version: 66.13
glider: 401
mission: 22
dive: 1107
start: 8 15 117 17 9 22
data:
$ID,401
$MISSION,22
$DIVE,1107
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,150817,162924,6149.6406,-17359.7812,6,0.7,17,7.0,0.3,346.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.1
$GPS2,150817,162924,6149.6406,-17359.7812,6,0.7,17,7.0,0.3,346.7,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$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,296.8,23117,-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,5,begin dive
$GC,9,-1.78,-487.5,2399,1937,2349,4092,0.0,0.0,0,17,6.30,0.00,0.00,0.000,4097,0.024,0.000,1788,1937,2348,2348,4095,0,0,0,0,0,0,26.25,28.83,28.83,10.28,53.62
$GC,21,-1.78,-487.5,1788,1937,2349,4095,0.0,0.0,1,33,0.00,0.00,-6.72,0.000,16390,0.000,0.000,1788,1937,3055,3055,4094,0,0,0,0,0,0,26.23,25.49,26.25,10.28,53.22
$GC,66,-1.78,-487.5,1787,1937,3056,4094,2.1,-7.9,8,72,0.00,1.20,0.00,0.000,260,0.000,0.044,1788,2381,3056,3056,4094,0,0,0,0,0,0,26.20,25.90,26.21,10.43,53.42
$GC,129,-1.78,-487.5,1787,2381,3057,4094,12.5,-17.7,18,136,0.00,1.05,0.00,0.000,1030,0.000,0.031,1788,1969,3058,3058,4095,0,0,0,0,0,0,26.03,26.00,26.06,10.44,52.59
$GC,168,-1.78,-487.5,1787,1969,3059,4095,20.0,-18.5,24,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1970,3060,3060,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.45,52.67
$GC,207,-1.78,-487.5,1787,1969,3060,4095,25.8,-13.6,30,214,0.00,1.15,0.00,0.000,516,0.000,0.052,1788,1519,3061,3061,4095,0,0,0,0,0,0,26.33,26.02,26.34,10.41,52.83
$GC,288,-1.78,-487.5,1787,1519,3062,4095,35.5,-11.9,43,295,0.00,1.05,0.00,0.000,1030,0.000,0.027,1788,1965,3062,3062,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.36,51.06
$GC,328,-1.78,-487.5,1788,1965,3063,4094,40.4,-12.3,49,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1965,3063,3063,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.35,50.23
$GC,366,-1.78,-487.5,1787,1964,3064,4095,45.3,-12.6,55,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1965,3065,3065,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.33,49.76
$GC,405,-1.78,-487.5,1787,1965,3065,4094,50.2,-12.9,61,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1965,3065,3065,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.33,49.56
$GC,443,-1.78,-487.5,1787,1965,3066,4094,55.1,-12.6,67,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1965,3066,3066,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.33,48.26
$GC,482,-1.78,-487.5,1787,1964,3067,4095,59.9,-12.7,73,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1965,3067,3067,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.32,48.89
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,501,-0.45,0.0,1788,2136,3067,4094,61.6,-12.3,75,537,4.30,0.00,28.35,1.323,10244,0.054,0.000,2186,2136,2484,2484,4094,0,0,0,0,0,0,26.19,25.29,24.23,10.32,48.34
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,541,1.78,487.5,2186,2136,2484,4094,64.2,0.0,81,583,7.53,0.00,27.77,1.291,11270,0.032,0.000,2890,2136,1919,1919,4094,0,0,0,0,0,0,25.56,25.71,23.82,10.19,47.20
$GC,616,1.78,487.5,2890,2136,1919,4094,58.0,12.5,93,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2136,1919,1919,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.06,46.18
$GC,655,1.78,487.5,2890,2136,1917,4094,52.9,13.0,99,661,0.00,1.15,0.00,0.000,516,0.000,0.045,2890,1706,1917,1917,4094,0,0,0,0,0,0,25.70,25.41,25.71,10.06,46.10
$GC,718,1.78,487.5,2890,1706,1916,4094,44.7,13.0,109,724,0.00,1.02,0.00,0.000,1030,0.000,0.030,2891,2118,1915,1915,4094,0,0,0,0,0,0,25.66,25.63,25.68,10.05,46.65
$GC,757,1.78,487.5,2890,2118,1914,4094,39.6,13.3,115,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2118,1915,1915,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.05,47.12
$GC,796,1.78,487.5,2890,2118,1913,4094,34.5,13.3,121,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2118,1913,1913,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.04,47.59
$GC,834,1.78,487.5,2890,2118,1912,4094,29.4,13.2,127,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2118,1912,1912,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.04,47.48
$GC,873,1.78,487.5,2890,2118,1911,4094,24.5,13.1,133,880,0.00,1.10,0.00,0.000,516,0.000,0.046,2890,1704,1911,1911,4095,0,0,0,0,0,0,26.13,25.83,26.14,10.04,47.99
$GC,985,1.89,565.5,2889,1704,1909,4095,14.3,9.4,151,998,0.32,1.02,5.62,0.572,11270,0.041,0.029,2929,2124,1822,1822,4094,0,0,0,0,0,0,26.03,25.99,24.96,10.12,51.57
$GC,1031,1.89,565.5,2928,2123,1822,4094,9.5,10.9,158,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2124,1821,1821,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.12,52.59
$GC,1070,1.95,602.7,2928,2123,1821,4094,5.5,10.0,164,1078,0.10,1.10,3.58,0.355,10756,0.076,0.044,2945,1705,1780,1780,4094,0,0,0,0,0,0,26.07,25.86,25.10,10.13,52.99
$STATE,1102,end climb,SURFACE_DEPTH_REACHED
$STATE,1102,begin surface coast
$FINISH,1.0,1.023894
$STATE,1109,end surface coast,CONTROL_FINISHED_OK
$STATE,1109,begin surface
$SM_CCo,1211,0.00,0.000,0,0,1779,607.03
$SM_GC,1.01,28.42,0.60,0.00,0.022,0.031,0.000,238,1969,1779,-6.55,-1.50,607.03,0,0,0,0,0,0,26.08,26.05,26.10
$IRIDIUM_FIX,6149.06,-17422.35,150817,151459
$TT8_MAMPS,0.026215,0.105609
$HUMID,53.46
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.82,30.824
$10V_AH,10.38,32.969
$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,46.975,11.350,65.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.014,322.285,176.296,247.897,80.841,0.000,362.929,0.000,255.516,0.000,0.542,0.000
$DEVICE_MAMPS,75.735,52.020,1322.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,10796,170
$CAP_FILE_SIZE,32529,0
$CFSIZE,1024409600,965099520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,173052,6150.041,-17401.109,38,0.7,41,7.0,0.0,279.1,12,4.6