version: 66.13
glider: 401
mission: 22
dive: 1102
start: 8 15 117 15 20 34
data:
$ID,401
$MISSION,22
$DIVE,1102
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,150817,151223,6149.3247,-17358.6055,5,0.8,17,7.0,0.3,192.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-36.0
$GPS2,150817,151959,6149.3174,-17358.6406,7,0.7,15,7.0,0.5,146.4,12,4.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,296.6,24276,-11.5,-10.526,-14.94,6951
$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,6,begin dive
$GC,9,-1.78,-487.5,231,1951,1628,4092,0.0,0.0,0,21,9.27,0.00,0.00,0.000,2049,0.090,0.000,1023,1951,1628,1628,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.18,51.89
$GC,24,-1.78,-487.5,1022,1951,1629,4094,0.7,0.0,1,52,8.00,1.20,-13.43,0.000,18692,0.044,1.267,1763,2373,3055,3055,4094,0,0,0,0,0,0,25.89,24.55,25.96,10.18,51.69
$GC,183,-1.78,-487.5,1763,2374,3059,4094,20.2,-19.0,23,193,0.00,1.05,0.00,0.000,1030,0.000,0.029,1763,1958,3060,3060,4095,0,0,0,0,0,0,26.05,25.99,26.06,10.49,51.22
$GC,230,-1.78,-487.5,1763,1958,3060,4095,28.2,-14.5,29,239,0.00,1.12,0.00,0.000,516,0.000,0.051,1764,1516,3061,3061,4095,0,0,0,0,0,0,26.30,26.00,26.31,10.44,50.74
$GC,309,-1.78,-487.5,1763,1516,3062,4095,38.8,-13.3,40,318,0.00,0.98,0.00,0.000,1030,0.000,0.025,1764,1938,3063,3063,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.39,49.13
$GC,357,-1.78,-487.5,1763,1937,3064,4094,45.0,-13.4,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1938,3064,3064,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.38,47.51
$GC,404,-1.78,-487.5,1763,1937,3065,4094,51.2,-13.1,52,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1938,3065,3065,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.37,46.57
$GC,451,-1.78,-487.5,1763,1938,3065,4094,57.5,-13.3,58,461,0.00,1.10,0.00,0.000,260,0.000,0.045,1764,2359,3066,3066,4094,0,0,0,0,0,0,26.45,26.14,26.46,10.36,45.94
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,477,-0.45,0.0,1764,2110,3067,4095,60.4,-13.4,60,513,4.55,0.00,28.42,1.315,10244,0.056,0.000,2185,2109,2484,2484,4094,0,0,0,0,0,0,26.15,25.26,24.20,10.36,46.61
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,517,1.78,487.5,2186,2108,2484,4094,63.5,0.0,64,562,7.55,0.00,28.10,1.284,11270,0.033,0.000,2893,2109,1917,1917,4094,0,0,0,0,0,0,25.53,25.68,23.82,10.23,46.14
$GC,601,1.78,487.5,2892,2108,1915,4094,56.8,12.6,74,610,0.00,1.23,0.00,0.000,260,0.000,0.050,2893,2548,1915,1915,4094,0,0,0,0,0,0,25.58,25.28,25.58,10.10,44.29
$GC,649,1.78,487.5,2892,2547,1914,4094,50.3,13.9,80,658,0.00,1.00,0.00,0.000,1030,0.000,0.026,2893,2146,1914,1914,4094,0,0,0,0,0,0,25.57,25.54,25.61,10.09,44.88
$GC,697,1.78,487.5,2892,2146,1912,4094,43.9,13.2,86,706,0.00,1.10,0.00,0.000,516,0.000,0.046,2893,1723,1913,1913,4094,0,0,0,0,0,0,25.88,25.59,25.89,10.08,44.88
$GC,810,1.78,487.5,2892,1722,1908,4094,28.4,14.3,102,820,0.00,0.85,0.00,0.000,1030,0.000,0.029,2893,2081,1908,1908,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.07,46.02
$GC,858,1.78,487.5,2892,2080,1907,4094,22.5,11.8,108,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2080,1908,1908,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.08,46.06
$GC,906,2.06,675.6,2892,2080,1906,4094,18.6,7.8,114,924,0.82,0.95,10.95,0.744,10756,0.029,0.047,2981,1721,1695,1695,4094,0,0,0,0,0,0,26.01,25.65,24.82,10.13,48.46
$GC,974,2.06,675.6,2980,1720,1694,4094,10.9,12.3,123,984,0.00,0.85,0.00,0.000,1030,0.000,0.029,2981,2078,1694,1694,4094,0,0,0,0,0,0,25.94,25.87,25.92,10.12,50.11
$GC,1022,2.06,675.6,2981,2077,1691,4094,4.9,13.4,129,1032,0.00,1.27,0.00,0.000,260,0.000,0.055,2981,2546,1692,1692,4094,0,0,0,0,0,0,26.17,25.85,26.19,10.13,50.82
$STATE,1040,end climb,FINISH_DEPTH_REACHED
$STATE,1040,begin subsurface finish
$FINISH1,2.0,1.023888,119
$GC,1050,0.18,119.3,2981,2137,1691,4094,2.0,12.9,131,1068,6.00,0.00,-5.93,0.000,20486,0.023,0.000,2401,2131,2347,2347,4094,0,0,0,0,0,0,25.98,25.40,26.03,10.14,51.81
$FINISH2,0.1
$STATE,1069,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1070,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,140414
$TT8_MAMPS,0.025466,0.250915
$HUMID,51.37
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.82,30.692
$10V_AH,10.14,32.870
$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,36.200,14.300,67.475,0.000,0.000,22.857,22.334,235.259,0.000,0.000,16.338,388.328,0.000,124.131,829.984,199.580,0.000,360.435,0.000,326.664,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,1266.840,1315.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.651,361.305,285.959,424.302,554.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,10860,133
$CAP_FILE_SIZE,30262,0
$CFSIZE,1024409600,965345280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,151959,6149.317,-17358.641,7,0.7,15,7.0,0.5,146.4,12,4.5