version: 66.13
glider: 401
mission: 22
dive: 1126
start: 8 16 117 1 31 20
data:
$ID,401
$MISSION,22
$DIVE,1126
$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,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
$GPS1,160817,012243,6154.3877,-17405.8906,9,0.9,24,6.9,0.5,92.6,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-33.6
$GPS2,160817,013044,6154.3887,-17405.8066,7,0.8,20,6.9,0.2,320.9,10,4.9
$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,279.3,14544,-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,-487.5,239,1964,1777,4092,0.0,0.0,0,20,8.55,0.00,0.00,0.000,2049,0.086,0.000,973,1965,1777,1777,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.22,52.55
$GC,24,-1.78,-487.5,973,1964,1777,4094,0.7,0.0,1,51,8.55,1.20,-12.15,0.000,18948,0.047,1.272,1763,1508,3057,3057,4095,0,0,0,0,0,0,25.92,24.54,25.99,10.22,52.28
$GC,128,-1.78,-487.5,1763,1508,3060,4095,9.7,-16.3,15,137,0.00,0.98,0.00,0.000,1030,0.000,0.026,1764,1921,3059,3059,4094,0,0,0,0,0,0,25.98,25.97,26.01,10.50,51.77
$GC,175,-1.78,-487.5,1762,1921,3061,4094,18.0,-18.2,21,184,0.00,1.17,0.00,0.000,260,0.000,0.045,1763,2367,3061,3061,4095,0,0,0,0,0,0,26.25,25.94,26.27,10.51,51.65
$GC,267,-1.78,-487.5,1763,2366,3063,4095,31.1,-11.6,34,277,0.00,1.05,0.00,0.000,1030,0.000,0.030,1764,1949,3064,3064,4095,0,0,0,0,0,0,26.12,26.06,26.13,10.42,50.07
$GC,314,-1.78,-487.5,1763,1948,3064,4095,36.5,-11.6,40,323,0.00,1.08,0.00,0.000,516,0.000,0.051,1764,1523,3064,3064,4095,0,0,0,0,0,0,26.37,26.06,26.38,10.39,48.26
$GC,354,-1.78,-487.5,1763,1523,3065,4095,41.6,-12.9,45,362,0.00,1.00,0.00,0.000,1030,0.000,0.024,1763,1954,3066,3066,4095,0,0,0,0,0,0,26.20,26.18,26.21,10.38,47.51
$GC,401,-1.78,-487.5,1763,1954,3066,4095,47.4,-12.4,51,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3067,3067,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.38,46.45
$GC,448,-1.78,-487.5,1763,1954,3067,4094,53.0,-12.0,57,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3068,3068,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,46.37
$GC,495,-1.78,-487.5,1763,1954,3068,4095,59.3,-13.4,63,504,0.00,1.08,0.00,0.000,260,0.000,0.045,1764,2367,3069,3069,4095,0,0,0,0,0,0,26.48,26.17,26.48,10.36,45.51
$STATE,512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,512,begin apogee
$GC,521,-0.45,0.0,1763,2111,3069,4095,62.2,-13.3,65,564,4.55,0.00,28.52,1.330,10244,0.056,0.000,2186,2109,2484,2484,4095,0,0,0,0,0,0,26.18,24.99,24.19,10.35,45.74
$STATE,565,end apogee,CONTROL_FINISHED_OK
$STATE,565,begin climb
$GC,568,1.78,487.5,2186,2108,2484,4095,65.7,0.0,70,613,7.53,0.00,28.15,1.300,11270,0.031,0.000,2891,2109,1916,1916,4094,0,0,0,0,0,0,25.58,25.72,23.82,10.22,45.35
$GC,651,1.78,487.5,2890,2108,1915,4094,58.6,12.4,80,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,1914,1914,4094,0,0,0,0,0,0,25.58,25.60,25.59,10.09,44.40
$GC,699,1.78,487.5,2890,2108,1913,4094,52.7,12.4,86,708,0.00,0.98,0.00,0.000,516,0.000,0.044,2891,1735,1913,1913,4094,0,0,0,0,0,0,25.76,25.48,25.77,10.08,45.11
$GC,758,1.78,487.5,2890,1735,1911,4094,44.8,13.0,94,768,0.00,0.95,0.00,0.000,1030,0.000,0.030,2891,2119,1910,1910,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.08,44.88
$GC,807,1.78,487.5,2891,2119,1910,4094,38.8,12.6,100,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2119,1910,1910,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.08,45.86
$GC,854,1.78,487.5,2890,2118,1909,4094,33.0,12.1,106,863,0.00,1.02,0.00,0.000,516,0.000,0.045,2891,1733,1908,1908,4094,0,0,0,0,0,0,26.08,25.77,26.09,10.05,46.02
$GC,973,1.90,571.3,2890,1732,1906,4094,19.6,9.3,123,984,0.38,0.93,5.78,0.613,11270,0.035,0.028,2934,2115,1817,1817,4094,0,0,0,0,0,0,25.99,25.98,24.88,10.11,47.71
$GC,1023,1.97,618.5,2933,2114,1815,4094,15.1,9.8,129,1033,0.12,0.00,4.18,0.461,10246,0.066,0.000,2953,2115,1761,1761,4094,0,0,0,0,0,0,25.98,25.72,24.93,10.13,49.52
$GC,1072,1.97,618.5,2953,2115,1760,4094,9.9,10.6,135,1081,0.00,1.00,0.00,0.000,516,0.000,0.046,2953,1736,1760,1760,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.14,51.29
$STATE,1141,end climb,FINISH_DEPTH_REACHED
$STATE,1141,begin subsurface finish
$FINISH1,1.5,1.023854,122
$GC,1152,0.18,121.7,2953,2144,1757,4095,1.5,11.3,145,1171,5.65,1.12,-5.20,0.000,20996,0.020,1.278,2400,1738,2345,2345,4094,0,0,0,0,0,0,26.06,24.65,26.11,10.15,52.91
$FINISH2,0.3
$STATE,1172,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1172,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,000447
$TT8_MAMPS,0.025466,0.245672
$HUMID,52.79
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.82,31.446
$10V_AH,10.14,33.455
$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,35.325,15.225,66.625,0.000,0.000,25.067,20.535,252.310,0.000,0.000,21.500,423.386,0.000,130.981,908.394,207.382,0.000,384.029,0.000,359.761,0.000,0.543,0.000
$DEVICE_MAMPS,85.680,1278.315,1330.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.352,399.387,316.094,468.429,611.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,14258,147
$CAP_FILE_SIZE,33327,0
$CFSIZE,1024409600,964149248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160817,013044,6154.389,-17405.807,7,0.8,20,6.9,0.2,320.9,10,4.9