version: 66.13
glider: 401
mission: 22
dive: 1099
start: 8 15 117 14 10 50
data:
$ID,401
$MISSION,22
$DIVE,1099
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,150817,140131,6149.0317,-17357.7637,5,0.9,31,7.0,0.0,177.3,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-39.1
$GPS2,150817,140941,6149.0249,-17357.7695,7,1.0,19,7.0,0.0,296.0,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.317791,0.229139
$KALMAN_X,63611.613281,-686.167786,-310.194275,-263588.375000,45.453308
$KALMAN_Y,-72093.664062,3270.569336,1126.135742,352359.781250,-66.618896
$MHEAD_RNG_PITCHd_Wd,298.8,25207,-11.6,-10.526,-15.04,6834
$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,-479.2,238,1956,1716,4092,0.0,0.0,0,18,7.12,0.00,0.00,0.000,2049,0.100,0.000,834,1956,1716,1716,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.20,51.57
$GC,21,-1.78,-479.2,834,1956,1717,4094,0.7,0.0,1,51,10.02,0.00,-12.55,0.000,18438,0.047,0.000,1762,1956,3047,3047,4094,0,0,0,0,0,0,25.93,25.09,26.01,10.20,51.92
$GC,84,-1.78,-479.2,1762,1956,3047,4094,3.7,-13.0,11,91,0.00,1.12,0.00,0.000,260,0.000,0.044,1762,2371,3047,3047,4095,0,0,0,0,0,0,26.15,25.85,26.16,10.48,51.37
$GC,111,-1.78,-479.2,1762,2370,3048,4095,8.3,-16.4,15,118,0.00,1.05,0.00,0.000,1030,0.000,0.027,1763,1958,3048,3048,4095,0,0,0,0,0,0,25.98,25.94,25.98,10.49,51.77
$GC,151,-1.78,-479.2,1762,1957,3050,4095,15.5,-18.2,21,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1958,3050,3050,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.49,50.78
$GC,189,-1.78,-479.2,1762,1957,3051,4094,22.5,-18.3,27,196,0.00,1.12,0.00,0.000,516,0.000,0.052,1763,1518,3051,3051,4094,0,0,0,0,0,0,26.27,25.96,26.27,10.48,51.06
$GC,235,-1.78,-479.2,1762,1518,3051,4094,27.9,-12.1,34,241,0.00,1.02,0.00,0.000,1030,0.000,0.025,1763,1955,3052,3052,4095,0,0,0,0,0,0,26.10,26.08,26.11,10.43,49.96
$GC,274,-1.78,-479.2,1762,1955,3052,4095,32.5,-11.6,40,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1956,3053,3053,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.40,48.93
$GC,313,-1.78,-479.2,1762,1955,3054,4094,37.2,-12.2,46,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1956,3054,3054,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,48.07
$GC,351,-1.78,-479.2,1762,1955,3054,4095,42.1,-12.9,52,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1956,3055,3055,4095,0,0,0,0,0,0,26.39,26.40,26.41,10.38,46.88
$GC,390,-1.78,-479.2,1762,1956,3056,4095,47.1,-12.7,58,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1956,3056,3056,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.36,46.61
$GC,428,-1.78,-479.2,1762,1955,3056,4094,52.1,-13.5,64,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1956,3056,3056,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.36,46.65
$GC,467,-1.78,-479.2,1762,1955,3057,4095,57.4,-13.6,70,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1956,3057,3057,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,46.25
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,492,-0.45,0.0,1763,2135,3058,4095,60.2,-13.2,73,528,4.57,0.00,27.83,1.306,10244,0.055,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.16,25.29,24.24,10.35,46.33
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,533,1.78,479.2,2186,2135,2484,4094,63.3,0.0,79,575,7.50,1.15,27.62,1.280,10500,0.032,0.052,2893,2561,1925,1925,4094,0,0,0,0,0,0,25.49,25.44,23.84,10.22,45.47
$GC,640,1.78,479.2,2892,2560,1924,4094,53.4,13.0,96,647,0.00,1.08,0.00,0.000,1030,0.000,0.025,2893,2130,1923,1923,4094,0,0,0,0,0,0,25.51,25.47,25.52,10.09,45.11
$GC,680,1.78,479.2,2892,2130,1922,4094,47.8,13.0,102,686,0.00,1.08,0.00,0.000,516,0.000,0.046,2893,1720,1922,1922,4094,0,0,0,0,0,0,25.82,25.53,25.82,10.08,44.92
$GC,797,1.78,479.2,2892,1719,1919,4094,32.6,12.7,121,804,0.00,0.90,0.00,0.000,1030,0.000,0.030,2893,2091,1918,1918,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.07,46.85
$GC,837,1.78,479.2,2892,2090,1917,4094,27.5,12.9,127,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2091,1917,1917,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.06,47.00
$GC,875,1.78,479.2,2892,2090,1916,4094,22.5,13.1,133,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2090,1916,1916,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.07,46.41
$GC,914,1.94,587.4,2892,2091,1915,4094,18.8,8.9,139,927,0.45,0.00,6.97,0.666,10246,0.035,0.000,2942,2091,1798,1798,4094,0,0,0,0,0,0,25.99,25.66,24.86,10.12,47.51
$GC,960,1.94,587.4,2942,2090,1797,4094,14.0,10.6,146,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2091,1797,1797,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.12,49.84
$GC,998,1.94,587.4,2942,2090,1796,4094,9.7,11.6,152,1005,0.00,0.98,0.00,0.000,516,0.000,0.048,2943,1722,1796,1796,4094,0,0,0,0,0,0,26.20,25.89,26.20,10.14,50.78
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,1.9,1.023887,119
$GC,1075,0.18,119.4,2942,2137,1794,4094,1.9,11.7,163,1094,5.65,1.12,-5.00,0.000,21252,0.028,1.270,2399,1721,2350,2350,4094,0,0,0,0,0,0,26.05,24.66,26.09,10.16,52.24
$FINISH2,0.2
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,125252
$TT8_MAMPS,0.026215,0.159537
$HUMID,53.46
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.84,30.605
$10V_AH,10.29,32.792
$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,35.325,12.100,62.425,0.000,0.000,25.850,19.274,261.984,0.000,0.000,20.298,432.141,245.462,169.208,542.720,212.163,33.456,361.708,0.000,251.533,0.000,0.541,0.000
$DEVICE_MAMPS,100.215,1269.900,1305.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10865,166
$CAP_FILE_SIZE,34782,0
$CFSIZE,1024409600,965476352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,140941,6149.025,-17357.770,7,1.0,19,7.0,0.0,296.0,9,4.9