version: 66.13
glider: 401
mission: 22
dive: 1177
start: 8 16 117 21 44 15
data:
$ID,401
$MISSION,22
$DIVE,1177
$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,43
$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
$GPS1,160817,213514,6200.6865,-17424.5820,3,0.8,30,6.8,0.5,20.7,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-35.7
$GPS2,160817,214340,6200.7432,-17424.5957,4,0.9,28,6.8,0.0,359.4,10,4.7
$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,318.2,24771,-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,-487.5,238,1975,1634,4092,0.0,0.0,0,18,6.15,0.00,0.00,0.000,2049,0.094,0.000,758,1975,1634,1634,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.18,51.37
$GC,22,-1.78,-487.5,757,1975,1634,4094,0.5,0.0,1,53,10.90,1.25,-13.93,0.000,18948,0.048,1.283,1763,1527,3056,3056,4095,0,0,0,0,0,0,25.90,24.49,25.97,10.18,51.37
$GC,170,-1.78,-487.5,1763,1525,3059,4095,13.6,-18.5,25,177,0.00,0.98,0.00,0.000,1030,0.000,0.028,1763,1938,3059,3059,4095,0,0,0,0,0,0,26.04,26.02,26.06,10.50,51.18
$GC,210,-1.78,-487.5,1763,1937,3060,4095,20.8,-18.0,31,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1938,3061,3061,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.50,50.47
$GC,249,-1.78,-487.5,1763,1937,3062,4095,26.4,-13.1,37,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1938,3062,3062,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.46,50.70
$GC,287,-1.78,-487.5,1763,1939,3062,4094,31.4,-12.6,43,294,0.00,1.08,0.00,0.000,516,0.000,0.048,1764,1522,3062,3062,4094,0,0,0,0,0,0,26.34,26.04,26.36,10.42,49.17
$GC,333,-1.78,-487.5,1763,1523,3064,4094,37.0,-12.0,50,339,0.00,1.00,0.00,0.000,1030,0.000,0.025,1763,1952,3064,3064,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.39,48.38
$GC,372,-1.78,-487.5,1763,1952,3064,4094,41.8,-12.0,56,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3064,3064,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.38,47.51
$GC,411,-1.78,-487.5,1763,1952,3066,4095,46.7,-12.8,62,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3066,3066,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,47.00
$GC,450,-1.78,-487.5,1762,1952,3066,4095,51.9,-13.7,68,457,0.00,1.08,0.00,0.000,260,0.000,0.044,1763,2366,3066,3066,4095,0,0,0,0,0,0,26.45,26.15,26.46,10.36,46.96
$GC,483,-1.78,-487.5,1763,2366,3067,4095,56.3,-13.2,73,490,0.00,1.02,0.00,0.000,1030,0.000,0.029,1763,1954,3067,3067,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.36,45.94
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,513,begin apogee
$GC,522,-0.45,0.0,1763,2135,3067,4095,60.6,-12.7,78,558,4.57,0.00,28.33,1.314,10244,0.056,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.17,25.27,24.21,10.35,45.70
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,562,1.78,487.5,2186,2135,2484,4094,63.5,0.0,84,605,7.43,1.12,28.05,1.284,10500,0.031,0.050,2891,2556,1915,1915,4094,0,0,0,0,0,0,25.47,25.42,23.80,10.23,45.78
$GC,670,1.78,487.5,2891,2556,1913,4094,53.3,12.9,101,677,0.00,1.05,0.00,0.000,1030,0.000,0.025,2892,2136,1913,1913,4095,0,0,0,0,0,0,25.48,25.46,25.50,10.09,45.11
$GC,710,1.78,487.5,2891,2135,1912,4095,47.5,14.3,107,717,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1723,1912,1912,4095,0,0,0,0,0,0,25.79,25.51,25.81,10.08,44.95
$GC,804,1.78,487.5,2891,1723,1909,4095,34.7,13.6,122,810,0.00,0.93,0.00,0.000,1030,0.000,0.029,2892,2102,1909,1909,4094,0,0,0,0,0,0,25.79,25.75,25.80,10.07,46.41
$GC,843,1.78,487.5,2891,2102,1908,4094,29.3,13.9,128,850,0.00,1.25,0.00,0.000,260,0.000,0.054,2891,2563,1908,1908,4094,0,0,0,0,0,0,26.06,25.75,26.07,10.07,45.74
$GC,901,1.78,487.5,2891,2563,1906,4094,22.2,11.8,137,907,0.00,1.05,0.00,0.000,1030,0.000,0.026,2892,2135,1906,1906,4094,0,0,0,0,0,0,25.93,25.91,25.95,10.08,46.65
$GC,940,1.91,574.6,2891,2135,1905,4094,18.3,9.2,143,954,0.35,1.05,5.90,0.618,10756,0.039,0.044,2933,1726,1813,1813,4094,0,0,0,0,0,0,25.97,25.41,24.84,10.11,47.48
$STATE,1105,end climb,FINISH_DEPTH_REACHED
$STATE,1105,begin subsurface finish
$FINISH1,1.9,1.023796,126
$GC,1115,0.19,125.8,2933,2145,1809,4094,1.9,11.1,170,1135,5.80,1.15,-5.00,0.000,20996,0.061,1.277,2404,1726,2343,2343,4094,0,0,0,0,0,0,26.02,24.63,26.08,10.16,52.32
$FINISH2,-0.0
$STATE,1136,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1136,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,202451
$TT8_MAMPS,0.026215,0.133322
$HUMID,53.58
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.80,32.927
$10V_AH,10.34,34.633
$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,35.200,16.575,62.275,0.000,0.000,22.200,18.558,265.317,0.000,0.000,29.997,449.969,273.420,154.289,557.231,220.901,0.000,342.840,0.000,261.367,0.000,0.542,0.000
$DEVICE_MAMPS,94.095,1282.905,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,14287,173
$CAP_FILE_SIZE,33021,0
$CFSIZE,1024409600,961642496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,214340,6200.743,-17424.596,4,0.9,28,6.8,0.0,359.4,10,4.7