version: 66.13
glider: 401
mission: 22
dive: 1150
start: 8 16 117 11 4 33
data:
$ID,401
$MISSION,22
$DIVE,1150
$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,15
$R_STBD_OVSHOOT,62
$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
$GPS1,160817,105601,6156.8521,-17414.1953,8,0.8,27,6.9,0.0,306.3,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-40.3
$GPS2,160817,110356,6156.8579,-17414.1699,9,0.7,17,6.9,0.0,58.7,11,5.0
$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,258.7,6701,-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,-487.5,230,1963,1784,4092,0.0,0.0,0,20,8.45,0.00,0.00,0.000,2049,0.088,0.000,953,1960,1785,1785,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.22,51.96
$GC,24,-1.78,-487.5,952,1959,1785,4094,0.6,0.0,1,50,8.70,0.00,-12.00,0.000,18694,0.046,0.000,1758,1961,3056,3056,4094,0,0,0,0,0,0,25.90,25.43,25.94,10.21,52.28
$GC,89,-1.78,-487.5,1758,1961,3056,4094,4.2,-13.0,9,98,0.00,1.00,0.00,0.000,260,0.000,0.044,1758,2340,3057,3057,4094,0,0,0,0,0,0,26.15,25.86,26.17,10.49,51.61
$GC,141,-1.78,-487.5,1758,2340,3059,4094,13.4,-17.9,16,150,0.00,1.00,0.00,0.000,1030,0.000,0.028,1758,1946,3059,3059,4094,0,0,0,0,0,0,26.00,25.98,26.02,10.50,51.41
$GC,188,-1.78,-487.5,1757,1946,3060,4094,22.0,-18.2,22,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1946,3060,3060,4095,0,0,0,0,0,0,26.27,26.27,26.27,10.49,50.74
$GC,233,-1.78,-487.5,1758,1946,3061,4095,26.3,-8.4,28,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1946,3061,3061,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.45,50.00
$GC,280,-1.78,-487.5,1758,1946,3061,4094,30.6,-9.2,34,289,0.00,1.05,0.00,0.000,260,0.000,0.038,1758,2348,3062,3062,4095,0,0,0,0,0,0,26.34,26.06,26.35,10.42,49.52
$GC,352,-1.78,-487.5,1758,2347,3063,4095,37.2,-9.5,44,362,0.00,1.00,0.00,0.000,1030,0.000,0.030,1759,1948,3062,3062,4095,0,0,0,0,0,0,26.13,26.12,26.17,10.39,48.62
$GC,400,-1.78,-487.5,1758,1948,3064,4095,41.7,-9.4,50,409,0.00,1.10,0.00,0.000,516,0.000,0.054,1758,1516,3064,3064,4095,0,0,0,0,0,0,26.42,26.10,26.43,10.38,46.65
$GC,460,-1.78,-487.5,1758,1516,3065,4095,47.6,-9.9,58,468,0.00,0.93,0.00,0.000,1030,0.000,0.025,1759,1943,3065,3065,4094,0,0,0,0,0,0,26.27,26.25,26.28,10.37,45.98
$GC,508,-1.78,-487.5,1758,1943,3066,4094,51.9,-9.1,64,517,0.00,1.02,0.00,0.000,260,0.000,0.040,1759,2340,3066,3066,4095,0,0,0,0,0,0,26.48,26.19,26.48,10.36,45.98
$STATE,590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,590,begin apogee
$GC,599,-0.45,0.0,1759,2111,3067,4095,60.2,-9.7,76,635,4.55,0.00,28.35,1.312,10244,0.049,0.000,2186,2106,2484,2484,4094,0,0,0,0,0,0,26.23,25.31,24.23,10.34,45.66
$STATE,636,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,639,1.78,487.5,2186,2106,2484,4094,63.3,0.0,80,684,7.53,0.00,28.12,1.294,11270,0.031,0.000,2891,2106,1915,1915,4094,0,0,0,0,0,0,25.58,25.73,23.81,10.21,45.78
$GC,723,1.78,487.5,2890,2105,1914,4094,58.2,10.6,90,732,0.00,0.98,0.00,0.000,516,0.000,0.046,2891,1740,1914,1914,4095,0,0,0,0,0,0,25.58,25.31,25.59,10.09,45.03
$GC,783,1.80,501.4,2891,1740,1913,4095,51.7,10.3,98,793,0.00,0.82,2.25,0.165,9222,0.000,0.026,2891,2089,1906,1906,4094,0,0,0,0,0,0,25.61,25.58,24.28,10.08,44.88
$GC,832,1.82,518.8,2891,2089,1905,4094,46.8,10.3,104,843,0.10,1.15,3.20,0.477,10500,0.080,0.045,2907,2530,1877,1877,4094,0,0,0,0,0,0,25.72,25.13,24.40,10.07,45.39
$GC,893,1.82,518.8,2906,2529,1876,4094,39.9,11.0,112,901,0.00,0.95,0.00,0.000,1030,0.000,0.026,2907,2141,1876,1876,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.07,46.29
$GC,940,1.82,518.8,2906,2141,1875,4094,35.0,10.8,118,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2141,1875,1875,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.06,46.45
$GC,988,1.82,518.8,2906,2141,1874,4094,29.4,11.9,124,997,0.00,1.08,0.00,0.000,516,0.000,0.047,2907,1727,1873,1873,4094,0,0,0,0,0,0,26.13,25.83,26.15,10.06,47.44
$GC,1113,1.97,617.4,2906,1726,1870,4094,16.0,9.1,142,1124,0.43,0.85,6.50,0.620,11270,0.030,0.028,2955,2088,1762,1762,4094,0,0,0,0,0,0,26.05,26.03,24.93,10.15,50.74
$GC,1163,1.97,617.4,2955,2088,1761,4094,11.0,10.8,148,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2087,1761,1761,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.14,51.73
$GC,1211,1.97,617.4,2954,2088,1760,4094,5.8,10.7,154,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2088,1759,1759,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.15,52.24
$STATE,1240,end climb,FINISH_DEPTH_REACHED
$STATE,1240,begin subsurface finish
$FINISH1,1.8,1.023812,125
$GC,1249,0.19,124.6,2955,2088,1758,4094,1.8,12.0,158,1268,5.72,1.00,-5.38,0.000,20996,0.026,1.282,2401,1729,2341,2341,4094,0,0,0,0,0,0,26.08,24.65,26.12,10.16,52.48
$FINISH2,0.0
$STATE,1269,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1269,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,094520
$TT8_MAMPS,0.025466,0.235935
$HUMID,53.42
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.81,32.139
$10V_AH,10.15,34.021
$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,35.475,14.550,68.425,0.000,0.000,26.379,20.520,241.267,0.000,0.000,19.778,457.663,0.000,133.977,953.744,216.977,0.000,399.690,0.000,389.453,0.000,0.544,0.000
$DEVICE_MAMPS,87.975,1282.140,1311.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.536,434.744,344.039,510.002,663.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,14380,160
$CAP_FILE_SIZE,36213,0
$CFSIZE,1024409600,962969600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160817,110356,6156.858,-17414.170,9,0.7,17,6.9,0.0,58.7,11,5.0