version: 66.13
glider: 401
mission: 22
dive: 1172
start: 8 16 117 19 40 32
data:
$ID,401
$MISSION,22
$DIVE,1172
$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,29
$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
$GPS1,160817,191944,6159.0112,-17421.9316,10,0.9,28,6.8,0.3,267.7,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-1.4
$GPS2,160817,191944,6159.0112,-17421.9316,10,0.9,28,6.8,0.3,267.7,9,4.9
$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,318.1,28718,-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,-487.5,2403,1950,2344,4092,0.0,0.0,0,28,6.53,0.00,-7.05,0.000,20486,0.025,0.000,1772,1950,3057,3057,4094,0,0,0,0,0,0,26.03,24.84,26.07,10.29,53.50
$GC,32,-1.78,-487.5,1772,1950,3057,4094,0.1,-1.8,2,40,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1950,3057,3057,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.43,53.50
$GC,78,-1.78,-487.5,1771,1950,3058,4095,5.8,-15.4,8,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1950,3058,3058,4095,0,0,0,0,0,0,26.22,26.24,26.23,10.44,53.30
$GC,124,-1.78,-487.5,1772,1950,3060,4095,14.1,-18.6,14,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1950,3060,3060,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.45,52.63
$GC,170,-1.78,-487.5,1772,1950,3061,4095,22.2,-16.9,20,178,0.00,1.08,0.00,0.000,516,0.000,0.051,1772,1524,3061,3061,4094,0,0,0,0,0,0,26.31,26.00,26.32,10.43,52.67
$GC,229,-1.78,-487.5,1771,1524,3062,4094,29.8,-13.0,28,238,0.00,1.02,0.00,0.000,1030,0.000,0.026,1772,1958,3063,3063,4094,0,0,0,0,0,0,26.14,26.12,26.12,10.38,51.49
$GC,276,-1.78,-487.5,1771,1958,3064,4094,35.3,-11.8,34,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1958,3064,3064,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.36,50.39
$GC,321,-1.78,-487.5,1772,1958,3065,4094,40.8,-12.2,40,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1958,3065,3065,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.35,49.33
$GC,366,-1.78,-487.5,1771,1958,3066,4095,46.4,-12.9,46,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1958,3066,3066,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.33,48.42
$GC,412,-1.78,-487.5,1772,1958,3067,4094,52.3,-12.9,52,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1958,3067,3067,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.33,48.74
$GC,458,-1.78,-487.5,1771,1958,3068,4094,58.2,-13.0,58,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1958,3068,3068,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.33,47.32
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,481,-0.45,0.0,1772,2146,3069,4094,60.7,-13.1,60,517,4.47,0.00,28.48,1.320,10244,0.056,0.000,2186,2146,2483,2483,4094,0,0,0,0,0,0,26.18,25.27,24.21,10.32,47.91
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,522,1.78,487.5,2186,2146,2484,4094,63.8,0.0,64,566,7.53,0.00,28.02,1.287,11270,0.033,0.000,2891,2146,1918,1918,4094,0,0,0,0,0,0,25.55,25.70,23.84,10.19,47.59
$GC,605,1.78,487.5,2890,2146,1917,4094,57.5,12.2,74,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2146,1917,1917,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.06,45.62
$GC,652,1.78,487.5,2890,2146,1915,4094,51.2,13.2,80,662,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1714,1915,1915,4094,0,0,0,0,0,0,25.75,25.46,25.76,10.06,46.06
$GC,718,1.78,487.5,2890,1714,1914,4094,42.3,13.1,89,728,0.00,1.00,0.00,0.000,1030,0.000,0.031,2891,2116,1913,1913,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.05,46.41
$GC,765,1.78,487.5,2890,2116,1913,4094,36.2,13.1,95,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2116,1912,1912,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.04,47.12
$GC,811,1.78,487.5,2890,2116,1910,4094,30.3,13.1,101,820,0.00,1.08,0.00,0.000,516,0.000,0.044,2891,1712,1911,1911,4094,0,0,0,0,0,0,26.07,25.77,26.08,10.04,46.57
$GC,956,2.03,652.6,2889,1711,1907,4094,14.8,8.1,122,975,0.62,0.95,9.80,0.699,11270,0.032,0.028,2959,2105,1722,1722,4094,0,0,0,0,0,0,26.01,25.97,24.88,10.11,49.88
$GC,1014,2.03,652.6,2959,2104,1722,4094,9.1,10.8,129,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2105,1721,1721,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.11,51.22
$GC,1061,2.03,652.6,2959,2105,1720,4094,3.7,11.5,135,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2105,1720,1720,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.11,52.08
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.3,1.023813,125
$GC,1087,0.19,124.6,2959,2150,1719,4094,1.3,11.6,137,1106,5.80,1.17,-5.80,0.000,20996,0.024,1.276,2400,1716,2342,2342,4094,0,0,0,0,0,0,26.01,24.59,26.06,10.12,52.79
$FINISH2,0.1
$STATE,1107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,180403
$TT8_MAMPS,0.026215,0.238182
$HUMID,52.91
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.84,32.778
$10V_AH,10.14,34.519
$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,24.950,8.375,66.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.247,0.414,128.159,577.995,78.317,0.000,370.668,0.000,339.189,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1276.020,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.729,377.676,298.885,443.207,575.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,14385,139
$CAP_FILE_SIZE,26675,0
$CFSIZE,1024409600,961904640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,191944,6159.011,-17421.932,10,0.9,28,6.8,0.3,267.7,9,4.9