version: 66.13
glider: 401
mission: 22
dive: 1134
start: 8 16 117 4 34 33
data:
$ID,401
$MISSION,22
$DIVE,1134
$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,31
$R_STBD_OVSHOOT,50
$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
$GPS1,160817,035241,6154.9438,-17406.7500,6,0.8,18,6.9,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-0.9
$GPS2,160817,035241,6154.9438,-17406.7500,6,0.8,18,6.9,0.0,0.0,11,4.9
$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,276.1,13489,-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,-487.5,2402,1970,2347,4092,0.0,0.0,0,29,6.40,0.00,-6.90,0.000,20486,0.025,0.000,1784,1970,3053,3053,4095,0,0,0,0,0,0,26.03,25.44,26.08,10.28,53.85
$GC,32,-1.78,-487.5,1784,1970,3053,4095,0.1,-0.8,2,42,0.00,1.15,0.00,0.000,516,0.000,0.054,1784,1525,3054,3054,4095,0,0,0,0,0,0,26.15,25.86,26.16,10.43,54.68
$GC,60,-1.78,-487.5,1784,1525,3055,4095,2.9,-7.4,5,69,0.00,0.98,0.00,0.000,1030,0.000,0.028,1784,1944,3054,3054,4094,0,0,0,0,0,0,26.00,26.03,26.02,10.43,54.21
$GC,106,-1.78,-487.5,1784,1944,3056,4094,10.4,-17.1,11,115,0.00,1.12,0.00,0.000,260,0.000,0.048,1784,2367,3056,3056,4095,0,0,0,0,0,0,26.25,25.95,26.26,10.44,53.78
$GC,152,-1.78,-487.5,1784,2366,3058,4095,18.3,-17.3,17,161,0.00,1.00,0.00,0.000,1030,0.000,0.031,1784,1973,3058,3058,4095,0,0,0,0,0,0,26.06,26.03,26.07,10.44,53.62
$GC,199,-1.78,-487.5,1784,1973,3059,4095,25.1,-13.0,23,207,0.00,1.17,0.00,0.000,516,0.000,0.052,1784,1516,3059,3059,4095,0,0,0,0,0,0,26.32,26.01,26.34,10.39,53.46
$GC,244,-1.78,-487.5,1783,1516,3060,4095,30.7,-12.4,29,254,0.00,1.05,0.00,0.000,1030,0.000,0.027,1784,1961,3060,3060,4094,0,0,0,0,0,0,26.15,26.12,26.16,10.37,51.73
$GC,291,-1.78,-487.5,1783,1960,3062,4094,36.0,-11.8,35,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1961,3061,3061,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.35,50.51
$GC,337,-1.78,-487.5,1783,1960,3062,4095,41.6,-12.2,41,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1961,3062,3062,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.34,49.84
$GC,383,-1.78,-487.5,1783,1961,3063,4094,47.1,-11.7,47,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1960,3063,3063,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.32,49.05
$GC,428,-1.78,-487.5,1783,1961,3064,4095,52.6,-12.1,53,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1961,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.32,49.17
$GC,473,-1.78,-487.5,1784,1960,3065,4094,58.2,-12.4,59,482,0.00,1.08,0.00,0.000,260,0.000,0.047,1784,2370,3066,3066,4094,0,0,0,0,0,0,26.48,26.18,26.50,10.31,48.34
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,498,-0.45,0.0,1784,2110,3066,4094,60.7,-12.7,61,534,4.32,0.00,28.30,1.320,10244,0.056,0.000,2185,2109,2484,2484,4094,0,0,0,0,0,0,26.19,25.29,24.22,10.31,47.91
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,539,1.78,487.5,2185,2108,2483,4094,63.6,0.0,65,582,7.57,0.00,28.17,1.287,11270,0.033,0.000,2891,2109,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.82,10.18,47.55
$GC,621,1.78,487.5,2890,2108,1914,4094,57.2,12.6,75,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,1914,1914,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.06,46.25
$GC,668,1.78,487.5,2890,2109,1912,4094,50.9,13.2,81,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2109,1912,1912,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.05,46.73
$GC,716,1.78,487.5,2890,2108,1911,4094,44.4,14.0,87,725,0.00,0.98,0.00,0.000,516,0.000,0.047,2891,1735,1911,1911,4094,0,0,0,0,0,0,25.87,25.58,25.89,10.05,46.65
$GC,834,1.78,487.5,2890,1734,1907,4094,27.9,14.0,104,843,0.00,0.95,0.00,0.000,1030,0.000,0.030,2890,2120,1907,1907,4094,0,0,0,0,0,0,25.86,25.83,25.93,10.03,47.87
$GC,881,1.78,487.5,2890,2120,1906,4094,22.0,12.0,110,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2120,1906,1906,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.04,47.36
$GC,927,2.07,684.7,2890,2120,1905,4094,17.9,7.6,116,945,0.90,0.00,11.43,0.753,10246,0.030,0.000,2985,2120,1685,1685,4094,0,0,0,0,0,0,25.98,25.58,24.79,10.08,48.42
$GC,984,2.07,684.7,2984,2120,1683,4094,12.3,11.1,123,993,0.00,1.02,0.00,0.000,516,0.000,0.047,2984,1735,1683,1683,4094,0,0,0,0,0,0,26.08,25.78,26.10,10.07,50.07
$GC,1064,2.07,684.7,2984,1735,1681,4094,2.5,12.6,134,1074,0.00,0.95,0.00,0.000,1030,0.000,0.031,2985,2123,1680,1680,4094,0,0,0,0,0,0,25.97,25.94,26.06,10.11,52.08
$STATE,1081,end climb,SURFACE_DEPTH_REACHED
$STATE,1081,begin surface coast
$FINISH,0.3,1.023821
$STATE,1096,end surface coast,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$SM_CCo,1199,0.00,0.000,0,0,1679,691.17
$SM_GC,0.79,29.00,0.40,0.00,0.021,0.041,0.000,231,1963,1679,-6.59,2.14,691.17,0,0,0,0,0,0,25.92,25.98,26.00
$IRIDIUM_FIX,6149.06,-17422.35,160817,023715
$TT8_MAMPS,0.025466,0.249417
$HUMID,53.50
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,1.80
$XPDR_PINGS,0
$24V_AH,23.82,31.667
$10V_AH,10.13,33.636
$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,48.200,13.025,67.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,392.641,60.487,153.749,573.349,83.683,0.000,393.416,0.000,336.990,0.000,0.539,0.000
$DEVICE_MAMPS,55.845,53.550,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.200,374.934,296.777,439.817,571.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,14325,138
$CAP_FILE_SIZE,30106,0
$CFSIZE,1024409600,963772416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,045556,6155.128,-17407.717,8,0.9,45,6.9,0.3,199.8,10,5.0