version: 66.13
glider: 401
mission: 22
dive: 1119
start: 8 15 117 22 21 19
data:
$ID,401
$MISSION,22
$DIVE,1119
$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,26
$R_STBD_OVSHOOT,31
$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,0.07
$_SM_ANGLEo,-1.3
$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,-487.5,2401,1951,2346,4092,0.0,0.0,0,18,6.47,0.00,-0.20,0.000,20482,0.024,0.000,1773,1950,2367,2367,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.30,53.18
$GC,22,-1.78,-487.5,1773,1950,2366,4094,0.0,0.0,1,34,0.00,0.00,-6.53,0.000,16390,0.000,0.000,1773,1951,3054,3054,4094,0,0,0,0,0,0,26.27,25.53,26.28,10.30,52.75
$GC,67,-1.78,-487.5,1772,1951,3054,4094,2.6,-10.2,8,73,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1952,3055,3055,4095,0,0,0,0,0,0,26.22,26.24,26.24,10.46,53.30
$GC,106,-1.78,-487.5,1772,1951,3055,4095,8.9,-16.7,14,112,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1951,3056,3056,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.46,53.18
$GC,144,-1.78,-487.5,1772,1951,3057,4095,15.8,-18.3,20,150,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1951,3057,3057,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.46,52.71
$GC,183,-1.78,-487.5,1772,1951,3058,4094,22.6,-17.3,26,189,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1951,3058,3058,4095,0,0,0,0,0,0,26.34,26.34,26.35,10.47,52.71
$GC,222,-1.78,-487.5,1772,1951,3059,4095,27.7,-12.7,32,228,0.00,1.12,0.00,0.000,260,0.000,0.044,1773,2370,3059,3059,4095,0,0,0,0,0,0,26.36,26.06,26.37,10.42,52.75
$GC,267,-1.78,-487.5,1772,2370,3060,4095,33.3,-12.3,39,274,0.00,1.05,0.00,0.000,1030,0.000,0.030,1773,1956,3060,3060,4094,0,0,0,0,0,0,26.17,26.13,26.19,10.39,51.33
$GC,306,-1.78,-487.5,1772,1955,3061,4094,38.3,-12.5,45,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3061,3061,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.37,50.11
$GC,345,-1.78,-487.5,1772,1956,3062,4095,43.1,-12.5,51,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1956,3062,3062,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.37,49.80
$GC,384,-1.78,-487.5,1772,1955,3063,4095,48.1,-13.2,57,390,0.00,1.12,0.00,0.000,516,0.000,0.052,1773,1512,3064,3064,4094,0,0,0,0,0,0,26.46,26.15,26.47,10.35,49.48
$GC,435,-1.78,-487.5,1772,1512,3064,4094,55.1,-13.5,65,441,0.00,1.02,0.00,0.000,1030,0.000,0.027,1773,1949,3064,3064,4094,0,0,0,0,0,0,26.29,26.25,26.29,10.35,48.46
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,479,-0.45,0.0,1772,2140,3065,4095,60.4,-13.7,71,515,4.43,0.00,28.12,1.307,10244,0.054,0.000,2185,2140,2484,2484,4095,0,0,0,0,0,0,26.20,25.30,24.26,10.34,48.54
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,520,1.78,487.5,2185,2140,2484,4095,63.4,0.0,77,562,7.53,0.00,27.92,1.281,11270,0.031,0.000,2892,2140,1915,1915,4094,0,0,0,0,0,0,25.57,25.73,23.86,10.21,47.48
$GC,595,1.78,487.5,2891,2140,1914,4094,57.3,12.6,89,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1914,1914,4094,0,0,0,0,0,0,25.55,25.57,25.56,10.08,46.10
$GC,633,1.78,487.5,2891,2140,1913,4094,52.3,12.6,95,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1914,1914,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.07,46.14
$GC,672,1.78,487.5,2891,2140,1912,4094,47.3,13.4,101,678,0.00,1.15,0.00,0.000,516,0.000,0.046,2892,1707,1912,1912,4094,0,0,0,0,0,0,25.84,25.55,25.84,10.06,46.18
$GC,753,1.78,487.5,2892,1706,1910,4094,36.8,13.0,114,760,0.00,1.00,0.00,0.000,1030,0.000,0.030,2892,2112,1910,1910,4094,0,0,0,0,0,0,25.79,25.76,25.82,10.06,46.92
$GC,792,1.78,487.5,2891,2112,1909,4094,31.7,12.9,120,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2113,1908,1908,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.06,46.88
$GC,831,1.78,487.5,2891,2112,1908,4094,26.8,12.3,126,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2112,1908,1908,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.06,47.87
$GC,870,1.91,577.8,2892,2112,1907,4094,22.8,9.2,132,883,0.38,0.00,6.18,0.659,10246,0.038,0.000,2935,2113,1811,1811,4094,0,0,0,0,0,0,25.97,25.40,24.82,10.07,47.71
$GC,916,2.11,710.7,2935,2112,1809,4094,19.2,8.6,139,930,0.60,1.23,8.55,0.706,10500,0.029,0.051,2997,2566,1654,1654,4094,0,0,0,0,0,0,25.94,25.64,24.80,10.09,49.05
$GC,1005,2.11,710.7,2997,2566,1653,4094,10.0,10.7,153,1011,0.00,1.15,0.00,0.000,1030,0.000,0.027,2998,2107,1653,1653,4094,0,0,0,0,0,0,25.94,25.90,25.94,10.10,51.57
$GC,1045,2.16,743.4,2997,2108,1652,4094,5.9,10.0,159,1053,0.10,1.02,3.40,0.334,10756,0.077,0.053,3015,1717,1616,1616,4094,0,0,0,0,0,0,25.98,25.79,25.04,10.11,52.32
$STATE,1077,end climb,SURFACE_DEPTH_REACHED
$STATE,1077,begin surface coast
$FINISH,0.6,1.023841
$STATE,1090,end surface coast,CONTROL_FINISHED_OK
$STATE,1090,begin surface
$SM_CCo,1192,0.00,0.000,0,0,1614,747.84
$SM_GC,0.96,29.08,0.57,0.00,0.020,0.030,0.000,239,1975,1614,-6.55,-1.28,747.84,0,0,0,0,0,0,26.02,26.03,26.06
$IRIDIUM_FIX,6149.06,-17422.35,150817,213121
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.70
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.40
$XPDR_PINGS,1
$24V_AH,23.86,31.221
$10V_AH,10.40,33.260
$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,48.575,11.400,74.175,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,439.826,312.510,181.650,241.261,81.716,0.000,366.322,0.000,249.891,0.000,0.541,0.000
$DEVICE_MAMPS,77.265,52.785,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,10861,166
$CAP_FILE_SIZE,33031,0
$CFSIZE,1024409600,964493312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,224225,6153.295,-17406.205,5,0.8,36,6.9,0.0,334.1,10,4.9