version: 66.13
glider: 401
mission: 22
dive: 1143
start: 8 16 117 8 9 30
data:
$ID,401
$MISSION,22
$DIVE,1143
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,160817,072827,6155.5293,-17410.4512,6,1.0,17,6.9,0.0,318.4,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-2.1
$GPS2,160817,072827,6155.5293,-17410.4512,6,1.0,17,6.9,0.0,318.4,9,4.8
$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,274.2,10110,-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,-487.5,2403,1975,2344,4092,0.0,0.0,0,23,6.50,0.00,-5.53,0.000,20482,0.023,0.000,1774,1975,2925,2925,4095,0,0,0,0,0,0,26.03,28.83,26.07,10.28,52.83
$GC,27,-1.78,-487.5,1773,1975,2924,4095,0.2,-3.9,2,34,0.00,0.00,-1.25,0.000,16390,0.000,0.000,1773,1975,3054,3054,4095,0,0,0,0,0,0,26.24,25.46,26.20,10.41,53.26
$GC,66,-1.78,-487.5,1773,1975,3056,4095,3.9,-12.4,8,73,0.00,1.10,0.00,0.000,260,0.000,0.047,1773,2380,3056,3056,4095,0,0,0,0,0,0,26.20,25.89,26.20,10.43,52.71
$GC,130,-1.78,-487.5,1773,2379,3058,4095,15.0,-18.3,18,136,0.00,1.10,0.00,0.000,1030,0.000,0.031,1773,1943,3058,3058,4094,0,0,0,0,0,0,26.02,25.98,26.05,10.45,52.79
$GC,169,-1.78,-487.5,1772,1943,3059,4094,22.3,-19.1,24,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1942,3060,3060,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.44,52.87
$GC,208,-1.78,-487.5,1773,1943,3060,4094,27.2,-12.5,30,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1943,3061,3061,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.40,52.24
$GC,247,-1.78,-487.5,1773,1943,3061,4094,31.9,-12.1,36,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1943,3061,3061,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,51.89
$GC,285,-1.78,-487.5,1773,1942,3062,4095,36.6,-12.4,42,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1943,3062,3062,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.36,50.35
$GC,324,-1.78,-487.5,1773,1943,3063,4095,41.4,-12.8,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1943,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.34,49.52
$GC,363,-1.78,-487.5,1772,1943,3064,4095,46.3,-12.5,54,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1943,3063,3063,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.34,48.74
$GC,401,-1.78,-487.5,1773,1943,3065,4095,51.3,-13.1,60,408,0.00,1.17,0.00,0.000,260,0.000,0.045,1773,2380,3065,3065,4095,0,0,0,0,0,0,26.44,26.14,26.46,10.33,48.62
$GC,458,-1.78,-487.5,1773,2380,3067,4095,58.6,-12.7,69,465,0.00,1.10,0.00,0.000,1030,0.000,0.031,1773,1938,3066,3066,4095,0,0,0,0,0,0,26.24,26.19,26.26,10.32,48.62
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,478,-0.45,0.0,1772,2148,3067,4094,60.5,-13.1,71,514,4.45,0.00,28.25,1.314,10244,0.056,0.000,2184,2148,2484,2484,4094,0,0,0,0,0,0,26.17,25.28,24.22,10.32,47.79
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,519,1.78,487.5,2184,2148,2484,4094,63.3,0.0,77,561,7.53,1.12,28.00,1.283,10500,0.031,0.053,2891,2560,1915,1915,4095,0,0,0,0,0,0,25.48,25.41,23.81,10.19,47.44
$GC,621,1.78,487.5,2890,2560,1914,4095,54.0,13.0,93,627,0.00,1.08,0.00,0.000,1030,0.000,0.025,2891,2136,1914,1914,4094,0,0,0,0,0,0,25.46,25.43,25.48,10.06,46.25
$GC,660,1.78,487.5,2890,2136,1913,4094,48.4,13.4,99,667,0.00,1.10,0.00,0.000,516,0.000,0.047,2891,1717,1913,1913,4094,0,0,0,0,0,0,25.78,25.49,25.79,10.05,46.25
$GC,742,1.78,487.5,2890,1717,1911,4094,37.4,13.4,112,748,0.00,0.95,0.00,0.000,1030,0.000,0.029,2891,2105,1910,1910,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.05,47.48
$GC,781,1.78,487.5,2890,2104,1909,4094,32.2,13.5,118,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2105,1909,1909,4095,0,0,0,0,0,0,26.03,26.04,26.04,10.04,47.36
$GC,820,1.78,487.5,2890,2104,1908,4095,27.5,12.1,124,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2105,1908,1908,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.04,47.24
$GC,858,1.78,487.5,2890,2104,1907,4094,22.9,11.8,130,865,0.00,1.02,0.00,0.000,516,0.000,0.046,2891,1719,1907,1907,4094,0,0,0,0,0,0,26.13,25.83,26.15,10.05,47.59
$GC,976,1.97,614.3,2890,1718,1905,4094,12.4,8.7,149,990,0.55,0.93,7.75,0.640,11270,0.031,0.028,2955,2105,1767,1767,4094,0,0,0,0,0,0,26.03,26.01,24.96,10.14,52.04
$GC,1023,1.97,614.3,2955,2104,1765,4094,7.5,11.2,156,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2105,1765,1765,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.12,52.24
$GC,1062,1.97,614.3,2955,2104,1764,4094,2.9,11.7,162,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2105,1764,1764,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.13,52.59
$STATE,1072,end climb,SURFACE_DEPTH_REACHED
$STATE,1072,begin surface coast
$FINISH,0.2,1.023811
$STATE,1086,end surface coast,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$SM_CCo,1189,0.00,0.000,0,0,1763,619.91
$SM_GC,0.82,28.65,0.38,0.00,0.021,0.046,0.000,230,1954,1763,-6.59,1.78,619.91,0,0,0,0,0,0,25.97,26.01,26.05
$IRIDIUM_FIX,6149.06,-17422.35,160817,061040
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.62
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.81,31.930
$10V_AH,10.38,33.837
$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,47.675,13.125,64.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.483,318.414,174.209,241.725,82.701,0.000,355.895,0.000,249.875,0.000,0.541,0.000
$DEVICE_MAMPS,55.845,52.785,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10858,166
$CAP_FILE_SIZE,31384,0
$CFSIZE,1024409600,963330048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,083028,6155.894,-17411.889,9,0.8,31,6.9,0.3,73.7,10,4.9