version: 66.13
glider: 401
mission: 22
dive: 1179
start: 8 16 117 22 26 30
data:
$ID,401
$MISSION,22
$DIVE,1179
$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,17
$R_STBD_OVSHOOT,25
$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,-0.04
$_SM_ANGLEo,-1.0
$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,-487.5,2400,1967,2344,4092,0.0,0.0,0,24,6.47,0.00,-6.07,0.000,20482,0.022,0.000,1772,1967,2985,2985,4094,0,0,0,0,0,0,26.04,28.83,26.08,10.29,52.95
$GC,28,-1.78,-487.5,1771,1967,2985,4094,0.3,-5.4,2,35,0.00,1.20,-0.60,0.000,16900,0.000,1.277,1771,1515,3058,3058,4094,0,0,0,0,0,0,26.26,24.60,26.17,10.42,53.50
$GC,122,-1.78,-487.5,1771,1515,3061,4094,15.8,-19.4,17,129,0.00,1.05,0.00,0.000,1030,0.000,0.029,1771,1945,3061,3061,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.45,53.46
$GC,162,-1.78,-487.5,1771,1945,3062,4095,23.2,-18.2,23,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3062,3062,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.44,53.15
$GC,201,-1.78,-487.5,1771,1945,3063,4094,28.6,-14.0,29,207,0.00,1.12,0.00,0.000,516,0.000,0.051,1772,1515,3063,3063,4094,0,0,0,0,0,0,26.32,26.01,26.33,10.40,51.81
$GC,240,-1.78,-487.5,1771,1514,3064,4094,34.3,-14.3,35,247,0.00,1.05,0.00,0.000,1030,0.000,0.027,1772,1958,3064,3064,4095,0,0,0,0,0,0,26.14,26.10,26.15,10.38,51.77
$GC,280,-1.78,-487.5,1771,1958,3065,4095,39.3,-12.7,41,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1958,3065,3065,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.36,50.43
$GC,319,-1.78,-487.5,1771,1958,3066,4095,44.1,-12.0,47,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1958,3066,3066,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.34,49.33
$GC,357,-1.78,-487.5,1771,1957,3067,4095,49.2,-13.7,53,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1958,3067,3067,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.33,49.29
$GC,396,-1.78,-487.5,1770,1958,3068,4095,54.6,-13.5,59,403,0.00,1.08,0.00,0.000,260,0.000,0.047,1771,2367,3068,3068,4094,0,0,0,0,0,0,26.44,26.13,26.46,10.33,48.42
$GC,429,-1.78,-487.5,1771,2367,3069,4094,59.0,-13.1,64,436,0.00,1.08,0.00,0.000,1030,0.000,0.030,1772,1942,3070,3070,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.32,48.34
$STATE,441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,449,-0.45,0.0,1771,2141,3070,4095,60.8,-12.3,66,485,4.47,0.00,28.42,1.321,10244,0.055,0.000,2184,2141,2484,2484,4095,0,0,0,0,0,0,26.15,25.25,24.18,10.32,47.91
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,490,1.78,487.5,2184,2141,2484,4095,63.7,0.0,72,532,7.53,1.12,28.02,1.291,10500,0.032,0.053,2891,2554,1916,1916,4095,0,0,0,0,0,0,25.46,25.39,23.78,10.20,47.71
$GC,577,1.78,487.5,2890,2553,1914,4095,56.3,12.4,86,585,0.00,1.08,0.03,0.005,9222,0.000,0.027,2891,2132,1914,1914,4095,0,0,0,0,0,0,25.39,25.36,25.40,10.06,46.18
$GC,618,1.78,487.5,2890,2132,1913,4095,51.0,13.3,92,624,0.00,1.10,0.00,0.000,516,0.000,0.046,2891,1713,1913,1913,4094,0,0,0,0,0,0,25.73,25.44,25.74,10.06,46.33
$GC,705,1.78,487.5,2890,1713,1911,4094,39.5,13.5,106,712,0.00,0.98,0.00,0.000,1030,0.000,0.029,2891,2109,1911,1911,4094,0,0,0,0,0,0,25.73,25.70,25.75,10.05,46.81
$GC,745,1.78,487.5,2890,2108,1910,4094,34.1,14.0,112,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.04,47.00
$GC,783,1.78,487.5,2891,2108,1908,4094,29.0,13.4,118,790,0.00,1.23,0.00,0.000,260,0.000,0.054,2891,2559,1908,1908,4094,0,0,0,0,0,0,26.07,25.75,26.08,10.04,47.08
$GC,823,1.90,570.8,2890,2558,1907,4094,24.9,9.3,124,837,0.32,1.12,5.82,0.665,11270,0.032,0.028,2935,2104,1818,1818,4094,0,0,0,0,0,0,25.91,25.88,24.72,10.05,47.55
$GC,871,2.07,683.0,2935,2104,1818,4094,20.6,8.9,131,884,0.43,1.00,7.55,0.702,10756,0.033,0.050,2985,1722,1687,1687,4094,0,0,0,0,0,0,25.89,25.60,24.72,10.05,48.30
$GC,972,2.27,817.4,2984,1722,1685,4094,12.1,8.5,147,986,0.60,0.88,8.57,0.648,11270,0.034,0.026,3051,2098,1529,1529,4094,0,0,0,0,0,0,25.90,25.91,24.82,10.09,51.37
$GC,1019,2.27,817.4,3049,2098,1529,4094,7.2,10.7,154,1026,0.00,1.20,0.00,0.000,260,0.000,0.048,3051,2547,1527,1527,4094,0,0,0,0,0,0,26.08,25.77,26.09,10.07,52.00
$STATE,1067,end climb,SURFACE_DEPTH_REACHED
$STATE,1067,begin surface coast
$FINISH,0.1,1.023794
$STATE,1080,end surface coast,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$SM_CCo,1185,0.00,0.000,0,0,1526,824.26
$SM_GC,0.43,29.60,1.55,0.00,0.021,0.036,0.000,241,1967,1526,-6.55,1.82,824.26,0,0,0,0,0,0,25.95,25.86,26.00
$IRIDIUM_FIX,6149.06,-17422.35,160817,202451
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.54
$INTERNAL_PRESSURE,10.043
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.78,32.977
$10V_AH,10.38,34.677
$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,49.425,19.925,78.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.250,313.865,181.920,238.160,80.472,0.000,363.009,0.000,247.084,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1276.785,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,10797,164
$CAP_FILE_SIZE,32950,0
$CFSIZE,1024409600,961544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,224753,6201.647,-17425.445,37,0.9,59,6.8,0.0,26.0,9,5.0