version: 66.13
glider: 401
mission: 22
dive: 1152
start: 8 16 117 11 47 47
data:
$ID,401
$MISSION,22
$DIVE,1152
$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,31
$R_STBD_OVSHOOT,56
$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
$GPS1,160817,110356,6156.8579,-17414.1699,9,0.7,17,6.9,0.0,58.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-2.5
$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,6,begin dive
$GC,10,-1.78,-487.5,2405,1985,2344,4092,0.0,0.0,0,21,6.55,0.00,-2.50,0.000,20482,0.023,0.000,1772,1985,2790,2790,4094,0,0,0,0,0,0,26.04,28.83,26.08,10.29,53.54
$GC,25,-1.78,-487.5,1771,1986,2791,4094,2.8,0.0,1,34,0.00,0.98,-1.35,0.000,16644,0.000,1.264,1772,2340,3058,3058,4094,0,0,0,0,0,0,26.26,24.64,26.22,10.38,53.97
$GC,84,-1.78,-487.5,1771,2340,3059,4094,11.7,-16.6,9,94,0.00,0.98,0.00,0.000,1030,0.000,0.030,1771,1960,3060,3060,4095,0,0,0,0,0,0,25.98,25.95,26.00,10.44,53.85
$GC,132,-1.78,-487.5,1771,1959,3062,4095,20.0,-18.5,15,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1960,3062,3062,4094,0,0,0,0,0,0,26.24,26.26,26.26,10.45,53.78
$GC,179,-1.78,-487.5,1771,1959,3063,4094,26.8,-12.2,21,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3063,3063,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.40,53.54
$GC,226,-1.78,-487.5,1771,1959,3063,4094,32.8,-12.7,27,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1959,3064,3064,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.38,51.89
$GC,274,-1.78,-487.5,1771,1959,3065,4095,38.6,-11.9,33,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1960,3066,3066,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.36,50.39
$GC,320,-1.78,-487.5,1771,1959,3066,4095,44.4,-12.5,39,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1960,3067,3067,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.34,49.68
$GC,368,-1.78,-487.5,1771,1960,3067,4095,50.3,-12.3,45,377,0.00,1.05,0.00,0.000,260,0.000,0.045,1771,2350,3067,3067,4094,0,0,0,0,0,0,26.42,26.10,26.43,10.33,48.58
$GC,421,-1.78,-487.5,1771,2350,3068,4094,57.5,-13.2,52,429,0.00,1.02,0.00,0.000,1030,0.000,0.031,1772,1939,3069,3069,4095,0,0,0,0,0,0,26.21,26.16,26.23,10.32,48.42
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,452,-0.45,0.0,1771,2120,3069,4095,60.8,-12.9,55,488,4.47,0.00,28.52,1.324,10244,0.056,0.000,2185,2120,2484,2484,4094,0,0,0,0,0,0,26.16,25.25,24.18,10.32,48.18
$STATE,489,end apogee,CONTROL_FINISHED_OK
$STATE,489,begin climb
$GC,492,1.78,487.5,2184,2120,2484,4094,63.8,0.0,59,538,7.57,1.17,28.15,1.291,10500,0.031,0.052,2892,2553,1915,1915,4094,0,0,0,0,0,0,25.46,25.39,23.82,10.19,47.04
$GC,581,1.78,487.5,2892,2553,1914,4094,56.1,13.1,70,591,0.00,1.05,0.00,0.000,1030,0.000,0.026,2892,2138,1913,1913,4094,0,0,0,0,0,0,25.39,25.37,25.43,10.06,46.10
$GC,629,1.78,487.5,2892,2137,1913,4094,50.2,12.4,76,638,0.00,1.08,0.00,0.000,516,0.000,0.047,2892,1728,1912,1912,4094,0,0,0,0,0,0,25.75,25.47,25.77,10.05,46.41
$GC,708,1.78,487.5,2892,1727,1910,4094,39.7,13.3,87,716,0.00,1.00,0.00,0.000,1030,0.000,0.030,2892,2130,1910,1910,4094,0,0,0,0,0,0,25.72,25.67,25.78,10.05,46.33
$GC,753,1.78,487.5,2892,2130,1909,4094,33.7,13.1,93,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2130,1908,1908,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.04,46.88
$GC,800,1.78,487.5,2892,2130,1907,4094,27.9,12.4,99,809,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1726,1907,1907,4094,0,0,0,0,0,0,26.09,25.79,26.10,10.04,47.67
$GC,881,1.89,563.0,2892,1726,1905,4094,18.8,9.4,110,892,0.30,0.98,5.32,0.585,11270,0.038,0.029,2929,2125,1827,1827,4094,0,0,0,0,0,0,25.97,25.94,24.87,10.09,48.46
$GC,931,1.89,563.0,2928,2125,1826,4094,13.7,10.6,116,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2126,1826,1826,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.11,50.74
$GC,978,1.93,592.1,2928,2125,1824,4094,8.9,10.1,122,988,0.00,0.00,3.22,0.325,8198,0.000,0.000,2929,2125,1793,1793,4094,0,0,0,0,0,0,26.22,25.53,25.01,10.13,51.49
$GC,1026,1.93,592.1,2928,2125,1792,4094,3.6,11.0,128,1036,0.00,1.05,0.00,0.000,516,0.000,0.044,2929,1727,1791,1791,4094,0,0,0,0,0,0,26.25,25.95,26.25,10.13,51.96
$STATE,1044,end climb,SURFACE_DEPTH_REACHED
$STATE,1044,begin surface coast
$FINISH,-0.0,1.019385
$STATE,1065,end surface coast,CONTROL_FINISHED_OK
$STATE,1065,begin surface
$SM_CCo,1167,0.00,0.000,0,0,1790,596.73
$SM_GC,0.63,28.35,0.52,0.00,0.020,0.032,0.000,230,1973,1790,-6.59,-1.64,596.73,0,0,0,0,0,0,25.94,26.09,26.05
$IRIDIUM_FIX,6149.06,-17422.35,160817,094520
$TT8_MAMPS,0.025466,0.241927
$HUMID,53.26
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.82,32.184
$10V_AH,10.14,34.062
$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,47.250,12.975,65.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,393.438,60.322,142.088,553.814,81.909,0.000,367.525,0.000,325.512,0.000,0.540,0.000
$DEVICE_MAMPS,55.845,1263.780,1324.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.928,361.273,286.047,424.176,551.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,14300,133
$CAP_FILE_SIZE,29208,0
$CFSIZE,1024409600,962887680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,120810,6157.196,-17414.994,8,1.2,17,6.9,0.2,104.0,9,4.7