version: 66.13
glider: 401
mission: 22
dive: 1161
start: 8 16 117 15 20 45
data:
$ID,401
$MISSION,22
$DIVE,1161
$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,62
$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
$GPS1,160817,144032,6157.2856,-17417.1230,7,0.8,19,6.8,0.3,190.2,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.6
$GPS2,160817,144032,6157.2856,-17417.1230,7,0.8,19,6.8,0.3,190.2,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W13N
$TGT_LATLONG,6211.700,-17441.039
$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,315.5,33757,-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,-487.5,2401,1991,2343,4092,0.0,0.0,0,18,6.53,0.00,0.00,0.000,4098,0.026,0.000,1774,1991,2343,2343,4094,0,0,0,0,0,0,26.02,28.83,28.83,10.28,53.03
$GC,22,-1.78,-487.5,1773,1991,2343,4094,0.0,0.0,1,34,0.00,1.25,-6.90,0.000,16900,0.000,1.277,1774,1529,3054,3054,4094,0,0,0,0,0,0,26.23,24.60,26.25,10.28,53.26
$GC,56,-1.78,-487.5,1773,1529,3055,4094,2.1,-8.0,6,62,0.00,0.93,0.00,0.000,1030,0.000,0.028,1774,1931,3055,3055,4095,0,0,0,0,0,0,25.99,25.96,26.01,10.44,53.50
$GC,95,-1.78,-487.5,1773,1931,3056,4095,8.4,-16.3,12,101,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1931,3056,3056,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.44,53.03
$GC,134,-1.78,-487.5,1773,1932,3057,4095,15.2,-17.7,18,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1931,3057,3057,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.44,52.91
$GC,172,-1.78,-487.5,1773,1931,3058,4094,21.4,-15.2,24,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1931,3059,3059,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.44,53.42
$GC,211,-1.78,-487.5,1773,1931,3059,4094,26.2,-11.9,30,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1931,3060,3060,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.39,52.32
$GC,250,-1.78,-487.5,1773,1931,3060,4094,30.9,-12.3,36,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1931,3060,3060,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.38,51.33
$GC,288,-1.78,-487.5,1773,1931,3061,4094,35.8,-12.4,42,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1932,3062,3062,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.36,50.27
$GC,327,-1.78,-487.5,1773,1932,3062,4094,40.7,-12.5,48,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1932,3062,3062,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.35,49.84
$GC,366,-1.78,-487.5,1773,1932,3063,4095,45.7,-12.9,54,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1933,3063,3063,4095,0,0,0,0,0,0,26.44,26.44,26.44,10.34,49.17
$GC,405,-1.78,-487.5,1773,1932,3064,4095,50.7,-13.1,60,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1933,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.33,48.97
$GC,443,-1.78,-487.5,1773,1933,3065,4095,55.6,-12.5,66,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1933,3066,3066,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.32,48.11
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,487,-0.45,0.0,1773,2132,3066,4095,60.6,-12.7,72,523,4.45,0.00,28.17,1.317,10244,0.055,0.000,2185,2132,2484,2484,4094,0,0,0,0,0,0,26.19,25.29,24.22,10.32,48.03
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,528,1.78,487.5,2184,2132,2483,4094,63.4,0.0,78,570,7.47,1.15,28.00,1.285,10500,0.031,0.052,2891,2557,1915,1915,4094,0,0,0,0,0,0,25.49,25.41,23.82,10.19,47.04
$GC,609,1.78,487.5,2891,2557,1915,4094,56.4,13.0,91,616,0.00,1.05,0.00,0.000,1030,0.000,0.026,2891,2140,1914,1914,4095,0,0,0,0,0,0,25.37,25.35,25.39,10.06,46.33
$GC,649,1.78,487.5,2891,2140,1914,4095,51.1,13.6,97,655,0.00,1.10,0.00,0.000,516,0.000,0.046,2891,1717,1913,1913,4094,0,0,0,0,0,0,25.72,25.44,25.73,10.06,46.92
$GC,790,1.78,487.5,2890,1717,1909,4094,32.4,13.5,120,797,0.00,0.90,0.00,0.000,1030,0.000,0.029,2891,2089,1909,1909,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.05,47.36
$GC,830,1.78,487.5,2891,2088,1908,4094,27.1,13.4,126,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2089,1907,1907,4094,0,0,0,0,0,0,26.10,26.10,26.10,10.04,47.44
$GC,868,1.78,487.5,2891,2088,1907,4094,22.0,12.8,132,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2089,1907,1907,4095,0,0,0,0,0,0,26.15,26.15,26.15,10.04,47.91
$GC,907,1.89,565.4,2891,2088,1905,4095,17.8,9.4,138,920,0.32,0.00,5.50,0.590,10246,0.041,0.000,2930,2089,1823,1823,4095,0,0,0,0,0,0,25.98,25.42,24.86,10.08,48.93
$GC,953,1.94,596.4,2930,2089,1823,4095,13.3,10.1,145,960,0.00,0.00,3.40,0.375,8198,0.000,0.000,2929,2089,1787,1787,4094,0,0,0,0,0,0,26.16,25.70,24.91,10.10,50.63
$GC,993,1.94,596.4,2930,2088,1786,4094,9.1,10.6,151,1000,0.00,0.98,0.00,0.000,516,0.000,0.047,2930,1720,1786,1786,4094,0,0,0,0,0,0,26.18,25.88,26.20,10.11,51.29
$STATE,1059,end climb,SURFACE_DEPTH_REACHED
$STATE,1059,begin surface coast
$FINISH,0.9,1.023822
$STATE,1066,end surface coast,CONTROL_FINISHED_OK
$STATE,1066,begin surface
$SM_CCo,1168,0.00,0.000,0,0,1783,602.74
$SM_GC,0.98,28.23,0.55,0.00,0.020,0.031,0.000,238,1974,1783,-6.55,-1.50,602.74,0,0,0,0,0,0,26.06,26.06,26.10
$IRIDIUM_FIX,6149.06,-17422.35,160817,143214
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.85
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.82,32.449
$10V_AH,10.38,34.258
$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,47.000,8.950,65.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,429.936,311.858,172.280,237.390,81.389,0.000,351.839,0.000,245.567,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1276.785,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,10845,163
$CAP_FILE_SIZE,30645,0
$CFSIZE,1024409600,962445312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,154110,6157.673,-17417.809,8,0.7,18,6.8,0.2,333.6,11,5.0