version: 66.13
glider: 401
mission: 22
dive: 1129
start: 8 16 117 2 43 50
data:
$ID,401
$MISSION,22
$DIVE,1129
$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,20
$R_STBD_OVSHOOT,55
$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
$GPS1,160817,023432,6154.7847,-17406.3203,8,0.8,39,6.9,0.0,93.0,11,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-35.3
$GPS2,160817,024313,6154.7783,-17406.2617,6,0.8,15,6.9,0.0,0.0,11,4.4
$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,276.9,13975,-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,-487.5,238,1960,1708,4092,0.0,0.0,0,18,6.65,0.00,0.00,0.000,2049,0.090,0.000,805,1961,1707,1707,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.20,51.18
$GC,22,-1.78,-487.5,805,1960,1708,4094,0.6,0.0,1,52,10.27,1.17,-12.88,0.000,18948,0.041,1.277,1765,1515,3057,3057,4094,0,0,0,0,0,0,25.89,24.50,25.96,10.21,51.29
$GC,103,-1.78,-487.5,1764,1515,3059,4094,6.6,-15.3,14,110,0.00,0.98,0.00,0.000,1030,0.000,0.025,1765,1931,3059,3059,4095,0,0,0,0,0,0,25.94,25.91,25.96,10.50,51.77
$GC,142,-1.78,-487.5,1764,1931,3060,4095,13.5,-17.7,20,149,0.00,1.15,0.00,0.000,260,0.000,0.045,1765,2367,3059,3059,4095,0,0,0,0,0,0,26.19,25.89,26.20,10.50,50.39
$GC,188,-1.78,-487.5,1764,2366,3061,4095,21.7,-18.1,27,194,0.00,1.05,0.00,0.000,1030,0.000,0.028,1765,1952,3062,3062,4095,0,0,0,0,0,0,26.01,25.98,26.03,10.50,50.82
$GC,227,-1.78,-487.5,1765,1951,3062,4095,27.7,-13.8,33,234,0.00,1.10,0.00,0.000,516,0.000,0.050,1764,1518,3062,3062,4095,0,0,0,0,0,0,26.27,25.97,26.29,10.46,50.59
$GC,291,-1.78,-487.5,1764,1519,3064,4095,35.5,-11.5,43,297,0.00,0.98,0.00,0.000,1030,0.000,0.025,1765,1941,3064,3064,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.41,48.54
$GC,330,-1.78,-487.5,1764,1941,3065,4095,40.2,-11.6,49,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1940,3065,3065,4095,0,0,0,0,0,0,26.36,26.37,26.36,10.39,48.66
$GC,369,-1.78,-487.5,1764,1940,3066,4095,45.0,-12.3,55,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1941,3066,3066,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.38,46.85
$GC,408,-1.78,-487.5,1764,1941,3067,4095,49.8,-13.0,61,414,0.00,1.10,0.00,0.000,260,0.000,0.044,1765,2363,3066,3066,4095,0,0,0,0,0,0,26.41,26.11,26.42,10.38,46.81
$GC,453,-1.78,-487.5,1764,2363,3069,4095,55.7,-12.9,68,460,0.00,1.05,0.00,0.000,1030,0.000,0.029,1764,1943,3068,3068,4094,0,0,0,0,0,0,26.20,26.16,26.22,10.37,46.49
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,491,-0.45,0.0,1765,2135,3068,4094,60.0,-13.1,73,527,4.55,0.00,28.30,1.307,10244,0.055,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.15,25.26,24.21,10.36,46.18
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,532,1.78,487.5,2186,2134,2484,4094,62.8,0.0,79,574,7.47,1.12,28.02,1.274,10500,0.031,0.050,2892,2553,1915,1915,4094,0,0,0,0,0,0,25.47,25.41,23.82,10.23,45.86
$GC,625,1.78,487.5,2892,2553,1914,4094,54.3,12.8,94,632,0.00,1.05,0.00,0.000,1030,0.000,0.024,2892,2133,1913,1913,4094,0,0,0,0,0,0,25.44,25.41,25.45,10.10,44.68
$GC,665,1.78,487.5,2892,2132,1913,4094,49.1,13.3,100,671,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1721,1913,1913,4094,0,0,0,0,0,0,25.76,25.48,25.77,10.09,45.19
$GC,776,1.78,487.5,2892,1720,1909,4094,34.4,13.2,118,783,0.00,0.93,0.00,0.000,1030,0.000,0.029,2893,2102,1909,1909,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.07,45.82
$GC,816,1.78,487.5,2892,2102,1908,4094,29.2,13.6,124,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2102,1908,1908,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.08,46.73
$GC,854,1.78,487.5,2892,2102,1907,4094,24.6,11.7,130,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2102,1907,1907,4094,0,0,0,0,0,0,26.12,26.14,26.13,10.08,46.69
$GC,893,1.98,619.9,2892,2102,1905,4094,21.0,8.6,136,907,0.57,1.00,8.20,0.718,10756,0.034,0.046,2954,1722,1760,1760,4094,0,0,0,0,0,0,25.95,25.66,24.79,10.11,47.04
$GC,988,1.98,619.9,2954,1722,1757,4094,11.0,10.7,151,994,0.00,0.88,0.00,0.000,1030,0.000,0.030,2954,2086,1757,1757,4094,0,0,0,0,0,0,25.95,25.92,25.98,10.14,50.98
$GC,1028,1.98,619.9,2954,2085,1756,4094,6.7,11.1,157,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2086,1756,1756,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,52.00
$GC,1066,2.15,732.5,2954,2085,1755,4094,3.2,8.9,163,1080,0.50,0.95,7.25,0.540,10756,0.033,0.045,3008,1722,1627,1627,4094,0,0,0,0,0,0,26.02,25.79,25.06,10.16,51.96
$STATE,1085,end climb,FINISH_DEPTH_REACHED
$STATE,1085,begin subsurface finish
$FINISH1,1.0,1.023851,122
$GC,1095,0.18,121.9,3007,2140,1627,4094,1.0,9.5,166,1115,6.22,1.15,-6.47,0.000,20996,0.022,1.276,2400,1722,2347,2347,4094,0,0,0,0,0,0,25.98,24.57,26.00,10.13,52.52
$FINISH2,0.0
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1116,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,012524
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.48
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.82,31.536
$10V_AH,10.29,33.515
$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,36.250,18.325,71.775,0.000,0.000,22.318,25.101,288.975,0.000,0.000,16.791,443.362,253.349,170.272,574.270,212.853,0.000,363.383,0.000,255.808,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1276.785,1306.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,10809,169
$CAP_FILE_SIZE,36175,0
$CFSIZE,1024409600,964001792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160817,024313,6154.778,-17406.262,6,0.8,15,6.9,0.0,0.0,11,4.4