version: 66.13
glider: 401
mission: 22
dive: 1149
start: 8 16 117 10 34 13
data:
$ID,401
$MISSION,22
$DIVE,1149
$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,63
$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
$GPS1,160817,095040,6156.3984,-17413.2168,8,0.8,17,6.9,0.0,75.8,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.5
$GPS2,160817,095040,6156.3984,-17413.2168,8,0.8,17,6.9,0.0,75.8,10,4.8
$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,265.7,7519,-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,6,begin dive
$GC,9,-1.78,-487.5,2401,1994,2345,4092,0.0,0.0,0,18,6.30,0.00,0.00,0.000,4097,0.025,0.000,1798,1994,2345,2345,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.29,52.95
$GC,22,-1.78,-487.5,1798,1994,2345,4094,0.1,0.0,1,35,0.00,0.95,-6.93,0.000,16644,0.000,1.263,1797,2346,3054,3054,4095,0,0,0,0,0,0,26.27,24.65,26.28,10.29,53.11
$GC,103,-1.78,-487.5,1797,2346,3056,4095,7.6,-12.7,14,110,0.00,0.98,0.00,0.000,1030,0.000,0.031,1797,1965,3056,3056,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.44,53.38
$GC,143,-1.78,-487.5,1797,1965,3057,4094,12.9,-13.4,20,149,0.00,1.15,0.00,0.000,516,0.000,0.054,1797,1518,3057,3057,4094,0,0,0,0,0,0,26.30,25.98,26.31,10.45,52.71
$GC,200,-1.78,-487.5,1797,1518,3058,4094,22.0,-16.4,29,207,0.00,0.90,0.00,0.000,1030,0.000,0.028,1798,1904,3059,3059,4095,0,0,0,0,0,0,26.13,26.11,26.15,10.45,52.95
$GC,240,-1.78,-487.5,1797,1905,3059,4095,27.0,-11.3,35,246,0.00,1.20,0.00,0.000,260,0.000,0.044,1798,2363,3060,3060,4095,0,0,0,0,0,0,26.37,26.06,26.38,10.41,52.67
$GC,303,-1.78,-487.5,1797,2363,3061,4095,34.1,-11.2,45,310,0.00,1.08,0.00,0.000,1030,0.000,0.031,1798,1934,3061,3061,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.38,51.22
$GC,343,-1.78,-487.5,1797,1933,3062,4095,38.5,-10.8,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1934,3062,3062,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,50.94
$GC,381,-1.78,-487.5,1797,1934,3062,4095,42.6,-10.6,57,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1934,3062,3062,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,49.52
$GC,420,-1.78,-487.5,1797,1934,3063,4094,46.9,-11.4,63,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1934,3063,3063,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.34,49.21
$GC,459,-1.78,-487.5,1797,1934,3064,4095,51.4,-11.7,69,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,1934,3064,3064,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.33,48.50
$GC,497,-1.78,-487.5,1797,1934,3065,4095,56.0,-11.5,75,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1934,3065,3065,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.33,48.54
$STATE,533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,533,begin apogee
$GC,541,-0.45,0.0,1797,2134,3066,4095,60.5,-11.9,81,577,4.20,0.00,28.08,1.311,10244,0.054,0.000,2187,2134,2484,2484,4095,0,0,0,0,0,0,26.22,25.32,24.26,10.32,48.11
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,578,begin climb
$GC,582,1.78,487.5,2186,2134,2484,4095,62.9,0.0,87,623,7.53,0.00,28.02,1.283,11270,0.032,0.000,2890,2134,1915,1915,4094,0,0,0,0,0,0,25.59,25.75,23.84,10.19,47.71
$GC,656,1.78,487.5,2890,2134,1914,4094,56.7,12.3,99,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2134,1914,1914,4094,0,0,0,0,0,0,25.54,25.56,25.56,10.06,46.73
$GC,695,1.78,487.5,2890,2134,1914,4094,51.7,13.3,105,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2134,1913,1913,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.06,46.37
$GC,734,1.78,487.5,2890,2134,1912,4094,46.6,13.0,111,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2134,1912,1912,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.05,46.49
$GC,772,1.78,487.5,2890,2134,1911,4094,41.4,13.2,117,779,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1714,1911,1911,4095,0,0,0,0,0,0,25.91,25.62,25.93,10.05,46.61
$GC,884,1.78,487.5,2890,1714,1907,4095,27.0,12.8,135,890,0.00,1.00,0.00,0.000,1030,0.000,0.031,2891,2120,1907,1907,4094,0,0,0,0,0,0,25.88,25.84,25.90,10.04,47.67
$GC,923,1.78,487.5,2890,2120,1907,4094,22.0,12.4,141,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2120,1907,1907,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.05,48.34
$GC,962,1.88,553.2,2890,2120,1905,4094,18.1,9.6,147,976,0.28,1.05,4.88,0.552,10756,0.046,0.046,2925,1717,1838,1838,4094,0,0,0,0,0,0,25.98,25.75,24.87,10.10,49.17
$GC,1033,1.91,573.9,2925,1717,1836,4094,11.0,10.2,158,1041,0.00,0.95,2.85,0.264,9222,0.000,0.029,2925,2109,1814,1814,4094,0,0,0,0,0,0,26.00,25.96,24.98,10.12,52.48
$GC,1074,1.94,596.4,2925,2109,1813,4094,6.8,10.2,164,1081,0.10,0.00,2.97,0.272,10246,0.073,0.000,2942,2110,1787,1787,4094,0,0,0,0,0,0,26.04,25.77,25.03,10.13,52.71
$GC,1114,1.94,596.4,2941,2109,1786,4094,2.3,11.4,170,1121,0.00,1.05,0.00,0.000,516,0.000,0.048,2942,1714,1786,1786,4094,0,0,0,0,0,0,26.25,25.94,26.26,10.13,53.03
$STATE,1126,end climb,SURFACE_DEPTH_REACHED
$STATE,1126,begin surface coast
$FINISH,0.0,1.023813
$STATE,1140,end surface coast,CONTROL_FINISHED_OK
$STATE,1140,begin surface
$SM_CCo,1242,0.00,0.000,0,0,1785,601.02
$SM_GC,0.85,28.50,0.57,0.00,0.021,0.031,0.000,230,1985,1785,-6.59,-1.50,601.02,0,0,0,0,0,0,26.01,26.07,26.07
$IRIDIUM_FIX,6149.06,-17422.35,160817,094345
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.85
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.84,32.100
$10V_AH,10.38,33.980
$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,46.900,13.075,66.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,460.340,332.998,176.543,252.792,84.251,0.000,365.815,0.000,261.136,0.000,0.541,0.000
$DEVICE_MAMPS,73.440,1263.015,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,14257,174
$CAP_FILE_SIZE,33402,0
$CFSIZE,1024409600,963018752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,105601,6156.852,-17414.195,8,0.8,27,6.9,0.0,306.3,10,4.9