version: 66.13
glider: 401
mission: 22
dive: 1100
start: 8 15 117 14 31 21
data:
$ID,401
$MISSION,22
$DIVE,1100
$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,36
$R_STBD_OVSHOOT,56
$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
$GPS1,150817,140941,6149.0249,-17357.7695,7,1.0,19,7.0,0.0,296.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.5
$GPS2,150817,140941,6149.0249,-17357.7695,7,1.0,19,7.0,0.0,296.0,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.338596,0.197725
$KALMAN_X,63802.593750,-637.745483,-256.864105,-263893.218750,43.456726
$KALMAN_Y,-72151.281250,3201.338135,1038.400879,352586.625000,-15.104126
$MHEAD_RNG_PITCHd_Wd,293.3,25207,-11.6,-10.526,-15.03,6847
$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,-480.1,2398,1986,2350,4092,0.0,0.0,0,21,6.40,0.00,-3.10,0.000,20482,0.019,0.000,1772,1987,2679,2679,4095,0,0,0,0,0,0,26.07,28.83,26.11,10.29,53.46
$GC,25,-1.78,-480.1,1771,1986,2679,4095,0.2,0.0,1,35,0.00,0.98,-3.50,0.000,16644,0.000,1.264,1771,2353,3046,3046,4095,0,0,0,0,0,0,26.28,24.68,26.29,10.37,53.11
$GC,66,-1.79,-487.5,1772,2353,3047,4095,3.3,-10.1,6,75,0.00,1.00,-0.05,0.000,17414,0.000,0.031,1772,1960,3062,3062,4095,0,0,0,0,0,0,25.98,25.96,24.89,10.44,53.15
$GC,112,-1.79,-487.5,1771,1959,3064,4095,11.2,-18.3,12,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1960,3064,3064,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.46,53.38
$GC,160,-1.79,-487.5,1770,1959,3065,4094,19.6,-18.5,18,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1960,3066,3066,4095,0,0,0,0,0,0,26.20,26.21,26.20,10.46,52.87
$GC,207,-1.79,-487.5,1771,1959,3066,4095,26.8,-13.6,24,216,0.00,1.12,0.00,0.000,516,0.000,0.050,1771,1520,3066,3066,4095,0,0,0,0,0,0,26.25,25.94,26.26,10.40,52.32
$GC,240,-1.79,-487.5,1771,1520,3067,4095,31.1,-12.2,28,249,0.00,0.93,0.00,0.000,1030,0.000,0.025,1771,1921,3067,3067,4095,0,0,0,0,0,0,26.09,26.06,26.09,10.38,51.29
$GC,286,-1.79,-487.5,1771,1921,3068,4095,37.0,-13.1,34,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1921,3068,3068,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.37,50.23
$GC,331,-1.79,-487.5,1771,1921,3069,4094,43.1,-13.4,40,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1921,3070,3070,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.36,49.01
$GC,377,-1.79,-487.5,1771,1921,3070,4094,49.0,-12.9,46,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1921,3070,3070,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.35,48.34
$GC,422,-1.79,-487.5,1771,1921,3071,4095,55.0,-13.5,52,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1921,3072,3072,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.34,47.67
$STATE,458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,458,begin apogee
$GC,466,-0.45,0.0,1771,2130,3073,4095,60.2,-13.2,57,510,4.47,0.00,28.70,1.311,10244,0.056,0.000,2185,2131,2483,2483,4094,0,0,0,0,0,0,26.13,24.92,24.18,10.33,47.36
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,514,1.79,487.5,2185,2131,2483,4094,63.3,0.0,62,559,7.57,0.00,28.08,1.282,11270,0.031,0.000,2895,2131,1916,1916,4094,0,0,0,0,0,0,25.55,25.70,23.85,10.20,46.77
$GC,598,1.79,487.5,2894,2131,1915,4094,56.7,12.8,72,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1914,1914,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.07,46.41
$GC,645,1.79,487.5,2894,2131,1913,4094,50.1,13.7,78,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1913,1913,4095,0,0,0,0,0,0,25.75,25.77,25.76,10.07,45.58
$GC,692,1.79,487.5,2894,2131,1911,4095,43.8,13.6,84,702,0.00,1.12,0.00,0.000,516,0.000,0.045,2894,1712,1911,1911,4094,0,0,0,0,0,0,25.88,25.58,25.89,10.06,46.02
$GC,811,1.79,487.5,2894,1712,1908,4094,28.3,11.9,101,819,0.00,1.00,0.00,0.000,1030,0.000,0.031,2894,2119,1907,1907,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.05,46.53
$GC,856,1.79,487.5,2894,2117,1907,4094,22.6,12.4,107,866,0.00,1.20,0.00,0.000,260,0.000,0.055,2894,2560,1907,1907,4094,0,0,0,0,0,0,26.15,25.83,26.15,10.06,47.28
$GC,903,1.92,576.8,2893,2560,1906,4094,18.2,9.2,113,922,0.38,1.12,6.05,0.619,11270,0.031,0.028,2938,2105,1810,1810,4094,0,0,0,0,0,0,25.98,25.97,24.88,10.11,48.62
$GC,961,1.93,580.4,2937,2104,1810,4094,12.8,10.5,120,970,0.00,0.98,0.00,0.000,516,0.000,0.048,2938,1722,1809,1809,4094,0,0,0,0,0,0,26.17,25.88,26.19,10.12,50.00
$GC,1046,1.93,580.4,2938,1721,1807,4094,2.8,11.9,132,1056,0.00,0.90,0.03,0.004,9222,0.000,0.029,2938,2100,1806,1806,4094,0,0,0,0,0,0,26.05,26.01,26.07,10.14,52.08
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,0.1,1.003308,0
$GC,1074,0.00,0.0,2938,2142,1806,4094,0.1,12.4,134,1092,6.07,0.00,-6.20,0.000,20486,0.018,0.000,2336,2143,2490,2490,4094,0,0,0,0,0,0,26.10,24.94,26.13,10.15,52.40
$FINISH2,0.3
$STATE,1093,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1093,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,125252
$TT8_MAMPS,0.025466,0.251664
$HUMID,52.48
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.85,30.627
$10V_AH,10.13,32.823
$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,24.900,11.475,62.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,383.095,0.000,129.348,565.128,74.597,33.434,369.647,0.000,331.543,0.000,0.541,0.000
$DEVICE_MAMPS,55.845,1263.780,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.589,369.517,292.462,433.671,562.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,14313,136
$CAP_FILE_SIZE,28569,0
$CFSIZE,1024409600,965443584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,140941,6149.025,-17357.770,7,1.0,19,7.0,0.0,296.0,9,4.9