version: 66.13
glider: 401
mission: 22
dive: 1167
start: 8 16 117 17 39 27
data:
$ID,401
$MISSION,22
$DIVE,1167
$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,32
$R_STBD_OVSHOOT,54
$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
$GPS1,160817,165911,6158.0381,-17418.9297,10,0.9,15,6.8,0.0,285.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.5
$GPS2,160817,165911,6158.0381,-17418.9297,10,0.9,15,6.8,0.0,285.9,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W13N
$TGT_LATLONG,6211.700,-17441.039
$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,316.2,31702,-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,-487.5,2403,1974,2345,4092,0.0,0.0,0,24,6.53,0.00,-5.60,0.000,20482,0.023,0.000,1773,1974,2914,2914,4095,0,0,0,0,0,0,26.03,28.83,26.09,10.28,53.42
$GC,28,-1.78,-487.5,1773,1974,2915,4095,0.0,-0.9,2,36,0.00,1.20,-1.40,0.000,16900,0.000,1.275,1773,1527,3057,3057,4095,0,0,0,0,0,0,26.27,24.62,26.23,10.40,52.91
$GC,110,-1.78,-487.5,1772,1527,3060,4095,11.6,-18.8,15,117,0.00,0.95,0.00,0.000,1030,0.000,0.028,1773,1927,3059,3059,4094,0,0,0,0,0,0,26.05,26.02,26.07,10.44,53.11
$GC,150,-1.78,-487.5,1772,1927,3061,4094,19.1,-19.6,21,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1927,3061,3061,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.44,52.95
$GC,189,-1.78,-487.5,1772,1927,3062,4095,25.4,-14.2,27,195,0.00,1.17,0.00,0.000,260,0.000,0.047,1773,2371,3062,3062,4095,0,0,0,0,0,0,26.32,26.02,26.34,10.40,52.55
$GC,240,-1.78,-487.5,1772,2372,3063,4095,31.8,-12.2,35,247,0.00,1.02,0.00,0.000,1030,0.000,0.030,1773,1969,3064,3064,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.38,51.81
$GC,280,-1.78,-487.5,1772,1969,3064,4095,36.6,-12.2,41,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1969,3064,3064,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.36,51.29
$GC,319,-1.78,-487.5,1772,1968,3065,4094,41.5,-12.5,47,325,0.00,1.15,0.00,0.000,516,0.000,0.051,1773,1518,3066,3066,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.35,49.80
$GC,364,-1.78,-487.5,1772,1517,3066,4095,47.5,-13.3,54,371,0.00,1.02,0.00,0.000,1030,0.000,0.028,1773,1952,3066,3066,4094,0,0,0,0,0,0,26.22,26.20,26.24,10.33,48.54
$GC,404,-1.78,-487.5,1772,1952,3067,4094,52.7,-13.1,60,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1952,3067,3067,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.32,48.54
$GC,442,-1.78,-487.5,1772,1952,3067,4094,58.0,-13.3,66,449,0.00,1.10,0.00,0.000,260,0.000,0.047,1773,2370,3068,3068,4094,0,0,0,0,0,0,26.47,26.17,26.48,10.31,48.07
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,460,begin apogee
$GC,469,-0.45,0.0,1772,2107,3069,4094,60.8,-13.6,69,505,4.47,0.00,28.35,1.320,10244,0.056,0.000,2185,2106,2484,2484,4094,0,0,0,0,0,0,26.17,25.27,24.20,10.31,48.50
$STATE,506,end apogee,CONTROL_FINISHED_OK
$STATE,506,begin climb
$GC,509,1.78,487.5,2185,2106,2483,4094,63.6,0.0,75,551,7.57,0.00,27.98,1.288,11270,0.033,0.000,2891,2106,1915,1915,4094,0,0,0,0,0,0,25.54,25.70,23.80,10.18,47.71
$GC,584,1.78,487.5,2890,2105,1914,4094,57.6,12.4,87,591,0.00,1.27,0.00,0.000,260,0.000,0.052,2891,2561,1915,1915,4094,0,0,0,0,0,0,25.52,25.23,25.53,10.06,46.73
$GC,624,1.78,487.5,2891,2560,1914,4094,52.3,13.7,93,630,0.00,1.02,0.00,0.000,1030,0.000,0.026,2891,2152,1914,1914,4095,0,0,0,0,0,0,25.51,25.48,25.52,10.05,46.33
$GC,663,1.78,487.5,2891,2151,1912,4095,47.0,12.7,99,670,0.00,1.12,0.00,0.000,516,0.000,0.046,2891,1718,1912,1912,4094,0,0,0,0,0,0,25.81,25.51,25.82,10.05,46.33
$GC,805,1.78,487.5,2890,1718,1908,4094,28.6,13.3,122,811,0.00,0.95,0.00,0.000,1030,0.000,0.029,2891,2106,1908,1908,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.03,47.48
$GC,845,1.78,487.5,2890,2105,1907,4094,23.6,12.4,128,851,0.00,1.25,0.00,0.000,260,0.000,0.055,2891,2564,1907,1907,4094,0,0,0,0,0,0,26.13,25.81,26.14,10.04,48.38
$GC,878,1.78,487.5,2891,2564,1907,4094,20.0,10.7,133,885,0.00,1.12,0.00,0.000,1030,0.000,0.028,2891,2114,1906,1906,4094,0,0,0,0,0,0,25.95,25.93,25.97,10.07,48.18
$GC,918,1.97,618.7,2891,2114,1905,4094,16.6,8.6,139,932,0.57,1.02,8.07,0.686,10756,0.033,0.048,2953,1716,1762,1762,4094,0,0,0,0,0,0,25.98,25.71,24.85,10.11,49.48
$GC,1019,1.97,618.7,2952,1715,1759,4094,5.8,11.2,155,1025,0.00,0.95,0.00,0.000,1030,0.000,0.029,2953,2107,1759,1759,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.12,52.52
$STATE,1049,end climb,SURFACE_DEPTH_REACHED
$STATE,1049,begin surface coast
$FINISH,0.5,1.023814
$STATE,1062,end surface coast,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$SM_CCo,1165,0.00,0.000,0,0,1757,625.06
$SM_GC,0.87,28.55,0.40,0.00,0.021,0.045,0.000,237,1946,1757,-6.55,1.41,625.06,0,0,0,0,0,0,26.05,26.01,26.09
$IRIDIUM_FIX,6149.06,-17422.35,160817,154352
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.78
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.80,32.624
$10V_AH,10.37,34.393
$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,47.700,17.925,64.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.489,318.549,166.097,234.913,76.754,0.000,341.563,0.000,244.151,0.000,0.541,0.000
$DEVICE_MAMPS,55.845,1275.255,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10777,162
$CAP_FILE_SIZE,31256,0
$CFSIZE,1024409600,962150400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,175946,6158.494,-17420.197,6,0.8,16,6.8,0.0,287.3,10,4.9