version: 66.13
glider: 401
mission: 22
dive: 1098
start: 8 15 117 13 40 24
data:
$ID,401
$MISSION,22
$DIVE,1098
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,150817,125747,6148.6562,-17357.1621,7,0.8,17,7.0,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.0
$GPS2,150817,125747,6148.6562,-17357.1621,7,0.8,17,7.0,0.0,0.0,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.362747,0.159293
$KALMAN_X,63617.152344,-624.337341,-250.207336,-263151.281250,167.527679
$KALMAN_Y,-72433.703125,3212.452881,1073.076050,352139.968750,-27.071411
$MHEAD_RNG_PITCHd_Wd,286.7,26028,-11.4,-10.526,-14.88,7019
$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,-1.77,-487.5,2400,1940,2350,4092,0.0,0.0,0,20,6.45,0.00,-2.00,0.000,20482,0.024,0.000,1773,1940,2562,2562,4094,0,0,0,0,0,0,26.07,28.83,26.11,10.29,54.44
$GC,24,-1.77,-487.5,1773,1940,2562,4094,0.0,0.0,1,34,0.00,1.15,-4.75,0.000,16900,0.000,1.278,1773,1516,3057,3057,4094,0,0,0,0,0,0,26.27,24.68,26.29,10.33,54.05
$GC,45,-1.77,-487.5,1773,1516,3057,4094,0.3,-0.8,3,54,0.00,1.02,0.00,0.000,1030,0.000,0.026,1774,1956,3057,3057,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.44,54.52
$GC,91,-1.77,-487.5,1773,1956,3058,4095,6.3,-15.1,9,100,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3059,3059,4094,0,0,0,0,0,0,26.27,26.27,26.27,10.44,53.78
$GC,137,-1.77,-487.5,1773,1956,3059,4094,14.7,-18.8,15,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3060,3060,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.45,53.15
$GC,183,-1.77,-487.5,1773,1956,3061,4095,22.9,-18.3,21,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3062,3062,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.43,53.38
$GC,230,-1.77,-487.5,1773,1956,3062,4095,28.9,-11.9,27,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3062,3062,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.38,52.28
$GC,276,-1.77,-487.5,1773,1957,3064,4094,34.3,-11.9,33,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3064,3064,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.36,51.22
$GC,324,-1.77,-487.5,1773,1957,3064,4094,40.1,-12.5,39,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3064,3064,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.35,49.37
$GC,370,-1.77,-487.5,1773,1956,3066,4094,46.1,-12.7,45,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3066,3066,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.34,49.05
$GC,416,-1.77,-487.5,1772,1956,3067,4095,52.0,-13.0,51,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3067,3067,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.33,48.07
$GC,463,-1.77,-487.5,1772,1957,3068,4095,58.1,-13.1,57,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3068,3068,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.33,48.42
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,486,-0.45,0.0,1773,2137,3068,4095,60.9,-13.3,59,529,4.45,0.00,28.40,1.317,10244,0.056,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.20,25.18,24.25,10.32,47.83
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.77,487.5,2186,2137,2484,4094,64.2,0.0,64,579,7.50,1.12,27.98,1.291,10500,0.033,0.053,2889,2556,1918,1918,4095,0,0,0,0,0,0,25.53,25.48,23.84,10.19,47.16
$GC,636,1.77,487.5,2889,2556,1916,4095,54.9,13.2,77,645,0.00,1.08,0.00,0.000,1030,0.000,0.027,2889,2133,1916,1916,4094,0,0,0,0,0,0,25.48,25.46,25.50,10.06,45.82
$GC,683,1.77,487.5,2889,2132,1915,4094,49.0,12.5,83,691,0.00,1.08,0.00,0.000,516,0.000,0.047,2890,1718,1914,1914,4094,0,0,0,0,0,0,25.82,25.53,25.83,10.05,46.06
$GC,800,1.77,487.5,2889,1718,1911,4094,33.8,13.2,100,809,0.00,0.90,0.00,0.000,1030,0.000,0.030,2890,2091,1911,1911,4094,0,0,0,0,0,0,25.84,25.80,25.88,10.04,47.24
$GC,847,1.77,487.5,2889,2090,1910,4094,27.9,12.6,106,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2091,1910,1910,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.04,47.44
$GC,894,1.77,487.5,2889,2090,1908,4094,22.2,12.3,112,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2090,1908,1908,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.04,47.28
$GC,941,2.03,656.5,2889,2090,1907,4094,18.1,8.1,118,960,0.80,0.00,9.88,0.731,10246,0.030,0.000,2976,2091,1721,1721,4094,0,0,0,0,0,0,26.02,25.41,24.86,10.10,49.21
$GC,999,2.03,656.5,2976,2090,1720,4094,12.0,11.6,125,1008,0.00,0.98,0.00,0.000,516,0.000,0.048,2976,1717,1720,1720,4094,0,0,0,0,0,0,26.14,25.83,26.15,10.10,50.94
$GC,1058,2.03,656.5,2976,1717,1718,4094,4.6,12.4,133,1066,0.00,0.85,0.00,0.000,1030,0.000,0.030,2976,2074,1718,1718,4094,0,0,0,0,0,0,26.00,25.96,26.01,10.11,51.81
$STATE,1080,end climb,SURFACE_DEPTH_REACHED
$STATE,1080,begin surface coast
$FINISH,0.2,1.023884
$STATE,1096,end surface coast,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$SM_CCo,1198,0.00,0.000,0,0,1716,660.26
$SM_GC,0.94,28.58,0.30,0.00,0.019,0.052,0.000,238,1956,1716,-6.55,1.64,660.26,0,0,0,0,0,0,26.06,26.01,26.09
$IRIDIUM_FIX,6149.06,-17422.35,150817,114445
$TT8_MAMPS,0.025466,0.257656
$HUMID,53.58
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.84,30.565
$10V_AH,10.13,32.774
$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,47.775,9.425,66.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,396.491,60.178,154.481,569.281,81.894,33.420,390.505,0.000,336.527,0.000,0.539,0.000
$DEVICE_MAMPS,55.845,1278.315,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.202,374.923,296.760,439.943,566.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,14476,138
$CAP_FILE_SIZE,29686,0
$CFSIZE,1024409600,965541888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,140131,6149.032,-17357.764,5,0.9,31,7.0,0.0,177.3,9,4.8