version: 66.13
glider: 401
mission: 22
dive: 1146
start: 8 16 117 9 19 48
data:
$ID,401
$MISSION,22
$DIVE,1146
$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,35
$R_STBD_OVSHOOT,52
$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
$GPS1,160817,083800,6155.8960,-17411.9199,7,0.8,26,6.9,0.0,189.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.8
$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,5,begin dive
$GC,9,-1.78,-487.5,2403,1985,2343,4092,0.0,0.0,0,21,6.53,0.00,-3.25,0.000,20482,0.024,0.000,1775,1985,2679,2679,4095,0,0,0,0,0,0,26.03,28.83,26.08,10.29,53.26
$GC,25,-1.78,-487.5,1774,1985,2679,4095,0.1,0.0,1,35,0.00,1.00,-3.65,0.000,16644,0.000,1.259,1775,2355,3054,3054,4095,0,0,0,0,0,0,26.27,24.65,26.27,10.37,53.30
$GC,150,-1.78,-487.5,1774,2355,3058,4095,17.9,-18.8,19,160,0.00,1.00,0.00,0.000,1030,0.000,0.029,1775,1963,3058,3058,4094,0,0,0,0,0,0,26.07,26.05,26.10,10.45,53.81
$GC,199,-1.78,-487.5,1774,1963,3060,4094,25.2,-13.4,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1963,3060,3060,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.41,52.91
$GC,245,-1.78,-487.5,1774,1963,3061,4094,30.8,-12.5,31,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1963,3061,3061,4095,0,0,0,0,0,0,26.36,26.37,26.38,10.38,51.69
$GC,293,-1.78,-487.5,1773,1963,3062,4095,36.7,-12.4,37,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1963,3062,3062,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.36,50.43
$GC,339,-1.78,-487.5,1774,1963,3063,4094,42.6,-12.6,43,349,0.00,1.05,0.00,0.000,260,0.000,0.045,1775,2355,3063,3063,4094,0,0,0,0,0,0,26.43,26.13,26.44,10.35,50.03
$GC,392,-1.78,-487.5,1774,2355,3064,4094,49.3,-12.6,50,402,0.00,1.02,0.00,0.000,1030,0.000,0.031,1774,1945,3064,3064,4095,0,0,0,0,0,0,26.22,26.18,26.23,10.34,48.54
$GC,439,-1.78,-487.5,1774,1945,3065,4095,55.3,-13.0,56,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3065,3065,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.33,48.18
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,485,-0.45,0.0,1774,2127,3066,4095,60.4,-12.7,61,528,4.43,0.00,28.35,1.319,10244,0.055,0.000,2185,2127,2484,2484,4095,0,0,0,0,0,0,26.20,25.29,24.21,10.32,47.63
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,533,1.78,487.5,2185,2126,2484,4095,64.0,0.0,66,577,7.50,1.15,28.05,1.293,10500,0.031,0.051,2892,2556,1916,1916,4094,0,0,0,0,0,0,25.52,25.46,23.82,10.20,47.48
$GC,627,1.78,487.5,2891,2555,1914,4094,55.7,13.0,78,637,0.00,1.08,0.03,0.005,9222,0.000,0.027,2892,2131,1915,1915,4094,0,0,0,0,0,0,25.48,25.41,25.46,10.06,45.78
$GC,676,1.78,487.5,2892,2131,1913,4094,49.5,13.0,84,686,0.00,1.08,0.00,0.000,516,0.000,0.047,2892,1721,1913,1913,4094,0,0,0,0,0,0,25.79,25.50,25.81,10.05,46.18
$GC,762,1.78,487.5,2892,1721,1911,4094,37.8,13.6,96,772,0.00,0.98,0.00,0.000,1030,0.000,0.030,2892,2117,1911,1911,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.05,46.69
$GC,809,1.78,487.5,2892,2116,1910,4094,31.6,13.4,102,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2116,1909,1909,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.03,47.55
$GC,855,1.78,487.5,2892,2116,1908,4094,26.1,11.5,108,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2116,1908,1908,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.05,47.44
$GC,901,1.78,487.5,2892,2116,1907,4094,20.7,11.3,114,911,0.00,1.05,0.00,0.000,516,0.000,0.047,2892,1721,1907,1907,4094,0,0,0,0,0,0,26.17,25.86,26.18,10.08,48.14
$GC,1020,1.93,587.6,2892,1721,1904,4094,9.8,9.0,131,1031,0.38,0.98,6.47,0.574,11270,0.034,0.029,2936,2123,1796,1796,4094,0,0,0,0,0,0,26.06,26.04,25.02,10.15,51.53
$GC,1070,1.95,605.3,2935,2122,1796,4094,4.9,10.3,137,1080,0.00,0.00,2.72,0.221,8198,0.000,0.000,2935,2123,1776,1776,4094,0,0,0,0,0,0,26.25,25.58,25.10,10.14,52.40
$STATE,1094,end climb,SURFACE_DEPTH_REACHED
$STATE,1094,begin surface coast
$FINISH,0.0,1.018868
$STATE,1117,end surface coast,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$SM_CCo,1219,0.00,0.000,0,0,1774,610.46
$SM_GC,0.89,28.45,0.43,0.00,0.021,0.047,0.000,230,1958,1774,-6.59,1.73,610.46,0,0,0,0,0,0,25.96,26.03,26.06
$IRIDIUM_FIX,6149.06,-17422.35,160817,072245
$TT8_MAMPS,0.026215,0.23968
$HUMID,52.91
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.82,32.012
$10V_AH,10.14,33.918
$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,47.275,11.825,65.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,410.742,59.661,140.171,596.742,77.037,0.000,365.592,0.000,349.127,0.000,0.540,0.000
$DEVICE_MAMPS,55.080,1259.190,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.043,388.484,307.464,455.851,594.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,14270,143
$CAP_FILE_SIZE,28450,0
$CFSIZE,1024409600,963182592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,094059,6156.384,-17413.209,8,0.8,13,6.9,0.4,68.5,10,4.9