version: 66.13
glider: 401
mission: 22
dive: 1138
start: 8 16 117 6 16 8
data:
$ID,401
$MISSION,22
$DIVE,1138
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,160817,060759,6155.2598,-17409.0234,9,0.7,13,6.9,0.2,259.2,12,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-40.2
$GPS2,160817,061532,6155.2368,-17409.0625,7,0.8,17,6.9,0.0,168.9,10,4.9
$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,275.7,11405,-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,6,begin dive
$GC,10,-1.78,-487.5,238,1952,1794,4092,0.0,0.0,0,21,9.30,0.00,0.00,0.000,2049,0.090,0.000,1032,1953,1795,1795,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.21,51.96
$GC,25,-1.78,-487.5,1032,1952,1794,4094,0.7,0.0,1,52,7.85,1.20,-12.18,0.000,18692,0.041,1.266,1764,2390,3055,3055,4094,0,0,0,0,0,0,25.92,24.54,25.98,10.21,52.44
$GC,83,-1.78,-487.5,1764,2390,3056,4094,2.9,-9.8,8,92,0.00,1.12,0.00,0.000,1030,0.000,0.031,1764,1948,3055,3055,4095,0,0,0,0,0,0,25.90,25.87,25.92,10.48,51.85
$GC,129,-1.78,-487.5,1763,1948,3057,4095,10.9,-18.5,14,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1948,3057,3057,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.49,51.57
$GC,177,-1.78,-487.5,1764,1948,3058,4094,19.7,-19.0,20,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1948,3059,3059,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.49,51.22
$GC,224,-1.78,-487.5,1763,1947,3060,4095,26.8,-13.9,26,234,0.00,1.08,0.00,0.000,516,0.000,0.050,1764,1523,3060,3060,4094,0,0,0,0,0,0,26.28,25.97,26.29,10.43,50.23
$GC,258,-1.78,-487.5,1764,1523,3061,4094,31.6,-13.5,30,267,0.00,1.02,0.00,0.000,1030,0.000,0.025,1764,1959,3061,3061,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.41,49.21
$GC,304,-1.78,-487.5,1764,1959,3062,4094,37.6,-13.1,36,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1960,3062,3062,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.38,48.30
$GC,350,-1.78,-487.5,1764,1959,3063,4095,43.5,-12.9,42,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1959,3063,3063,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,47.95
$GC,396,-1.78,-487.5,1763,1959,3064,4095,49.4,-12.9,48,405,0.00,1.08,0.00,0.000,260,0.000,0.045,1764,2370,3064,3064,4094,0,0,0,0,0,0,26.40,26.10,26.41,10.37,46.41
$GC,469,-1.78,-487.5,1764,2370,3066,4094,59.0,-13.2,58,478,0.00,1.00,0.00,0.000,1030,0.000,0.029,1764,1972,3066,3066,4095,0,0,0,0,0,0,26.22,26.21,26.25,10.35,46.33
$STATE,486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,486,begin apogee
$GC,494,-0.45,0.0,1764,2144,3065,4095,61.7,-13.2,60,530,4.55,0.00,28.48,1.332,10244,0.056,0.000,2186,2144,2484,2484,4095,0,0,0,0,0,0,26.15,25.25,24.18,10.34,46.37
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,535,1.78,487.5,2185,2144,2484,4095,64.9,0.0,64,580,7.57,1.10,28.10,1.302,10500,0.032,0.051,2894,2555,1916,1916,4094,0,0,0,0,0,0,25.45,25.40,23.76,10.22,45.23
$GC,644,1.78,487.5,2893,2554,1914,4094,54.6,13.2,78,652,0.00,1.08,0.00,0.000,1030,0.000,0.026,2895,2127,1914,1914,4094,0,0,0,0,0,0,25.47,25.45,25.48,10.08,44.60
$GC,690,1.78,487.5,2893,2127,1913,4094,48.6,13.2,84,703,0.00,1.05,0.00,0.000,516,0.000,0.046,2894,1716,1913,1913,4094,0,0,0,0,0,0,25.81,25.52,25.82,10.07,44.84
$GC,766,1.78,487.5,2893,1716,1911,4094,38.4,13.3,94,776,0.00,0.98,0.00,0.000,1030,0.000,0.029,2894,2112,1910,1910,4094,0,0,0,0,0,0,25.76,25.77,25.78,10.06,45.31
$GC,813,1.78,487.5,2893,2112,1909,4094,32.2,12.7,100,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2112,1909,1909,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.06,45.47
$GC,861,1.78,487.5,2893,2112,1907,4095,26.2,13.0,106,870,0.00,1.05,0.00,0.000,516,0.000,0.045,2894,1716,1907,1907,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.06,45.82
$GC,986,1.96,607.6,2893,1716,1905,4094,13.9,8.8,124,1005,0.50,0.98,7.53,0.636,11270,0.032,0.029,2948,2118,1773,1773,4095,0,0,0,0,0,0,26.03,25.99,24.94,10.14,50.07
$GC,1044,1.99,630.3,2947,2117,1772,4095,8.3,10.2,131,1053,0.00,0.00,2.85,0.257,8198,0.000,0.000,2948,2118,1749,1749,4094,0,0,0,0,0,0,26.20,25.51,25.01,10.13,51.33
$GC,1091,1.99,630.3,2947,2117,1748,4094,3.2,10.8,137,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2118,1747,1747,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,51.26
$STATE,1108,end climb,FINISH_DEPTH_REACHED
$STATE,1108,begin subsurface finish
$FINISH1,0.8,1.023820,124
$GC,1117,0.19,124.1,2948,2117,1747,4094,0.8,11.0,139,1136,5.65,1.10,-5.38,0.000,20996,0.024,1.275,2401,1717,2343,2343,4094,0,0,0,0,0,0,26.05,24.63,26.09,10.15,51.61
$FINISH2,0.3
$STATE,1137,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1137,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,050027
$TT8_MAMPS,0.026215,0.247919
$HUMID,52.08
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.76,31.795
$10V_AH,10.14,33.734
$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,35.425,14.250,66.950,0.000,0.000,24.515,18.106,231.546,0.000,0.000,18.558,401.844,0.396,135.007,856.164,213.830,0.000,395.367,0.000,344.773,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,1275.255,1331.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.017,383.067,303.190,449.180,586.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,14278,141
$CAP_FILE_SIZE,33287,0
$CFSIZE,1024409600,963559424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,689.80,0x236162,1,24
$GPS,160817,061532,6155.237,-17409.062,7,0.8,17,6.9,0.0,168.9,10,4.9