version: 66.13
glider: 401
mission: 22
dive: 1136
start: 8 16 117 5 26 25
data:
$ID,401
$MISSION,22
$DIVE,1136
$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,33
$R_STBD_OVSHOOT,68
$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
$GPS1,160817,050552,6155.0908,-17407.7344,7,0.9,17,6.9,0.0,181.0,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-1.5
$GPS2,160817,050552,6155.0908,-17407.7344,7,0.9,17,6.9,0.0,181.0,10,4.9
$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,275.8,12593,-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,-487.5,2401,1991,2344,4092,0.0,0.0,0,19,6.38,0.00,-1.58,0.000,20482,0.024,0.000,1787,1991,2508,2508,4094,0,0,0,0,0,0,26.01,28.83,26.06,10.29,52.75
$GC,23,-1.78,-487.5,1787,1991,2508,4094,0.0,0.0,1,33,0.00,0.00,-5.35,0.000,16390,0.000,0.000,1787,1992,3058,3058,4094,0,0,0,0,0,0,26.24,24.92,26.25,10.33,53.03
$GC,70,-1.78,-487.5,1787,1991,3058,4094,2.8,-10.4,7,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1992,3058,3058,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.45,52.95
$GC,115,-1.78,-487.5,1786,1991,3060,4095,10.3,-17.7,13,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1992,3060,3060,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.45,52.67
$GC,161,-1.78,-487.5,1786,1991,3061,4094,18.6,-18.2,19,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1992,3061,3061,4095,0,0,0,0,0,0,26.32,26.32,26.32,10.46,52.59
$GC,206,-1.78,-487.5,1787,1992,3062,4095,25.1,-12.7,25,216,0.00,1.20,0.00,0.000,516,0.000,0.049,1787,1525,3062,3062,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.40,53.07
$GC,253,-1.78,-487.5,1786,1526,3063,4095,30.8,-12.0,31,261,0.00,0.85,0.00,0.000,1030,0.000,0.026,1787,1905,3064,3064,4095,0,0,0,0,0,0,26.17,26.16,26.19,10.38,51.10
$GC,299,-1.78,-487.5,1786,1905,3064,4095,36.3,-12.2,37,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1905,3064,3064,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.37,49.88
$GC,345,-1.78,-487.5,1786,1904,3066,4095,41.9,-12.2,43,354,0.00,1.17,0.00,0.000,260,0.000,0.044,1787,2357,3066,3066,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.35,49.72
$GC,398,-1.78,-487.5,1786,2357,3067,4095,48.2,-12.0,50,407,0.00,1.05,0.00,0.000,1030,0.000,0.031,1787,1938,3067,3067,4094,0,0,0,0,0,0,26.22,26.18,26.25,10.34,48.74
$GC,445,-1.78,-487.5,1786,1937,3067,4094,53.9,-12.3,56,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1938,3068,3068,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.33,48.11
$GC,492,-1.78,-487.5,1786,1937,3069,4094,59.6,-12.3,62,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1938,3069,3069,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.33,47.44
$STATE,508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,508,begin apogee
$GC,517,-0.45,0.0,1787,2128,3069,4094,62.3,-12.7,64,553,4.30,0.00,28.52,1.333,10244,0.054,0.000,2186,2129,2484,2484,4095,0,0,0,0,0,0,26.21,25.29,24.23,10.33,47.44
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,557,1.78,487.5,2185,2129,2484,4095,65.3,0.0,68,602,7.57,0.00,28.17,1.298,11270,0.033,0.000,2892,2129,1917,1917,4094,0,0,0,0,0,0,25.56,25.72,23.80,10.19,47.51
$GC,641,1.78,487.5,2891,2128,1916,4094,58.4,12.9,78,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1915,1915,4094,0,0,0,0,0,0,25.58,25.59,25.58,10.07,46.29
$GC,688,1.78,487.5,2891,2128,1914,4094,52.1,13.3,84,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1915,1915,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.06,45.82
$GC,735,1.78,487.5,2891,2128,1913,4094,45.8,13.4,90,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1913,1913,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.05,46.22
$GC,783,1.78,487.5,2891,2128,1911,4094,39.4,13.3,96,792,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1715,1911,1911,4094,0,0,0,0,0,0,25.98,25.67,25.98,10.05,46.41
$GC,888,1.78,487.5,2891,1715,1908,4094,25.5,12.8,111,898,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2122,1908,1908,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.04,47.24
$GC,935,1.78,487.5,2891,2121,1907,4094,19.9,11.8,117,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1907,1907,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.05,47.28
$GC,983,2.04,661.4,2891,2121,1906,4095,16.2,8.0,123,1001,0.80,1.02,10.20,0.711,10756,0.030,0.044,2977,1715,1713,1713,4094,0,0,0,0,0,0,26.03,25.43,24.87,10.10,49.01
$GC,1072,2.04,661.4,2977,1714,1710,4094,6.6,11.6,135,1081,0.00,0.95,0.00,0.000,1030,0.000,0.031,2978,2104,1710,1710,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.11,51.81
$STATE,1109,end climb,FINISH_DEPTH_REACHED
$STATE,1109,begin subsurface finish
$FINISH1,1.6,1.023825,124
$GC,1118,0.19,123.8,2977,2145,1709,4094,1.6,12.2,140,1136,5.97,0.00,-5.82,0.000,20486,0.026,0.000,2403,2145,2342,2342,4094,0,0,0,0,0,0,25.98,25.42,26.05,10.12,51.92
$FINISH2,0.1
$STATE,1137,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1137,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,045847
$TT8_MAMPS,0.026215,0.249417
$HUMID,52.99
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.80,31.733
$10V_AH,10.13,33.686
$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,25.025,9.425,66.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,398.095,0.404,128.733,590.681,79.064,0.000,375.200,0.000,345.722,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,153.765,1332.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.951,385.760,305.363,452.633,588.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,14350,142
$CAP_FILE_SIZE,28370,0
$CFSIZE,1024409600,963674112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,050552,6155.091,-17407.734,7,0.9,17,6.9,0.0,181.0,10,4.9