version: 66.13
glider: 401
mission: 22
dive: 1120
start: 8 15 117 22 50 45
data:
$ID,401
$MISSION,22
$DIVE,1120
$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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,150817,224225,6153.2954,-17406.2051,5,0.8,36,6.9,0.0,334.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-38.5
$GPS2,150817,225010,6153.3364,-17406.1621,7,0.9,16,6.9,0.0,319.5,9,4.7
$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,286.8,14919,-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,-487.5,238,1979,1614,4092,0.0,0.0,0,20,8.40,0.00,0.00,0.000,2049,0.091,0.000,954,1979,1614,1614,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.19,52.63
$GC,24,-1.78,-487.5,953,1979,1613,4094,0.7,0.0,1,52,8.70,1.25,-13.55,0.000,19204,0.043,1.275,1765,1529,3059,3059,4095,0,0,0,0,0,0,25.93,24.54,25.96,10.19,52.28
$GC,70,-1.78,-487.5,1764,1529,3059,4095,0.8,-2.1,6,79,0.00,0.95,0.00,0.000,1030,0.000,0.026,1765,1958,3059,3059,4094,0,0,0,0,0,0,25.98,25.96,25.98,10.50,51.85
$GC,118,-1.78,-487.5,1765,1958,3060,4094,7.9,-16.5,12,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1958,3061,3061,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.50,51.45
$GC,164,-1.78,-487.5,1764,1958,3062,4095,16.6,-18.9,18,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1958,3062,3062,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.51,51.65
$GC,210,-1.78,-487.5,1765,1958,3064,4095,25.0,-17.4,24,220,0.00,1.02,0.00,0.000,260,0.000,0.044,1765,2350,3064,3064,4094,0,0,0,0,0,0,26.30,26.01,26.32,10.48,50.63
$GC,270,-1.78,-487.5,1765,2350,3065,4094,32.6,-11.9,32,280,0.00,0.98,0.00,0.000,1030,0.000,0.028,1765,1965,3065,3065,4094,0,0,0,0,0,0,26.15,26.11,26.16,10.43,49.64
$GC,319,-1.78,-487.5,1765,1964,3066,4094,38.4,-12.3,38,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1965,3066,3066,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.40,48.07
$GC,366,-1.78,-487.5,1765,1964,3067,4094,44.5,-13.2,44,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1965,3067,3067,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,47.00
$GC,413,-1.78,-487.5,1765,1964,3068,4094,50.9,-13.6,50,423,0.00,1.15,0.00,0.000,516,0.000,0.050,1766,1510,3069,3069,4094,0,0,0,0,0,0,26.44,26.13,26.46,10.38,46.25
$GC,473,-1.78,-487.5,1765,1510,3070,4094,59.5,-14.1,58,482,0.00,1.00,0.00,0.000,1030,0.000,0.025,1766,1941,3070,3070,4095,0,0,0,0,0,0,26.27,26.23,26.33,10.37,45.74
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,498,-0.45,0.0,1765,2143,3070,4095,62.3,-13.7,60,534,4.53,0.00,28.52,1.327,10244,0.056,0.000,2186,2142,2484,2484,4094,0,0,0,0,0,0,26.18,25.27,24.21,10.36,45.19
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,538,1.78,487.5,2185,2142,2484,4094,65.3,0.0,64,583,7.50,0.00,28.00,1.294,11270,0.033,0.000,2893,2143,1919,1919,4094,0,0,0,0,0,0,25.55,25.70,23.82,10.23,45.43
$GC,622,1.78,487.5,2892,2142,1918,4094,58.4,12.6,74,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2143,1917,1917,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.11,44.21
$GC,669,1.78,487.5,2892,2142,1917,4094,52.2,13.0,80,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2142,1916,1916,4094,0,0,0,0,0,0,25.77,25.78,25.77,10.10,44.09
$GC,716,1.78,487.5,2892,2142,1915,4094,46.2,12.2,86,726,0.00,1.17,0.00,0.000,516,0.000,0.044,2893,1699,1915,1915,4094,0,0,0,0,0,0,25.89,25.64,25.91,10.08,44.76
$GC,815,1.78,487.5,2892,1699,1912,4094,33.3,12.9,100,825,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2116,1911,1911,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.08,45.70
$GC,862,1.78,487.5,2892,2116,1911,4094,27.5,12.5,106,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2116,1910,1910,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.08,45.94
$GC,908,1.81,508.9,2892,2116,1910,4094,22.3,10.2,112,916,0.00,0.00,2.70,0.264,8198,0.000,0.000,2893,2116,1892,1892,4094,0,0,0,0,0,0,26.20,25.46,24.88,10.09,46.69
$GC,955,2.22,780.2,2892,2116,1891,4094,19.3,6.5,118,982,1.40,0.00,15.57,0.790,10246,0.028,0.000,3033,2116,1574,1574,4094,0,0,0,0,0,0,26.01,25.31,24.77,10.13,48.30
$GC,1021,2.28,823.3,3032,2116,1573,4094,13.3,9.9,126,1032,0.12,1.08,3.97,0.434,10756,0.068,0.045,3050,1697,1525,1525,4094,0,0,0,0,0,0,25.84,25.39,24.84,10.10,50.27
$STATE,1125,end climb,FINISH_DEPTH_REACHED
$STATE,1127,begin subsurface finish
$FINISH1,1.8,1.023857,122
$GC,1138,0.18,121.5,3050,2145,1521,4094,1.8,10.8,141,1158,6.70,1.27,-7.43,0.000,20996,0.021,1.283,2400,1699,2349,2349,4095,0,0,0,0,0,0,25.98,24.58,26.03,10.11,51.57
$FINISH2,0.1
$STATE,1159,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1159,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,213423
$TT8_MAMPS,0.025466,0.250915
$HUMID,52.00
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.82,31.263
$10V_AH,10.13,33.298
$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,37.350,12.500,78.775,0.000,0.000,39.407,19.018,230.343,0.000,0.000,17.266,412.297,0.000,139.866,876.995,211.218,0.000,399.091,0.000,349.450,0.000,0.542,0.000
$DEVICE_MAMPS,91.035,1282.905,1327.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.244,388.576,307.455,455.815,594.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329376
$DATA_FILE_SIZE,14432,143
$CAP_FILE_SIZE,33057,0
$CFSIZE,1024409600,964444160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150817,225010,6153.336,-17406.162,7,0.9,16,6.9,0.0,319.5,9,4.7