: 1094
start: 8 15 117 12 8 52
data:
$ID,401
$MISSION,22
$DIVE,1094
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,150817,114708,6148.2124,-17356.7188,7,0.9,17,7.0,0.0,182.0,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.1
$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,-0.356181,0.163788
$KALMAN_X,62580.371094,-628.134094,-271.932831,-261670.328125,79.918549
$KALMAN_Y,-72582.718750,3225.707275,1136.508057,351390.812500,25.771240
$MHEAD_RNG_PITCHd_Wd,287.7,26814,-11.6,-10.526,-15.03,6844
$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,-479.9,2396,1956,2352,4092,0.0,0.0,0,21,6.22,0.00,-3.17,0.000,20482,0.018,0.000,1783,1956,2717,2717,4095,0,0,0,0,0,0,26.16,28.83,26.20,10.31,52.59
$GC,25,-1.78,-479.9,1783,1956,2717,4095,0.2,0.0,1,35,0.00,1.15,-2.70,0.000,16644,0.000,1.273,1783,2367,3048,3048,4094,0,0,0,0,0,0,26.36,24.76,26.36,10.38,52.99
$GC,111,-1.78,-479.9,1782,2367,3051,4094,12.9,-16.4,13,120,0.00,1.02,0.00,0.000,1030,0.000,0.028,1783,1962,3051,3051,4095,0,0,0,0,0,0,26.10,26.11,26.14,10.47,52.67
$GC,158,-1.79,-487.5,1782,1962,3052,4095,18.2,-8.8,19,167,0.00,1.12,0.00,0.000,516,0.000,0.052,1783,1519,3051,3051,4094,0,0,0,0,0,0,26.36,26.05,26.36,10.47,52.32
$GC,250,-1.79,-487.5,1782,1518,3053,4094,28.7,-11.4,32,259,0.00,0.98,0.00,0.000,1030,0.000,0.026,1783,1942,3053,3053,4095,0,0,0,0,0,0,26.21,26.20,26.23,10.42,51.65
$GC,296,-1.79,-487.5,1782,1943,3054,4095,33.7,-11.1,38,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1943,3054,3054,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.39,50.82
$GC,341,-1.79,-487.5,1782,1942,3055,4095,38.7,-11.0,44,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1943,3055,3055,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.38,49.17
$GC,387,-1.79,-487.5,1782,1942,3056,4095,44.0,-11.7,50,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1943,3056,3056,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.36,48.07
$GC,432,-1.79,-487.5,1782,1943,3057,4095,49.4,-12.4,56,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1943,3058,3058,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.35,48.07
$GC,477,-1.79,-487.5,1782,1943,3058,4094,55.2,-12.5,62,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1943,3059,3059,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.34,47.32
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,513,begin apogee
$GC,521,-0.45,0.0,1783,2134,3060,4095,60.1,-12.5,67,557,4.35,0.00,27.88,1.304,10244,0.055,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.25,25.37,24.31,10.34,47.08
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,561,1.79,487.5,2184,2134,2484,4094,63.0,0.0,71,606,7.57,1.15,27.65,1.278,10500,0.032,0.053,2896,2560,1922,1922,4094,0,0,0,0,0,0,25.54,25.49,23.89,10.21,46.06
$GC,663,1.79,487.5,2895,2559,1920,4094,53.7,13.1,84,673,0.00,1.08,1.92,0.003,9222,0.000,0.025,2896,2132,1920,1920,4095,0,0,0,0,0,0,25.51,25.48,25.52,10.08,45.74
$GC,710,1.79,487.5,2896,2132,1918,4095,47.5,13.1,90,720,0.00,1.08,0.00,0.000,516,0.000,0.045,2896,1716,1918,1918,4094,0,0,0,0,0,0,25.84,25.57,25.86,10.07,45.82
$GC,816,1.79,487.5,2895,1716,1915,4094,33.8,13.2,105,825,0.00,0.93,0.00,0.000,1030,0.000,0.030,2896,2097,1915,1915,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.07,46.65
$GC,864,1.79,487.5,2895,2097,1914,4094,27.7,13.3,111,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2097,1914,1914,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.06,47.12
$GC,911,1.85,527.6,2895,2097,1913,4094,22.2,9.9,117,921,0.10,0.00,3.67,0.454,10246,0.080,0.000,2914,2097,1872,1872,4094,0,0,0,0,0,0,25.97,25.45,24.86,10.11,47.20
$GC,960,1.93,579.8,2913,2097,1872,4094,17.6,9.7,123,971,0.20,1.00,4.70,0.519,10756,0.047,0.047,2941,1714,1807,1807,4094,0,0,0,0,0,0,26.01,25.77,24.92,10.13,49.48
$GC,1034,1.93,579.8,2940,1714,1805,4094,9.5,11.1,133,1045,0.00,0.85,0.03,0.003,9222,0.000,0.029,2941,2073,1804,1804,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.14,51.33
$GC,1082,1.93,579.8,2940,2072,1803,4094,4.4,10.7,139,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2073,1803,1803,4095,0,0,0,0,0,0,26.27,26.29,26.28,10.16,51.96
$STATE,1098,end climb,FINISH_DEPTH_REACHED
$STATE,1098,begin subsurface finish
$FINISH1,2.0,1.023893,119
$GC,1108,0.18,119.0,2940,2162,1802,4094,2.0,11.8,141,1126,5.57,0.00,-4.57,0.000,20486,0.024,0.000,2397,2163,2337,2337,4095,0,0,0,0,0,0,26.09,25.49,26.13,10.16,51.81
$FINISH2,0.4
$STATE,1127,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1127,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,114308
$TT8_MAMPS,0.026215,0.242676
$HUMID,52.24
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.89,30.459
$10V_AH,10.15,32.683
$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,24.025,11.450,65.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.776,0.000,117.824,596.099,71.666,33.431,352.181,0.000,348.028,0.000,0.542,0.000
$DEVICE_MAMPS,80.325,1272.960,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.850,388.468,307.487,455.750,594.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,14423,143
$CAP_FILE_SIZE,28501,0
$CFSIZE,1024409600,965738496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,114708,6148.212,-17356.719,7,0.9,17,7.0,0.0,182.0,10,5.0