version: 66.13
glider: 401
mission: 22
dive: 1108
start: 8 15 117 17 43 50
data:
$ID,401
$MISSION,22
$DIVE,1108
$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,23
$R_STBD_OVSHOOT,47
$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
$GPS1,150817,173052,6150.0410,-17401.1094,38,0.7,41,7.0,0.0,279.1,12,4.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-40.2
$GPS2,150817,174315,6150.0552,-17401.2617,6,0.7,15,7.0,0.0,341.6,11,4.4
$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,297.0,21618,-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,-487.5,237,1974,1778,4092,0.0,0.0,0,20,9.27,0.00,0.00,0.000,2049,0.096,0.000,1020,1975,1778,1778,4094,0,0,0,0,0,0,26.14,28.83,28.83,10.23,50.98
$GC,24,-1.78,-487.5,1020,1975,1778,4094,0.7,0.0,1,51,8.02,0.00,-12.00,0.000,18694,0.044,0.000,1764,1975,3055,3055,4094,0,0,0,0,0,0,25.86,25.32,25.93,10.22,51.26
$GC,90,-1.78,-487.5,1762,1975,3056,4094,4.9,-14.6,9,99,0.00,1.02,0.00,0.000,260,0.000,0.045,1764,2357,3057,3057,4094,0,0,0,0,0,0,26.10,25.81,26.11,10.50,50.39
$GC,156,-1.78,-487.5,1763,2356,3058,4094,16.8,-18.2,18,165,0.00,1.02,0.00,0.000,1030,0.000,0.028,1764,1954,3059,3059,4094,0,0,0,0,0,0,25.97,25.95,26.00,10.51,50.63
$GC,203,-1.78,-487.5,1763,1954,3060,4094,24.9,-16.7,24,212,0.00,1.10,0.00,0.000,516,0.000,0.050,1764,1517,3060,3060,4095,0,0,0,0,0,0,26.24,25.93,26.25,10.48,49.80
$GC,288,-1.78,-487.5,1763,1517,3062,4095,36.0,-12.8,36,298,0.00,0.88,0.00,0.000,1030,0.000,0.024,1764,1905,3062,3062,4094,0,0,0,0,0,0,26.12,26.09,26.13,10.40,47.75
$GC,335,-1.78,-487.5,1764,1905,3063,4094,42.1,-13.3,42,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1905,3064,3064,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,46.92
$GC,382,-1.78,-487.5,1763,1905,3064,4095,48.2,-12.8,48,392,0.00,1.20,0.00,0.000,260,0.000,0.043,1764,2366,3064,3064,4094,0,0,0,0,0,0,26.39,26.08,26.39,10.38,45.47
$GC,422,-1.78,-487.5,1763,2366,3065,4094,53.7,-13.0,53,432,0.00,1.15,0.00,0.000,1030,0.000,0.030,1764,1908,3065,3065,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.37,45.55
$GC,469,-1.78,-487.5,1763,1907,3066,4094,59.7,-13.0,59,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1907,3067,3067,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.36,45.19
$STATE,486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,486,begin apogee
$GC,494,-0.45,0.0,1764,2135,3067,4094,62.3,-13.1,61,537,4.53,0.00,28.33,1.330,10244,0.056,0.000,2184,2135,2484,2484,4094,0,0,0,0,0,0,26.14,25.25,24.17,10.36,45.15
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,541,1.78,487.5,2184,2135,2484,4094,65.9,0.0,66,586,7.55,0.00,28.15,1.306,11270,0.031,0.000,2892,2135,1916,1916,4094,0,0,0,0,0,0,25.55,25.70,23.81,10.23,44.48
$GC,625,1.78,487.5,2892,2135,1915,4094,59.4,12.5,76,634,0.00,1.15,0.00,0.000,260,0.000,0.051,2892,2557,1914,1914,4094,0,0,0,0,0,0,25.56,25.28,25.58,10.09,44.01
$GC,673,1.78,487.5,2892,2557,1913,4094,52.6,14.2,82,682,0.00,1.08,0.00,0.000,1030,0.000,0.025,2892,2129,1913,1913,4094,0,0,0,0,0,0,25.56,25.53,25.58,10.09,44.56
$GC,721,1.78,487.5,2892,2128,1911,4094,46.0,13.7,88,730,0.00,1.08,0.00,0.000,516,0.000,0.047,2893,1716,1911,1911,4094,0,0,0,0,0,0,25.87,25.58,25.89,10.08,44.68
$GC,820,1.78,487.5,2892,1715,1908,4094,32.1,13.6,102,829,0.00,0.93,0.00,0.000,1030,0.000,0.028,2893,2097,1908,1908,4094,0,0,0,0,0,0,25.84,25.82,25.86,10.07,45.58
$GC,866,1.78,487.5,2892,2097,1907,4094,26.0,12.8,108,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2097,1907,1907,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.06,45.51
$GC,912,1.78,487.5,2892,2096,1904,4094,20.6,10.8,114,921,0.00,1.00,0.00,0.000,516,0.000,0.047,2892,1720,1905,1905,4094,0,0,0,0,0,0,26.17,25.89,26.18,10.09,46.02
$GC,1006,1.86,544.7,2892,1719,1904,4094,12.3,9.7,127,1017,0.20,0.80,4.30,0.466,11270,0.047,0.029,2918,2063,1847,1847,4094,0,0,0,0,0,0,26.01,26.03,25.02,10.16,49.96
$GC,1056,1.96,612.0,2918,2063,1846,4094,7.5,9.5,133,1066,0.28,0.00,5.10,0.487,10246,0.041,0.000,2952,2064,1769,1769,4095,0,0,0,0,0,0,26.03,25.78,25.07,10.15,51.10
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.9,1.023893,119
$GC,1111,0.18,119.0,2952,2162,1768,4094,1.9,11.9,139,1129,5.70,0.00,-5.25,0.000,20486,0.024,0.000,2398,2162,2348,2348,4095,0,0,0,0,0,0,26.04,25.46,26.08,10.15,51.37
$FINISH2,0.2
$STATE,1130,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,173645
$TT8_MAMPS,0.026215,0.250915
$HUMID,51.92
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.81,30.871
$10V_AH,10.12,33.009
$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,35.550,13.150,65.875,0.000,0.000,72.679,64.778,322.098,0.000,0.000,16.895,406.363,90.622,130.104,1045.508,216.304,0.000,381.003,0.000,344.960,0.000,0.544,0.000
$DEVICE_MAMPS,95.625,69.615,1330.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.131,383.107,303.155,449.389,585.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,14389,141
$CAP_FILE_SIZE,35242,0
$CFSIZE,1024409600,965033984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,174315,6150.055,-17401.262,6,0.7,15,7.0,0.0,341.6,11,4.4