version: 66.13
glider: 401
mission: 22
dive: 1174
start: 8 16 117 20 30 46
data:
$ID,401
$MISSION,22
$DIVE,1174
$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,21
$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
$GPS1,160817,202202,6159.7612,-17423.3984,35,0.8,42,6.8,0.0,303.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-38.8
$GPS2,160817,203011,6159.8057,-17423.4824,4,0.8,17,6.8,0.0,121.7,9,5.0
$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,318.7,26745,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,238,1961,1700,4092,0.0,0.0,0,21,9.02,0.00,0.00,0.000,2049,0.091,0.000,1006,1961,1700,1700,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,52.08
$GC,25,-1.78,-487.5,1006,1961,1700,4094,0.6,0.0,1,52,8.23,1.23,-13.25,0.000,18948,0.048,1.278,1762,1517,3055,3055,4095,0,0,0,0,0,0,25.87,24.50,25.96,10.19,52.16
$GC,229,-1.78,-487.5,1762,1517,3060,4095,26.8,-14.2,30,238,0.00,1.05,0.00,0.000,1030,0.000,0.026,1762,1960,3061,3061,4095,0,0,0,0,0,0,26.10,26.07,26.14,10.43,50.82
$GC,276,-1.78,-487.5,1762,1960,3062,4095,33.3,-13.6,36,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3062,3062,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.40,49.29
$GC,322,-1.78,-487.5,1762,1960,3063,4095,39.1,-12.8,42,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,48.26
$GC,367,-1.78,-487.5,1762,1961,3064,4095,45.0,-13.2,48,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.37,47.32
$GC,412,-1.78,-487.5,1762,1961,3065,4095,50.9,-13.3,54,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3065,3065,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,46.92
$GC,458,-1.78,-487.5,1762,1961,3066,4095,57.1,-13.6,60,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.47,10.35,46.37
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,490,-0.45,0.0,1762,2141,3066,4094,60.8,-13.8,63,527,4.57,0.00,28.42,1.326,10244,0.055,0.000,2186,2141,2484,2484,4095,0,0,0,0,0,0,26.17,25.25,24.18,10.35,45.98
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.78,487.5,2186,2140,2484,4095,64.5,0.0,67,576,7.57,0.00,28.00,1.294,11270,0.033,0.000,2893,2141,1919,1919,4094,0,0,0,0,0,0,25.53,25.68,23.80,10.22,45.94
$GC,615,1.78,487.5,2892,2140,1918,4094,57.9,12.4,77,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2141,1918,1918,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.09,44.29
$GC,662,1.78,487.5,2892,2140,1917,4094,51.8,13.0,83,671,0.00,1.15,0.00,0.000,516,0.000,0.044,2893,1707,1916,1916,4094,0,0,0,0,0,0,25.75,25.46,25.75,10.09,44.72
$GC,747,1.78,487.5,2892,1707,1914,4094,40.5,13.1,95,756,0.00,1.00,0.00,0.000,1030,0.000,0.029,2893,2112,1914,1914,4094,0,0,0,0,0,0,25.72,25.70,25.74,10.07,45.39
$GC,794,1.78,487.5,2892,2112,1912,4094,34.4,13.2,101,803,0.00,1.25,0.00,0.000,260,0.000,0.054,2893,2572,1912,1912,4095,0,0,0,0,0,0,26.03,25.75,26.04,10.07,45.51
$GC,841,1.78,487.5,2892,2571,1911,4095,28.3,12.9,107,851,0.00,1.10,0.03,0.002,9222,0.000,0.026,2893,2127,1911,1911,4094,0,0,0,0,0,0,25.90,25.87,25.91,10.07,46.06
$GC,888,1.78,487.5,2893,2127,1910,4094,22.9,11.1,113,897,0.00,1.05,0.00,0.000,516,0.000,0.046,2893,1719,1910,1910,4094,0,0,0,0,0,0,26.15,25.85,26.17,10.08,46.77
$GC,1074,1.88,556.7,2892,1719,1905,4094,6.6,9.5,140,1084,0.25,0.90,4.95,0.473,11270,0.042,0.030,2925,2096,1833,1833,4094,0,0,0,0,0,0,26.08,26.06,25.10,10.17,51.45
$STATE,1120,end climb,FINISH_DEPTH_REACHED
$STATE,1120,begin subsurface finish
$FINISH1,1.5,1.023813,125
$GC,1130,0.19,124.6,2925,2144,1832,4094,1.5,10.5,146,1148,5.43,1.17,-4.82,0.000,20996,0.026,1.279,2402,1718,2342,2342,4094,0,0,0,0,0,0,26.08,24.64,26.13,10.17,52.59
$FINISH2,0.1
$STATE,1149,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1149,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,191405
$TT8_MAMPS,0.025466,0.255409
$HUMID,52.44
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.80,32.841
$10V_AH,10.11,34.569
$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,35.075,10.400,61.400,0.000,0.000,26.040,22.939,250.641,0.000,0.000,18.605,414.884,0.000,115.640,911.659,211.656,0.000,347.651,0.000,362.026,0.000,0.542,0.000
$DEVICE_MAMPS,91.035,1279.080,1325.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.359,402.099,318.210,471.993,612.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,14376,148
$CAP_FILE_SIZE,29933,0
$CFSIZE,1024409600,961806336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,203011,6159.806,-17423.482,4,0.8,17,6.8,0.0,121.7,9,5.0