version: 66.13
glider: 401
mission: 22
dive: 1071
start: 8 15 117 2 37 53
data:
$ID,401
$MISSION,22
$DIVE,1071
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,150817,015549,6143.6802,-17351.6582,6,1.0,35,7.0,0.4,125.9,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-6.0
$GPS2,150817,015549,6143.6802,-17351.6582,6,1.0,35,7.0,0.4,125.9,9,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.334060,0.199507
$KALMAN_X,58867.304688,-318.017822,169.606735,-253916.593750,159.734863
$KALMAN_Y,-75183.929688,3002.852539,1162.045532,345796.187500,-42.609497
$MHEAD_RNG_PITCHd_Wd,293.8,35524,-11.7,-10.526,-15.14,6722
$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,-1.77,-471.2,2409,1959,2348,4092,0.0,0.0,0,18,6.53,0.00,-0.65,0.000,20482,0.023,0.000,1772,1959,2417,2417,4095,0,0,0,0,0,0,26.10,28.83,26.15,10.29,53.66
$GC,22,-1.77,-471.2,1771,1959,2417,4095,0.1,0.0,1,35,0.00,1.15,-5.72,0.000,16644,0.000,1.271,1771,2364,3036,3036,4094,0,0,0,0,0,0,26.32,24.72,26.32,10.31,52.87
$GC,139,-1.77,-471.2,1771,2363,3039,4094,16.7,-17.9,20,146,0.00,1.05,0.00,0.000,1030,0.000,0.030,1771,1946,3040,3040,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.45,52.52
$GC,179,-1.77,-471.2,1771,1946,3041,4095,23.6,-17.4,26,186,0.00,1.08,0.00,0.000,516,0.000,0.052,1771,1523,3041,3041,4095,0,0,0,0,0,0,26.34,26.04,26.36,10.45,52.83
$GC,242,-1.77,-471.2,1771,1523,3043,4095,32.3,-13.2,36,249,0.00,0.93,0.00,0.000,1030,0.000,0.027,1771,1925,3043,3043,4095,0,0,0,0,0,0,26.19,26.16,26.20,10.39,51.49
$GC,282,-1.77,-471.2,1771,1924,3043,4095,37.1,-11.8,42,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1925,3043,3043,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.37,50.70
$GC,320,-1.77,-471.2,1770,1925,3043,4095,41.9,-12.8,48,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1925,3044,3044,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.35,49.84
$GC,359,-1.77,-471.2,1770,1925,3045,4095,46.8,-12.7,54,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1925,3045,3045,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.34,49.40
$GC,397,-1.77,-471.2,1770,1925,3046,4095,51.9,-13.4,60,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1926,3046,3046,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.33,48.46
$GC,436,-1.77,-471.2,1771,1926,3047,4095,56.9,-12.9,66,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1926,3047,3047,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.33,48.62
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,467,-0.45,0.0,1771,2134,3048,4095,60.4,-13.3,70,503,4.47,0.00,27.35,1.302,10244,0.055,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.20,25.34,24.30,10.32,48.62
$STATE,504,end apogee,CONTROL_FINISHED_OK
$STATE,504,begin climb
$GC,507,1.77,471.2,2186,2133,2483,4094,63.1,0.0,76,549,7.50,0.00,27.15,1.273,11270,0.032,0.000,2891,2134,1933,1933,4095,0,0,0,0,0,0,25.60,25.75,23.88,10.20,47.32
$GC,582,1.77,471.2,2890,2133,1933,4095,56.8,12.3,88,588,0.00,1.17,0.00,0.000,260,0.000,0.054,2891,2557,1933,1933,4095,0,0,0,0,0,0,25.57,25.28,25.58,10.07,46.10
$GC,621,1.77,471.2,2890,2557,1932,4095,51.5,13.9,94,628,0.00,1.10,0.00,0.000,1030,0.000,0.026,2891,2121,1931,1931,4095,0,0,0,0,0,0,25.54,25.50,25.56,10.07,46.18
$GC,660,1.77,471.2,2890,2121,1931,4095,46.3,12.8,100,667,0.00,1.05,0.00,0.000,516,0.000,0.047,2891,1718,1931,1931,4094,0,0,0,0,0,0,25.85,25.56,25.86,10.07,46.25
$GC,754,1.77,471.2,2890,1718,1928,4094,34.6,12.6,115,760,0.00,0.90,0.00,0.000,1030,0.000,0.028,2891,2091,1928,1928,4094,0,0,0,0,0,0,25.83,25.80,25.84,10.05,46.85
$GC,793,1.77,471.2,2890,2091,1927,4094,29.5,13.2,121,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2091,1926,1926,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.05,47.28
$GC,832,1.77,471.2,2890,2091,1925,4094,24.8,12.0,127,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2091,1926,1926,4094,0,0,0,0,0,0,26.15,26.15,26.15,10.06,48.03
$GC,871,1.97,602.3,2890,2091,1925,4094,21.1,8.5,133,885,0.57,1.00,8.15,0.712,10756,0.033,0.047,2952,1714,1781,1781,4094,0,0,0,0,0,0,25.98,25.69,24.83,10.10,48.26
$GC,947,1.97,602.3,2952,1714,1779,4094,13.3,10.6,145,954,0.00,0.90,0.00,0.000,1030,0.000,0.029,2953,2089,1778,1778,4094,0,0,0,0,0,0,25.94,25.91,25.97,10.11,51.53
$GC,987,1.97,602.3,2952,2088,1779,4094,8.8,11.3,151,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2088,1778,1778,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.13,51.85
$GC,1025,1.97,602.3,2952,2088,1777,4094,4.4,11.9,157,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2089,1776,1776,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.13,52.48
$STATE,1048,end climb,SURFACE_DEPTH_REACHED
$STATE,1048,begin surface coast
$FINISH,0.1,1.023790
$STATE,1062,end surface coast,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$SM_CCo,1164,0.00,0.000,0,0,1775,609.61
$SM_GC,0.96,28.48,0.35,0.00,0.020,0.048,0.000,230,1944,1775,-6.59,1.46,609.61,0,0,0,0,0,0,25.98,26.03,26.06
$IRIDIUM_FIX,6149.06,-17422.35,150817,003924
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.58
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.88,29.786
$10V_AH,10.39,32.114
$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,47.550,12.750,62.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.688,316.114,171.109,237.506,73.622,33.423,348.858,0.000,245.656,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1271.430,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,10797,163
$CAP_FILE_SIZE,30849,0
$CFSIZE,1024409600,966868992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,025810,6144.079,-17352.059,5,0.8,15,7.0,0.0,267.5,11,4.7