version: 66.13
glider: 401
mission: 22
dive: 1115
start: 8 15 117 20 47 16
data:
$ID,401
$MISSION,22
$DIVE,1115
$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,40
$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
$GPS1,150817,202556,6151.4434,-17404.2852,13,0.9,42,6.9,0.8,296.3,9,4.9
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.9
$GPS2,150817,202556,6151.4434,-17404.2852,13,0.9,42,6.9,0.8,296.3,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$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,295.0,18009,-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,-487.5,2535,1973,2038,4092,0.0,0.0,0,17,6.28,0.00,0.00,0.000,4097,0.022,0.000,1923,1973,2038,2038,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.26,50.86
$GC,21,-1.78,-487.5,1923,1973,2038,4094,0.1,0.0,1,34,1.33,0.00,-9.43,0.000,20486,0.024,0.000,1786,1974,3056,3056,4095,0,0,0,0,0,0,26.15,25.03,26.17,10.25,50.90
$GC,66,-1.78,-487.5,1785,1973,3057,4095,2.8,-10.8,8,72,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1974,3057,3057,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.48,51.81
$GC,105,-1.78,-487.5,1785,1973,3058,4094,8.6,-16.2,14,112,0.00,1.05,0.00,0.000,260,0.000,0.046,1785,2368,3058,3058,4094,0,0,0,0,0,0,26.41,26.10,26.42,10.48,51.37
$GC,138,-1.78,-487.5,1784,2367,3059,4094,14.2,-16.8,19,145,0.00,1.02,0.00,0.000,1030,0.000,0.029,1785,1961,3059,3059,4095,0,0,0,0,0,0,26.21,26.18,26.23,10.48,51.96
$GC,178,-1.78,-487.5,1785,1961,3061,4095,20.7,-16.4,25,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1962,3061,3061,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.49,51.29
$GC,216,-1.78,-487.5,1785,1961,3062,4095,25.9,-11.5,31,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1961,3062,3062,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.45,50.82
$GC,255,-1.78,-487.5,1785,1961,3062,4095,30.2,-11.4,37,261,0.00,1.12,0.00,0.000,516,0.000,0.051,1785,1514,3062,3062,4095,0,0,0,0,0,0,26.49,26.17,26.50,10.42,50.19
$GC,288,-1.78,-487.5,1785,1514,3063,4095,34.2,-11.8,42,295,0.00,1.00,0.00,0.000,1030,0.000,0.026,1785,1944,3063,3063,4094,0,0,0,0,0,0,26.30,26.25,26.32,10.40,49.52
$GC,328,-1.78,-487.5,1785,1944,3064,4094,39.0,-11.8,48,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1944,3064,3064,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,48.62
$GC,366,-1.78,-487.5,1785,1944,3065,4095,43.6,-11.9,54,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1944,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.37,48.58
$GC,405,-1.78,-487.5,1785,1944,3066,4095,48.4,-12.6,60,412,0.00,1.10,0.00,0.000,260,0.000,0.045,1785,2367,3066,3066,4094,0,0,0,0,0,0,26.55,26.25,26.56,10.37,47.04
$GC,450,-1.78,-487.5,1784,2367,3067,4094,54.1,-12.7,67,457,0.00,1.05,0.00,0.000,1030,0.000,0.031,1785,1944,3067,3067,4095,0,0,0,0,0,0,26.33,26.29,26.35,10.36,47.28
$GC,490,-1.78,-487.5,1785,1944,3067,4095,59.2,-12.7,73,496,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1944,3068,3068,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.35,47.20
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,509,-0.45,0.0,1785,2132,3068,4095,60.9,-13.0,75,545,4.30,0.00,28.15,1.308,10244,0.054,0.000,2186,2132,2484,2484,4095,0,0,0,0,0,0,26.29,25.38,24.32,10.35,46.85
$STATE,546,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,550,1.78,487.5,2186,2132,2484,4095,63.6,0.0,81,592,7.45,1.15,27.90,1.277,10500,0.031,0.051,2891,2563,1915,1915,4094,0,0,0,0,0,0,25.58,25.52,23.89,10.22,46.53
$GC,637,1.78,487.5,2890,2562,1914,4094,55.8,12.8,95,644,0.00,1.08,0.00,0.000,1030,0.000,0.025,2891,2135,1913,1913,4094,0,0,0,0,0,0,25.45,25.44,25.48,10.09,45.11
$GC,676,1.78,487.5,2891,2134,1913,4094,50.7,12.4,101,683,0.00,1.08,0.00,0.000,516,0.000,0.046,2891,1723,1913,1913,4094,0,0,0,0,0,0,25.79,25.51,25.80,10.08,45.55
$GC,728,1.78,487.5,2891,1723,1911,4094,44.1,13.0,109,734,0.00,1.00,0.00,0.000,1030,0.000,0.030,2891,2126,1911,1911,4094,0,0,0,0,0,0,25.70,25.67,25.73,10.07,45.62
$GC,767,1.78,487.5,2891,2126,1911,4094,38.9,13.6,115,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2127,1910,1910,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.07,45.98
$GC,806,1.78,487.5,2891,2126,1909,4094,33.7,13.1,121,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2127,1909,1909,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.07,46.10
$GC,844,1.78,487.5,2891,2126,1908,4094,28.7,12.9,127,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2127,1908,1908,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.07,46.37
$GC,883,1.78,487.5,2891,2126,1907,4094,23.9,12.4,133,890,0.00,1.08,0.00,0.000,516,0.000,0.044,2891,1720,1907,1907,4094,0,0,0,0,0,0,26.17,25.87,26.18,10.07,47.08
$GC,1025,1.91,572.4,2891,1719,1903,4094,10.2,9.3,156,1038,0.35,0.98,5.65,0.537,11270,0.037,0.029,2931,2120,1815,1815,4094,0,0,0,0,0,0,26.10,26.06,25.08,10.16,51.37
$GC,1071,1.92,579.1,2931,2120,1814,4094,5.4,10.4,163,1078,0.00,0.00,2.15,0.078,8198,0.000,0.000,2931,2121,1807,1807,4094,0,0,0,0,0,0,26.28,25.84,25.12,10.16,52.00
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.9,1.023868,121
$GC,1110,0.18,120.7,2931,2124,1807,4094,1.9,10.6,168,1130,5.75,1.10,-4.80,0.000,20996,0.053,1.280,2400,1723,2348,2348,4094,0,0,0,0,0,0,26.07,24.69,26.12,10.17,52.75
$FINISH2,0.1
$STATE,1131,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1131,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,201818
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.99
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.89,31.105
$10V_AH,10.41,33.169
$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,25.450,14.850,63.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,443.768,255.313,162.713,249.831,79.170,0.000,355.311,0.000,257.045,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1279.845,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,14318,171
$CAP_FILE_SIZE,32176,0
$CFSIZE,1024409600,964706304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,202556,6151.443,-17404.285,13,0.9,42,6.9,0.8,296.3,9,4.9