version: 66.13
glider: 401
mission: 22
dive: 1144
start: 8 16 117 8 38 35
data:
$ID,401
$MISSION,22
$DIVE,1144
$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
$GPS1,160817,083028,6155.8936,-17411.8887,9,0.8,31,6.9,0.3,73.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-40.4
$GPS2,160817,083800,6155.8960,-17411.9199,7,0.8,26,6.9,0.0,189.3,10,5.0
$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,271.4,8733,-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,-487.5,229,1953,1763,4093,0.0,0.0,0,21,9.12,0.00,0.00,0.000,2049,0.093,0.000,1006,1954,1763,1763,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.21,52.00
$GC,24,-1.78,-487.5,1006,1953,1763,4094,0.8,0.0,1,51,8.12,0.00,-12.48,0.000,18694,0.042,0.000,1764,1954,3055,3055,4095,0,0,0,0,0,0,25.94,25.40,26.00,10.21,52.00
$GC,90,-1.78,-487.5,1763,1954,3056,4095,1.4,-5.6,9,100,0.00,1.12,0.00,0.000,260,0.000,0.044,1764,2372,3056,3056,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.50,51.41
$GC,176,-1.78,-487.5,1763,2372,3059,4094,16.4,-19.5,21,185,0.00,1.05,0.00,0.000,1030,0.000,0.027,1764,1957,3059,3059,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.50,51.10
$GC,223,-1.78,-487.5,1763,1957,3059,4095,24.4,-15.3,27,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1957,3060,3060,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.47,50.78
$GC,269,-1.78,-487.5,1763,1957,3061,4095,30.4,-13.1,33,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3061,3061,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.42,49.96
$GC,315,-1.78,-487.5,1763,1957,3062,4094,36.4,-13.0,39,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3062,3062,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.39,48.18
$GC,361,-1.78,-487.5,1763,1957,3063,4095,42.3,-12.8,45,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1957,3064,3064,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,47.44
$GC,407,-1.78,-487.5,1763,1957,3064,4094,48.2,-13.1,51,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3065,3065,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,46.41
$GC,452,-1.78,-487.5,1763,1957,3066,4095,54.1,-13.4,57,462,0.00,1.12,0.00,0.000,260,0.000,0.045,1764,2378,3066,3066,4095,0,0,0,0,0,0,26.45,26.17,26.46,10.37,45.66
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,504,-0.45,0.0,1764,2104,3067,4095,60.5,-13.7,63,541,4.55,0.08,28.38,1.318,10244,0.057,0.108,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.17,25.27,24.20,10.35,46.22
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,546,1.78,487.5,2185,2141,2484,4094,63.8,0.0,67,590,7.50,0.00,28.17,1.287,11270,0.033,0.000,2892,2141,1916,1916,4094,0,0,0,0,0,0,25.55,25.70,23.80,10.23,45.11
$GC,629,1.78,487.5,2891,2141,1915,4094,57.2,12.4,77,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2141,1914,1914,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.09,44.36
$GC,676,1.78,487.5,2891,2141,1913,4094,51.1,12.8,83,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2141,1913,1913,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.08,44.72
$GC,724,1.78,487.5,2892,2141,1913,4094,45.0,12.9,89,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2141,1912,1912,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.08,45.07
$GC,771,1.78,487.5,2891,2141,1911,4094,39.0,12.8,95,780,0.00,1.08,0.00,0.000,516,0.000,0.044,2893,1733,1910,1910,4094,0,0,0,0,0,0,25.97,25.67,25.98,10.07,45.11
$GC,857,1.78,487.5,2891,1733,1907,4094,27.8,12.0,107,866,0.00,0.95,0.00,0.000,1030,0.000,0.029,2892,2123,1907,1907,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.07,45.82
$GC,903,1.78,487.5,2892,2122,1907,4094,22.2,12.0,113,913,0.00,1.02,0.00,0.000,516,0.000,0.044,2892,1734,1906,1906,4094,0,0,0,0,0,0,26.16,25.89,26.17,10.10,46.37
$GC,995,1.91,577.6,2891,1733,1904,4094,13.8,9.2,126,1007,0.38,0.88,5.97,0.581,11270,0.037,0.028,2934,2100,1810,1810,4094,0,0,0,0,0,0,26.04,26.02,24.96,10.16,50.51
$GC,1045,1.91,577.6,2934,2099,1808,4094,8.8,10.9,132,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2100,1808,1808,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.15,51.69
$GC,1093,1.91,577.6,2934,2099,1807,4094,3.8,10.6,138,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2099,1807,1807,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.16,51.49
$STATE,1109,end climb,FINISH_DEPTH_REACHED
$STATE,1109,begin subsurface finish
$FINISH1,1.4,1.023809,125
$GC,1119,0.19,124.8,2934,2140,1806,4094,1.4,11.3,140,1137,5.50,0.00,-5.00,0.000,20486,0.023,0.000,2401,2141,2344,2344,4094,0,0,0,0,0,0,26.07,25.48,26.11,10.17,51.73
$FINISH2,0.0
$STATE,1138,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1138,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,072245
$TT8_MAMPS,0.026215,0.250915
$HUMID,52.28
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.80,31.967
$10V_AH,10.12,33.875
$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,35.175,8.000,62.525,0.000,0.000,24.538,24.139,213.962,0.000,0.000,28.144,404.857,0.395,129.920,859.251,212.037,0.000,383.743,0.000,349.479,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,153.000,1318.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.745,385.780,305.289,452.895,590.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,14392,142
$CAP_FILE_SIZE,31929,0
$CFSIZE,1024409600,963280896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160817,083800,6155.896,-17411.920,7,0.8,26,6.9,0.0,189.3,10,5.0