version: 66.13
glider: 401
mission: 22
dive: 1137
start: 8 16 117 5 47 6
data:
$ID,401
$MISSION,22
$DIVE,1137
$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,20
$R_STBD_OVSHOOT,32
$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,0.11
$_SM_ANGLEo,-4.0
$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,-487.5,2403,1958,2342,4092,0.0,0.0,0,24,6.50,0.00,-5.88,0.000,20482,0.024,0.000,1775,1958,2950,2950,4094,0,0,0,0,0,0,26.03,28.83,26.08,10.27,53.15
$GC,28,-1.78,-487.5,1775,1958,2950,4094,0.1,-1.9,2,35,0.00,0.00,-1.02,0.000,16390,0.000,0.000,1774,1958,3055,3055,4094,0,0,0,0,0,0,26.27,25.48,26.22,10.41,54.05
$GC,68,-1.78,-487.5,1774,1958,3056,4094,2.5,-9.7,8,74,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1958,3056,3056,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.43,53.42
$GC,106,-1.78,-487.5,1774,1958,3057,4095,8.6,-17.3,14,112,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1958,3057,3057,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.44,53.18
$GC,145,-1.78,-487.5,1774,1958,3059,4095,15.7,-18.1,20,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1958,3059,3059,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.44,53.07
$GC,184,-1.78,-487.5,1774,1958,3060,4095,22.5,-18.0,26,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1958,3060,3060,4094,0,0,0,0,0,0,26.32,26.33,26.34,10.43,52.75
$GC,222,-1.78,-487.5,1774,1958,3061,4094,27.6,-13.0,32,229,0.00,1.12,0.00,0.000,516,0.000,0.051,1775,1516,3061,3061,4094,0,0,0,0,0,0,26.35,26.04,26.36,10.38,52.40
$GC,250,-1.78,-487.5,1774,1516,3061,4094,31.1,-13.0,36,256,0.00,1.05,0.00,0.000,1030,0.000,0.027,1775,1961,3062,3062,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.38,52.00
$GC,289,-1.78,-487.5,1774,1960,3062,4095,35.9,-12.1,42,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1961,3062,3062,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.36,50.63
$GC,328,-1.78,-487.5,1774,1961,3063,4094,40.9,-12.4,48,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1961,3064,3064,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.35,49.80
$GC,366,-1.78,-487.5,1774,1961,3064,4095,45.6,-12.5,54,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1961,3064,3064,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.33,49.92
$GC,405,-1.78,-487.5,1774,1961,3065,4094,50.5,-12.5,60,412,0.00,1.08,0.00,0.000,260,0.000,0.047,1774,2370,3066,3066,4094,0,0,0,0,0,0,26.46,26.15,26.46,10.33,48.66
$GC,474,-1.78,-487.5,1774,2369,3067,4094,59.3,-12.7,71,481,0.00,1.05,0.00,0.000,1030,0.000,0.031,1775,1948,3067,3067,4094,0,0,0,0,0,0,26.26,26.20,26.27,10.31,48.89
$STATE,486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,486,begin apogee
$GC,494,-0.45,0.0,1774,2137,3067,4095,61.2,-12.8,73,530,4.43,0.00,28.38,1.319,10244,0.055,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.23,10.31,49.01
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,535,1.78,487.5,2185,2138,2484,4094,64.0,0.0,79,577,7.53,1.15,28.10,1.289,10500,0.032,0.054,2891,2561,1915,1915,4094,0,0,0,0,0,0,25.48,25.43,23.81,10.19,48.03
$GC,637,1.78,487.5,2891,2561,1914,4094,54.6,13.4,95,643,0.00,1.08,0.00,0.000,1030,0.000,0.026,2891,2135,1913,1913,4094,0,0,0,0,0,0,25.46,25.44,25.48,10.05,47.04
$GC,676,1.78,487.5,2891,2134,1913,4094,49.0,13.0,101,683,0.00,1.10,0.00,0.000,516,0.000,0.047,2891,1716,1913,1913,4094,0,0,0,0,0,0,25.78,25.51,25.79,10.05,47.12
$GC,734,1.78,487.5,2891,1715,1911,4094,41.4,13.3,110,740,0.00,1.00,0.00,0.000,1030,0.000,0.030,2891,2119,1911,1911,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.05,47.20
$GC,773,1.78,487.5,2891,2119,1910,4094,36.2,12.9,116,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2119,1910,1910,4095,0,0,0,0,0,0,25.99,26.01,26.00,10.03,47.67
$GC,812,1.78,487.5,2891,2118,1908,4095,31.1,13.4,122,818,0.00,1.08,0.00,0.000,516,0.000,0.046,2891,1716,1909,1909,4095,0,0,0,0,0,0,26.06,25.75,26.06,10.04,47.63
$GC,960,1.90,571.8,2890,1715,1905,4095,14.8,9.3,146,973,0.35,0.98,5.70,0.578,11270,0.036,0.029,2932,2117,1816,1816,4094,0,0,0,0,0,0,26.01,25.98,24.94,10.11,51.53
$GC,1006,1.93,587.5,2931,2117,1815,4094,10.0,10.3,153,1013,0.00,0.00,2.67,0.226,8198,0.000,0.000,2932,2117,1797,1797,4094,0,0,0,0,0,0,26.20,25.75,24.98,10.11,51.65
$GC,1046,1.93,587.5,2931,2116,1796,4094,5.7,10.8,159,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2116,1796,1796,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.12,52.63
$STATE,1081,end climb,SURFACE_DEPTH_REACHED
$STATE,1081,begin surface coast
$FINISH,0.0,1.023831
$STATE,1101,end surface coast,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$SM_CCo,1202,0.00,0.000,0,0,1794,593.29
$SM_GC,0.87,28.27,0.43,0.00,0.021,0.044,0.000,238,1953,1794,-6.55,1.46,593.29,0,0,0,0,0,0,26.08,26.03,26.12
$IRIDIUM_FIX,6149.06,-17422.35,160817,045847
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.81
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,23.81,31.755
$10V_AH,10.37,33.696
$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,47.075,12.075,64.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.990,322.310,172.455,244.539,82.568,0.000,355.819,0.000,252.741,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,53.550,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,10894,168
$CAP_FILE_SIZE,31993,0
$CFSIZE,1024409600,963624960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,060759,6155.260,-17409.023,9,0.7,13,6.9,0.2,259.2,12,5.0