version: 66.13
glider: 401
mission: 22
dive: 1097
start: 8 15 117 13 19 50
data:
$ID,401
$MISSION,22
$DIVE,1097
$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,31
$R_STBD_OVSHOOT,59
$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
$GPS1,150817,125747,6148.6562,-17357.1621,7,0.8,17,7.0,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.2
$GPS2,150817,125747,6148.6562,-17357.1621,7,0.8,17,7.0,0.0,0.0,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.355263,0.176069
$KALMAN_X,63260.281250,-623.731506,-253.168869,-262792.968750,70.891708
$KALMAN_Y,-72296.812500,3224.833740,1095.630981,351968.562500,9.137085
$MHEAD_RNG_PITCHd_Wd,289.4,26028,-11.4,-10.526,-14.87,7033
$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,-487.5,2407,1989,2351,4092,0.0,0.0,0,18,6.38,0.00,-0.32,0.000,20482,0.024,0.000,1790,1989,2385,2385,4094,0,0,0,0,0,0,26.09,28.83,26.15,10.30,53.03
$GC,22,-1.77,-487.5,1789,1989,2385,4094,0.0,0.0,1,34,0.00,0.00,-6.38,0.000,16646,0.000,0.000,1789,1989,3057,3057,4095,0,0,0,0,0,0,26.32,25.57,26.33,10.31,52.95
$GC,67,-1.77,-487.5,1789,1989,3058,4095,3.4,-11.2,8,73,0.00,0.95,0.00,0.000,260,0.000,0.044,1789,2346,3058,3058,4095,0,0,0,0,0,0,26.27,25.98,26.28,10.46,52.40
$GC,148,-1.77,-487.5,1789,2346,3060,4095,16.7,-17.1,21,155,0.00,0.98,0.00,0.000,1030,0.000,0.030,1789,1963,3061,3061,4095,0,0,0,0,0,0,26.13,26.09,26.14,10.46,52.00
$GC,188,-1.77,-487.5,1789,1963,3062,4095,23.2,-16.2,27,194,0.00,1.15,0.00,0.000,516,0.000,0.052,1790,1514,3062,3062,4094,0,0,0,0,0,0,26.37,26.06,26.38,10.45,52.24
$GC,227,-1.77,-487.5,1789,1513,3062,4094,28.2,-11.9,33,234,0.00,0.90,0.00,0.000,1030,0.000,0.026,1790,1911,3062,3062,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.41,51.45
$GC,266,-1.77,-487.5,1789,1910,3063,4095,32.5,-10.7,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1911,3063,3063,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,50.82
$GC,305,-1.77,-487.5,1789,1911,3064,4094,37.0,-11.6,45,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1910,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.38,50.27
$GC,343,-1.77,-487.5,1789,1911,3065,4095,41.6,-12.1,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1911,3065,3065,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.36,49.37
$GC,382,-1.77,-487.5,1789,1911,3066,4094,46.2,-11.9,57,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1911,3066,3066,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.36,48.34
$GC,420,-1.77,-487.5,1789,1911,3067,4094,51.1,-13.0,63,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1911,3067,3067,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.34,47.48
$GC,459,-1.77,-487.5,1789,1911,3068,4095,55.9,-12.2,69,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1911,3067,3067,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.34,47.67
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,496,-0.45,0.0,1789,2125,3068,4095,60.1,-13.0,74,532,4.28,0.00,28.27,1.307,10244,0.054,0.000,2186,2125,2484,2484,4094,0,0,0,0,0,0,26.23,25.33,24.27,10.33,47.51
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,537,1.77,487.5,2186,2125,2484,4094,62.7,0.0,80,579,7.47,0.00,27.98,1.275,11270,0.032,0.000,2889,2125,1915,1915,4094,0,0,0,0,0,0,25.60,25.75,23.87,10.20,46.85
$GC,612,1.77,487.5,2888,2125,1913,4094,56.7,11.9,92,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2125,1914,1914,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.08,45.78
$GC,650,1.77,487.5,2888,2125,1913,4094,51.7,12.9,98,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2125,1913,1913,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.07,45.82
$GC,689,1.77,487.5,2888,2125,1911,4094,46.7,13.2,104,695,0.00,1.12,0.00,0.000,516,0.000,0.045,2889,1706,1911,1911,4094,0,0,0,0,0,0,25.84,25.54,25.85,10.06,46.29
$GC,770,1.77,487.5,2888,1705,1910,4094,36.1,13.0,117,777,0.00,1.02,0.00,0.000,1030,0.000,0.029,2889,2120,1910,1910,4093,0,0,0,0,0,0,25.79,25.76,25.82,10.05,47.20
$GC,809,1.77,487.5,2888,2120,1908,4093,31.0,12.9,123,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2120,1908,1908,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.05,46.92
$GC,848,1.77,487.5,2889,2119,1907,4094,25.8,13.4,129,855,0.00,1.10,0.00,0.000,516,0.000,0.046,2889,1705,1906,1906,4094,0,0,0,0,0,0,26.13,25.82,26.13,10.05,47.83
$GC,906,1.90,572.0,2889,1705,1906,4094,19.3,9.3,138,919,0.35,1.00,5.78,0.608,11270,0.037,0.028,2930,2115,1816,1816,4094,0,0,0,0,0,0,25.97,25.94,24.87,10.09,47.83
$GC,952,1.98,628.8,2930,2115,1815,4094,14.9,9.7,145,960,0.20,0.00,4.65,0.513,10246,0.049,0.000,2959,2115,1750,1750,4094,0,0,0,0,0,0,25.95,25.69,24.91,10.10,49.96
$GC,993,2.02,651.9,2958,2114,1749,4094,10.7,10.2,151,1000,0.00,0.00,3.05,0.300,8198,0.000,0.000,2959,2115,1722,1722,4094,0,0,0,0,0,0,26.16,25.72,24.96,10.11,51.02
$GC,1033,2.02,651.9,2958,2114,1721,4094,6.2,11.9,157,1039,0.00,1.10,0.00,0.000,516,0.000,0.046,2959,1699,1721,1721,4094,0,0,0,0,0,0,26.19,25.89,26.20,10.12,51.65
$STATE,1069,end climb,FINISH_DEPTH_REACHED
$STATE,1069,begin subsurface finish
$FINISH1,1.4,1.023893,119
$GC,1079,0.18,119.0,2959,2143,1720,4094,1.4,11.6,163,1098,5.80,0.00,-5.68,0.000,20486,0.025,0.000,2401,2143,2351,2351,4094,0,0,0,0,0,0,26.01,25.05,26.06,10.12,52.59
$FINISH2,0.1
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,114445
$TT8_MAMPS,0.024717,0.103362
$HUMID,53.81
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.87,30.542
$10V_AH,10.39,32.742
$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,24.475,11.525,69.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.378,249.067,160.290,241.997,75.250,33.431,346.820,0.000,249.888,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,52.020,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.967,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,10779,166
$CAP_FILE_SIZE,31517,0
$CFSIZE,1024409600,965591040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,125747,6148.656,-17357.162,7,0.8,17,7.0,0.0,0.0,11,5.0