version: 66.13
glider: 401
mission: 22
dive: 1142
start: 8 16 117 7 49 12
data:
$ID,401
$MISSION,22
$DIVE,1142
$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,29
$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
$GPS1,160817,072827,6155.5293,-17410.4512,6,1.0,17,6.9,0.0,318.4,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.2
$GPS2,160817,072827,6155.5293,-17410.4512,6,1.0,17,6.9,0.0,318.4,9,4.8
$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,274.2,10110,-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,-487.5,2402,1954,2343,4092,0.0,0.0,0,28,6.55,0.00,-6.97,0.000,20486,0.027,0.000,1774,1955,3055,3055,4095,0,0,0,0,0,0,25.99,25.39,26.04,10.30,53.18
$GC,32,-1.78,-487.5,1774,1954,3055,4095,0.0,-0.5,2,41,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1954,3055,3055,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.45,53.07
$GC,78,-1.78,-487.5,1773,1955,3056,4094,5.1,-13.9,8,87,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3056,3056,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.45,53.30
$GC,124,-1.78,-487.5,1773,1954,3057,4095,13.0,-18.2,14,134,0.00,1.12,0.00,0.000,260,0.000,0.046,1774,2370,3058,3058,4095,0,0,0,0,0,0,26.24,25.93,26.25,10.46,52.63
$GC,171,-1.78,-487.5,1773,2370,3059,4095,21.7,-19.2,20,180,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1952,3060,3060,4095,0,0,0,0,0,0,26.04,26.00,26.07,10.45,52.75
$GC,218,-1.78,-487.5,1773,1952,3061,4095,28.0,-12.3,26,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1952,3061,3061,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.40,51.89
$GC,264,-1.78,-487.5,1773,1952,3061,4095,33.5,-12.1,32,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1952,3061,3061,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,50.43
$GC,310,-1.78,-487.5,1773,1952,3063,4095,39.1,-12.2,38,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1952,3062,3062,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.35,49.33
$GC,356,-1.78,-487.5,1773,1951,3063,4094,44.9,-12.8,44,365,0.00,1.12,0.00,0.000,260,0.000,0.044,1773,2371,3064,3064,4095,0,0,0,0,0,0,26.41,26.11,26.42,10.35,48.34
$GC,409,-1.78,-487.5,1773,2371,3065,4095,51.6,-12.8,51,418,0.00,1.08,0.00,0.000,1030,0.000,0.031,1774,1942,3065,3065,4095,0,0,0,0,0,0,26.22,26.17,26.22,10.34,47.48
$GC,457,-1.78,-487.5,1773,1942,3066,4095,57.7,-13.2,57,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1942,3066,3066,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.33,47.55
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,482,-0.45,0.0,1773,2141,3066,4095,60.5,-13.1,59,518,4.45,0.00,28.38,1.313,10244,0.056,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.17,25.27,24.21,10.33,47.12
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,522,1.78,487.5,2185,2141,2484,4094,63.6,0.0,63,568,7.55,1.12,28.17,1.284,10500,0.032,0.053,2891,2558,1914,1914,4094,0,0,0,0,0,0,25.46,25.41,23.80,10.20,46.88
$GC,618,1.78,487.5,2891,2558,1912,4094,55.3,12.8,75,628,0.00,1.08,0.00,0.000,1030,0.000,0.025,2891,2134,1913,1913,4095,0,0,0,0,0,0,25.43,25.41,25.46,10.07,45.39
$GC,666,1.78,487.5,2891,2133,1912,4095,49.2,13.0,81,676,0.00,1.10,0.00,0.000,516,0.000,0.047,2891,1714,1911,1911,4094,0,0,0,0,0,0,25.79,25.52,25.79,10.06,45.74
$GC,752,1.78,487.5,2891,1713,1909,4094,37.6,13.5,93,761,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2118,1909,1909,4094,0,0,0,0,0,0,25.80,25.72,25.77,10.05,46.22
$GC,799,1.78,487.5,2891,2118,1908,4094,31.5,13.3,99,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2118,1907,1907,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.05,46.65
$GC,845,1.78,487.5,2891,2118,1906,4094,25.7,12.3,105,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2118,1906,1906,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.04,47.40
$GC,891,1.78,487.5,2891,2118,1905,4094,20.4,11.3,111,901,0.00,1.05,0.00,0.000,516,0.000,0.041,2891,1716,1905,1905,4094,0,0,0,0,0,0,26.17,25.86,26.18,10.08,47.08
$GC,938,2.15,737.3,2891,1715,1904,4094,17.1,6.8,117,965,1.20,0.95,13.93,0.772,11270,0.028,0.031,3009,2105,1625,1625,4094,0,0,0,0,0,0,25.98,25.96,24.77,10.12,49.21
$GC,1004,2.15,737.3,3009,2104,1624,4094,11.0,10.7,125,1013,0.00,1.25,0.00,0.000,260,0.000,0.057,3010,2565,1624,1624,4094,0,0,0,0,0,0,26.08,25.75,26.08,10.08,50.74
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,1.8,1.023809,125
$GC,1092,0.19,124.9,3009,2109,1621,4094,1.8,12.0,136,1111,6.28,1.33,-6.53,0.000,20740,0.020,1.284,2403,2567,2344,2344,4094,0,0,0,0,0,0,25.97,24.56,26.01,10.11,52.00
$FINISH2,0.2
$STATE,1112,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1112,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,061040
$TT8_MAMPS,0.026215,0.240429
$HUMID,52.24
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.80,31.908
$10V_AH,10.14,33.827
$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,26.025,15.300,70.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.447,0.000,134.067,580.088,76.527,0.000,383.748,0.000,339.854,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1284.435,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.897,374.933,296.759,439.992,575.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,14409,138
$CAP_FILE_SIZE,27559,0
$CFSIZE,1024409600,963379200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,072827,6155.529,-17410.451,6,1.0,17,6.9,0.0,318.4,9,4.8