version: 66.13
glider: 401
mission: 22
dive: 1118
start: 8 15 117 22 1 16
data:
$ID,401
$MISSION,22
$DIVE,1118
$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,37
$R_STBD_OVSHOOT,64
$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
$GPS1,150817,214004,6152.4214,-17405.4141,6,0.8,17,6.9,0.0,203.6,10,5.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.6
$GPS2,150817,214004,6152.4214,-17405.4141,6,0.8,17,6.9,0.0,203.6,10,5.0
$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,291.4,16249,-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,-487.5,2399,1994,2347,4092,0.0,0.0,0,21,6.45,0.00,-3.00,0.000,20482,0.021,0.000,1770,1994,2667,2667,4095,0,0,0,0,0,0,26.08,28.83,26.11,10.31,52.52
$GC,25,-1.78,-487.5,1769,1994,2667,4095,0.1,0.0,1,33,0.00,0.00,-3.50,0.000,16646,0.000,0.000,1769,1994,3058,3058,4094,0,0,0,0,0,0,26.27,24.96,26.28,10.38,52.48
$GC,70,-1.78,-487.5,1769,1994,3060,4094,4.6,-13.5,7,80,0.00,0.93,0.00,0.000,260,0.000,0.048,1770,2339,3059,3059,4094,0,0,0,0,0,0,26.25,25.95,26.26,10.47,53.34
$GC,117,-1.78,-487.5,1769,2338,3060,4094,12.5,-17.6,13,126,0.00,0.95,0.00,0.000,1030,0.000,0.029,1769,1964,3060,3060,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.47,52.20
$GC,163,-1.78,-487.5,1769,1964,3062,4095,20.8,-18.0,19,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1964,3062,3062,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.48,52.24
$GC,209,-1.78,-487.5,1769,1964,3062,4095,27.4,-12.2,25,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1964,3063,3063,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.43,52.16
$GC,255,-1.78,-487.5,1768,1964,3064,4094,32.9,-12.4,31,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1964,3064,3064,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.40,50.74
$GC,300,-1.78,-487.5,1769,1964,3065,4094,38.6,-12.8,37,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1964,3065,3065,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.38,49.52
$GC,346,-1.78,-487.5,1769,1964,3066,4094,44.4,-12.3,43,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1964,3066,3066,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.37,48.26
$GC,391,-1.78,-487.5,1769,1964,3067,4094,50.4,-13.4,49,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1964,3067,3067,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.36,47.67
$GC,436,-1.78,-487.5,1769,1964,3068,4095,56.5,-13.3,55,445,0.00,1.12,0.00,0.000,516,0.000,0.049,1769,1517,3069,3069,4095,0,0,0,0,0,0,26.50,26.18,26.51,10.35,47.79
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,470,-0.45,0.0,1768,2105,3069,4095,60.0,-13.7,58,514,4.47,0.05,28.33,1.314,10244,0.055,0.079,2185,2153,2484,2484,4094,0,0,0,0,0,0,26.21,25.28,24.26,10.34,46.96
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,518,1.78,487.5,2185,2153,2484,4094,63.8,0.0,63,564,7.55,1.08,28.05,1.287,10500,0.033,0.051,2892,2552,1914,1914,4094,0,0,0,0,0,0,25.53,25.51,23.84,10.23,46.22
$GC,621,1.78,487.5,2891,2552,1913,4094,54.6,12.4,76,631,0.00,1.08,0.03,0.003,9222,0.000,0.026,2892,2131,1912,1912,4094,0,0,0,0,0,0,25.50,25.46,25.51,10.08,45.43
$GC,668,1.78,487.5,2891,2131,1912,4094,48.7,12.7,82,677,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1712,1911,1911,4094,0,0,0,0,0,0,25.84,25.52,25.84,10.07,45.98
$GC,762,1.78,487.5,2891,1711,1909,4094,36.9,13.1,95,770,0.00,0.93,0.00,0.000,1030,0.000,0.030,2893,2093,1908,1908,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.07,46.69
$GC,809,1.78,487.5,2892,2093,1907,4094,30.6,13.2,101,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2093,1907,1907,4095,0,0,0,0,0,0,26.10,26.12,26.11,10.06,46.61
$GC,856,1.78,487.5,2891,2093,1906,4095,24.6,12.9,107,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2093,1905,1905,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,46.69
$GC,903,1.86,542.6,2891,2093,1905,4094,19.5,9.7,113,913,0.17,0.00,4.25,0.500,10246,0.058,0.000,2917,2093,1851,1851,4094,0,0,0,0,0,0,25.99,25.72,24.91,10.12,48.22
$GC,952,1.98,624.7,2917,2093,1850,4094,15.0,9.3,119,963,0.32,1.00,5.90,0.574,10756,0.040,0.047,2956,1713,1755,1755,4094,0,0,0,0,0,0,26.01,25.77,24.95,10.14,50.47
$GC,1026,1.98,624.7,2955,1713,1753,4094,6.8,11.5,129,1036,0.00,0.95,0.00,0.000,1030,0.000,0.030,2956,2104,1752,1752,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.14,51.61
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.3,1.023861,121
$GC,1080,0.18,121.2,2956,2142,1751,4094,1.3,11.7,135,1099,5.72,0.00,-5.38,0.000,20486,0.024,0.000,2401,2143,2346,2346,4094,0,0,0,0,0,0,26.05,25.48,26.10,10.15,52.52
$FINISH2,0.1
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,213121
$TT8_MAMPS,0.025466,0.248668
$HUMID,53.30
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.84,31.197
$10V_AH,10.16,33.249
$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,24.700,11.250,66.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.514,0.000,126.813,568.335,75.429,0.000,363.321,0.000,333.515,0.000,0.542,0.000
$DEVICE_MAMPS,58.140,154.530,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.371,372.268,294.585,436.458,566.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,14396,137
$CAP_FILE_SIZE,28612,0
$CFSIZE,1024409600,964558848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,214004,6152.421,-17405.414,6,0.8,17,6.9,0.0,203.6,10,5.0