version: 66.13
glider: 401
mission: 22
dive: 1015
start: 8 14 117 3 26 11
data:
$ID,401
$MISSION,22
$DIVE,1015
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,140817,031558,6131.5439,-17349.4375,49,0.8,52,7.1,0.8,77.8,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-46.2
$GPS2,140817,032500,6131.5103,-17349.5234,10,0.7,17,7.0,0.0,249.9,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.028620,0.393543
$KALMAN_X,63436.238281,-369.503021,-208.693115,-256021.312500,-49.266068
$KALMAN_Y,-59116.976562,2607.412842,903.965454,307828.750000,-124.087341
$MHEAD_RNG_PITCHd_Wd,348.8,22482,-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,-487.5,237,1959,2131,4091,0.0,0.0,0,18,7.18,0.00,0.00,0.000,2049,0.118,0.000,821,1952,2131,2131,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.29,51.29
$GC,21,-1.78,-487.5,821,1960,2131,4094,1.1,0.0,1,47,10.48,1.17,-8.68,0.000,18948,0.067,1.271,1763,1520,3057,3057,4095,0,0,0,0,0,0,25.91,24.58,25.98,10.29,50.82
$GC,80,-1.78,-487.5,1762,1518,3057,4095,0.3,-0.9,10,86,0.00,1.02,0.00,0.000,1030,0.000,0.024,1763,1961,3057,3057,4094,0,0,0,0,0,0,25.97,25.95,25.98,10.49,50.74
$GC,119,-1.78,-487.5,1762,1967,3058,4094,5.6,-15.1,16,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1967,3058,3058,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.49,50.31
$GC,157,-1.78,-487.5,1762,1966,3060,4094,13.1,-21.3,22,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1967,3060,3060,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.50,50.15
$GC,196,-1.78,-487.5,1762,1967,3061,4094,20.2,-18.2,28,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1967,3061,3061,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.50,49.76
$GC,234,-1.78,-487.5,1762,1967,3062,4094,27.1,-17.2,34,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1967,3062,3062,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.48,49.92
$GC,272,-1.78,-487.5,1762,1967,3062,4095,32.1,-12.3,40,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1967,3063,3063,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.43,49.80
$GC,311,-1.78,-487.5,1762,1967,3064,4094,36.7,-12.0,46,317,0.00,1.12,0.00,0.000,516,0.000,0.048,1763,1525,3064,3064,4094,0,0,0,0,0,0,26.38,26.07,26.39,10.41,48.26
$GC,350,-1.78,-487.5,1762,1526,3064,4094,41.7,-13.1,52,356,0.00,0.95,0.00,0.000,1030,0.000,0.026,1763,1938,3065,3065,4095,0,0,0,0,0,0,26.20,26.18,26.22,10.39,47.16
$GC,389,-1.78,-487.5,1762,1938,3066,4095,46.7,-12.8,58,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1938,3066,3066,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.38,46.69
$GC,427,-1.78,-487.5,1762,1937,3066,4094,51.5,-12.6,64,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1938,3066,3066,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,46.57
$GC,466,-1.78,-487.5,1762,1938,3067,4094,56.5,-13.1,70,472,0.00,1.10,0.00,0.000,260,0.000,0.044,1763,2362,3067,3067,4094,0,0,0,0,0,0,26.46,26.17,26.48,10.37,46.29
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,498,-0.45,0.0,1763,2112,3068,4094,60.2,-13.4,74,534,4.53,0.00,28.30,1.300,10244,0.055,0.000,2185,2111,2484,2484,4094,0,0,0,0,0,0,26.18,25.29,24.25,10.36,45.90
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,538,1.78,487.5,2185,2111,2484,4094,63.0,0.0,80,581,7.45,1.20,27.90,1.274,10500,0.033,0.049,2891,2551,1915,1915,4094,0,0,0,0,0,0,25.49,25.44,23.84,10.23,44.92
$GC,613,1.78,487.5,2890,2550,1914,4094,56.7,12.6,92,620,0.00,0.98,0.00,0.000,1030,0.000,0.024,2891,2158,1915,1915,4094,0,0,0,0,0,0,25.37,25.34,25.38,10.10,44.92
$GC,653,1.78,487.5,2891,2157,1914,4094,51.5,12.9,98,659,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1722,1913,1913,4094,0,0,0,0,0,0,25.72,25.44,25.72,10.10,44.80
$GC,776,1.78,487.5,2890,1722,1910,4094,35.5,12.1,118,782,0.00,0.93,0.00,0.000,1030,0.000,0.028,2891,2104,1910,1910,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.08,45.43
$GC,815,1.78,487.5,2890,2103,1908,4094,31.0,11.8,124,822,0.00,1.23,0.00,0.000,260,0.000,0.050,2891,2558,1909,1909,4094,0,0,0,0,0,0,26.07,25.77,26.08,10.08,46.02
$GC,854,1.78,487.5,2891,2558,1907,4094,26.6,11.2,130,861,0.00,1.05,0.00,0.000,1030,0.000,0.026,2891,2131,1907,1907,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.09,46.49
$GC,894,1.97,614.6,2891,2131,1907,4094,22.9,8.7,136,908,0.57,1.08,7.93,0.729,10756,0.034,0.050,2954,1721,1767,1767,4094,0,0,0,0,0,0,25.94,25.67,24.80,10.12,47.40
$GC,1043,1.97,614.6,2954,1720,1762,4094,4.8,13.2,160,1050,0.00,0.98,0.00,0.000,1030,0.000,0.027,2954,2125,1762,1762,4094,0,0,0,0,0,0,26.01,25.99,26.03,10.15,51.45
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1067,begin subsurface finish
$FINISH1,1.2,1.024002,111
$GC,1076,0.17,111.4,2954,2126,1761,4094,1.2,13.6,164,1089,5.75,0.00,-5.25,0.000,20742,0.028,0.000,2399,2126,2359,2359,4094,0,0,0,0,0,0,26.00,24.93,26.06,10.16,51.69
$FINISH2,0.1
$STATE,1090,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1090,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,140817,015555
$TT8_MAMPS,0.025466,0.101864
$HUMID,52.08
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.84,28.034
$10V_AH,10.42,30.737
$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,35.950,14.500,64.125,0.000,0.000,23.786,20.985,308.681,0.000,0.000,19.018,438.063,253.252,158.023,593.602,208.822,33.454,346.840,0.000,251.628,0.000,0.542,0.000
$DEVICE_MAMPS,117.810,1270.665,1300.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10857,166
$CAP_FILE_SIZE,35574,0
$CFSIZE,1024409600,969605120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140817,032500,6131.510,-17349.523,10,0.7,17,7.0,0.0,249.9,11,4.8