version: 66.13
glider: 401
mission: 22
dive: 1178
start: 8 16 117 22 4 55
data:
$ID,401
$MISSION,22
$DIVE,1178
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,160817,214340,6200.7432,-17424.5957,4,0.9,28,6.8,0.0,359.4,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-2.7
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.78,-487.5,2404,1972,2343,4092,0.0,0.0,0,28,6.40,0.00,-7.07,0.000,20486,0.026,0.000,1788,1972,3056,3056,4094,0,0,0,0,0,0,26.03,24.85,26.08,10.30,53.54
$GC,32,-1.78,-487.5,1788,1972,3056,4094,-0.1,0.2,2,41,0.00,1.15,0.00,0.000,516,0.000,0.060,1788,1536,3056,3056,4095,0,0,0,0,0,0,26.18,25.87,26.20,10.45,53.07
$GC,138,-1.78,-487.5,1787,1536,3058,4095,10.9,-17.1,17,148,0.00,0.95,0.00,0.000,1030,0.000,0.028,1788,1938,3059,3059,4094,0,0,0,0,0,0,26.09,26.07,26.08,10.45,52.63
$GC,187,-1.78,-487.5,1787,1937,3060,4094,19.5,-18.3,23,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1938,3060,3060,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.46,52.36
$GC,234,-1.78,-487.5,1787,1939,3061,4095,26.1,-12.9,29,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1939,3061,3061,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.41,52.48
$GC,282,-1.78,-487.5,1787,1940,3062,4095,31.8,-11.8,35,291,0.00,1.05,0.00,0.000,516,0.000,0.050,1788,1534,3062,3062,4095,0,0,0,0,0,0,26.40,26.09,26.41,10.38,51.61
$GC,420,-1.78,-487.5,1787,1533,3065,4095,46.9,-11.8,55,430,0.00,0.98,0.00,0.000,1030,0.000,0.026,1788,1955,3065,3065,4094,0,0,0,0,0,0,26.28,26.25,26.27,10.34,47.99
$GC,467,-1.78,-487.5,1787,1955,3066,4094,52.4,-11.7,61,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1956,3066,3066,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,47.63
$GC,515,-1.78,-487.5,1787,1955,3067,4094,57.7,-11.6,67,524,0.00,1.10,0.00,0.000,516,0.000,0.049,1787,1530,3067,3067,4095,0,0,0,0,0,0,26.52,26.21,26.53,10.33,47.16
$STATE,532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,532,begin apogee
$GC,541,-0.45,0.0,1787,2128,3068,4094,60.2,-11.8,69,577,4.28,0.00,28.33,1.314,10244,0.054,0.000,2185,2128,2484,2484,4094,0,0,0,0,0,0,26.22,25.32,24.25,10.33,47.28
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,579,begin climb
$GC,582,1.78,487.5,2185,2128,2484,4094,63.0,0.0,73,627,7.57,1.17,27.90,1.284,10500,0.034,0.054,2891,2565,1919,1919,4094,0,0,0,0,0,0,25.51,25.45,23.82,10.20,46.69
$GC,850,1.78,487.5,2891,2565,1913,4094,34.0,12.8,111,859,0.00,1.05,0.00,0.000,1030,0.000,0.028,2892,2142,1913,1913,4094,0,0,0,0,0,0,25.86,25.82,25.86,10.05,46.92
$GC,897,1.78,487.5,2891,2141,1912,4094,28.2,12.2,117,906,0.00,1.17,0.00,0.000,260,0.000,0.052,2892,2565,1912,1912,4094,0,0,0,0,0,0,26.12,25.79,26.13,10.05,47.24
$GC,937,1.78,487.5,2892,2565,1911,4094,23.7,11.0,122,946,0.00,0.90,0.00,0.000,1030,0.000,0.027,2892,2189,1911,1911,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.05,47.48
$GC,985,1.94,597.6,2891,2187,1910,4094,19.2,8.9,128,1005,0.47,1.20,7.25,0.679,10756,0.035,0.047,2944,1723,1787,1787,4095,0,0,0,0,0,0,26.01,25.72,24.84,10.10,48.42
$GC,1062,2.12,718.3,2944,1722,1785,4095,12.3,8.7,138,1080,0.52,1.20,7.85,0.634,11270,0.025,0.031,3000,2200,1647,1647,4094,0,0,0,0,0,0,25.94,25.94,24.89,10.11,51.65
$GC,1119,2.17,749.0,2999,2200,1646,4094,6.9,10.1,145,1130,0.10,0.95,3.28,0.317,10500,0.076,0.054,3018,2571,1613,1613,4094,0,0,0,0,0,0,25.96,25.48,24.96,10.10,51.57
$STATE,1158,end climb,FINISH_DEPTH_REACHED
$STATE,1158,begin subsurface finish
$FINISH1,2.0,1.023802,125
$GC,1168,0.19,125.4,3018,2142,1611,4094,2.0,11.9,150,1187,6.38,1.25,-6.82,0.000,20740,0.021,1.276,2401,2568,2344,2344,4095,0,0,0,0,0,0,25.98,24.53,26.02,10.11,51.77
$FINISH2,0.1
$STATE,1188,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1188,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,202451
$TT8_MAMPS,0.026215,0.251664
$HUMID,52.28
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,32.952
$10V_AH,10.13,34.667
$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,25.725,17.275,74.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,421.634,0.000,120.848,634.231,71.349,0.000,357.398,0.000,369.364,0.000,0.541,0.000
$DEVICE_MAMPS,76.500,1276.020,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.325,412.967,326.888,484.805,632.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,14366,152
$CAP_FILE_SIZE,27006,0
$CFSIZE,1024409600,961609728
$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