version: 66.13
glider: 401
mission: 22
dive: 1116
start: 8 15 117 21 7 49
data:
$ID,401
$MISSION,22
$DIVE,1116
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,150817,202556,6151.4434,-17404.2852,13,0.9,42,6.9,0.8,296.3,9,4.9
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.2
$GPS2,150817,202556,6151.4434,-17404.2852,13,0.9,42,6.9,0.8,296.3,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$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,295.0,18009,-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,-487.5,2399,1980,2348,4092,0.0,0.0,0,21,6.47,0.00,-2.85,0.000,20482,0.025,0.000,1769,1983,2653,2653,4094,0,0,0,0,0,0,26.07,28.83,26.11,10.30,53.70
$GC,25,-1.78,-487.5,1769,1982,2652,4094,0.1,0.0,1,33,0.00,0.00,-3.83,0.000,16390,0.000,0.000,1769,1983,3057,3057,4094,0,0,0,0,0,0,26.27,24.97,26.29,10.37,53.74
$GC,71,-1.78,-487.5,1768,1982,3058,4094,0.7,-2.2,7,80,0.00,1.00,0.00,0.000,260,0.000,0.046,1769,2355,3058,3058,4095,0,0,0,0,0,0,26.25,25.95,26.27,10.45,53.15
$GC,137,-1.78,-487.5,1768,2355,3060,4095,11.1,-17.7,16,146,0.00,0.93,0.00,0.000,1030,0.000,0.030,1769,1988,3060,3060,4095,0,0,0,0,0,0,26.10,26.10,26.13,10.46,53.07
$GC,184,-1.78,-487.5,1768,1988,3061,4095,19.5,-18.4,22,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1988,3061,3061,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.46,52.83
$GC,230,-1.78,-487.5,1768,1987,3062,4094,26.4,-12.5,28,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1988,3063,3063,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.42,52.48
$GC,275,-1.78,-487.5,1768,1988,3064,4094,31.9,-11.9,34,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1988,3064,3064,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.39,52.24
$GC,321,-1.78,-487.5,1768,1987,3065,4094,37.8,-13.0,40,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1988,3065,3065,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.38,50.63
$GC,368,-1.78,-487.5,1768,1988,3066,4095,43.8,-13.2,46,377,0.00,1.20,0.00,0.000,516,0.000,0.051,1768,1516,3066,3066,4095,0,0,0,0,0,0,26.46,26.15,26.48,10.36,49.09
$GC,421,-1.78,-487.5,1768,1516,3067,4095,51.2,-14.0,53,430,0.00,1.02,0.00,0.000,1030,0.000,0.028,1769,1952,3067,3067,4094,0,0,0,0,0,0,26.27,26.25,26.30,10.35,48.07
$GC,468,-1.78,-487.5,1768,1952,3068,4094,57.8,-13.8,59,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1952,3069,3069,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.34,48.14
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,493,-0.45,0.0,1768,2142,3068,4095,60.4,-13.9,61,529,4.50,0.00,28.38,1.310,10244,0.056,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.22,25.32,24.27,10.34,47.36
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.78,487.5,2187,2142,2484,4094,63.7,0.0,65,578,7.53,0.00,27.98,1.280,11270,0.031,0.000,2891,2142,1918,1918,4095,0,0,0,0,0,0,25.58,25.74,23.85,10.20,47.00
$GC,617,1.78,487.5,2890,2142,1917,4095,57.2,11.9,75,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2143,1917,1917,4094,0,0,0,0,0,0,25.60,25.62,25.61,10.08,45.66
$GC,664,1.78,487.5,2890,2142,1915,4094,51.1,12.9,81,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2142,1915,1915,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.07,46.41
$GC,712,1.78,487.5,2890,2142,1914,4094,45.1,12.7,87,721,0.00,1.17,0.00,0.000,516,0.000,0.044,2891,1703,1914,1914,4095,0,0,0,0,0,0,25.91,25.61,25.92,10.07,46.45
$GC,777,1.78,487.5,2891,1703,1912,4095,36.4,13.0,96,786,0.00,1.02,0.00,0.000,1030,0.000,0.031,2891,2118,1912,1912,4095,0,0,0,0,0,0,25.82,25.77,25.83,10.06,46.96
$GC,823,1.78,487.5,2891,2117,1910,4095,30.5,12.5,102,833,0.00,1.23,0.00,0.000,260,0.000,0.057,2891,2568,1911,1911,4094,0,0,0,0,0,0,26.10,25.78,26.11,10.06,47.12
$GC,863,1.78,487.5,2891,2568,1910,4094,25.5,12.5,107,872,0.00,1.10,0.00,0.000,1030,0.000,0.028,2891,2126,1910,1910,4094,0,0,0,0,0,0,25.95,25.91,25.96,10.06,47.08
$GC,911,1.93,587.8,2890,2125,1908,4094,20.8,9.0,113,922,0.43,1.05,6.70,0.661,10756,0.037,0.047,2939,1716,1798,1798,4094,0,0,0,0,0,0,25.99,25.73,24.87,10.11,47.95
$GC,1018,1.93,587.8,2938,1715,1794,4094,9.3,10.9,128,1027,0.00,1.02,0.00,0.000,1030,0.000,0.030,2939,2134,1795,1795,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.15,51.85
$GC,1064,1.93,587.8,2938,2134,1794,4094,4.1,11.7,134,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2134,1794,1794,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.15,52.04
$STATE,1080,end climb,SURFACE_DEPTH_REACHED
$STATE,1080,begin surface coast
$FINISH,0.2,1.023880
$STATE,1095,end surface coast,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$SM_CCo,1197,0.00,0.000,0,0,1793,594.15
$SM_GC,1.09,28.38,0.47,0.00,0.020,0.039,0.000,230,1948,1793,-6.59,1.32,594.15,0,0,0,0,0,0,26.00,26.06,26.08
$IRIDIUM_FIX,6149.06,-17422.35,150817,201818
$TT8_MAMPS,0.025466,0.253162
$HUMID,52.87
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.85,31.127
$10V_AH,10.14,33.200
$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,47.300,12.250,63.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,398.308,59.608,146.986,574.424,82.375,0.000,379.681,0.000,337.374,0.000,0.540,0.000
$DEVICE_MAMPS,55.845,56.610,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.236,374.973,296.711,440.081,571.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,14304,138
$CAP_FILE_SIZE,29989,0
$CFSIZE,1024409600,964657152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,212837,6152.361,-17405.410,5,1.0,14,6.9,0.0,25.0,9,5.0