version: 66.13
glider: 401
mission: 22
dive: 1168
start: 8 16 117 18 9 59
data:
$ID,401
$MISSION,22
$DIVE,1168
$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,33
$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
$GPS1,160817,175946,6158.4937,-17420.1973,6,0.8,16,6.8,0.0,287.3,10,4.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-41.0
$GPS2,160817,180924,6158.4985,-17420.3047,10,0.7,16,6.8,0.0,0.0,11,4.7
$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,317.0,30309,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,237,1945,1757,4092,0.0,0.0,0,20,8.15,0.00,0.00,0.000,2049,0.103,0.000,913,1946,1757,1757,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.20,51.69
$GC,24,-1.78,-487.5,912,1946,1757,4094,0.7,0.0,1,51,9.20,1.15,-12.68,0.000,18948,0.046,1.278,1763,1528,3058,3058,4094,0,0,0,0,0,0,25.86,24.48,25.91,10.20,51.81
$GC,177,-1.78,-487.5,1762,1528,3062,4094,19.3,-18.9,22,186,0.00,1.00,0.00,0.000,1030,0.000,0.028,1763,1952,3062,3062,4095,0,0,0,0,0,0,26.05,26.02,26.06,10.49,50.98
$GC,225,-1.78,-487.5,1763,1952,3063,4095,27.3,-13.8,28,234,0.00,1.10,0.00,0.000,516,0.000,0.047,1763,1527,3063,3063,4095,0,0,0,0,0,0,26.30,25.98,26.32,10.44,50.47
$GC,258,-1.78,-487.5,1763,1526,3063,4095,31.6,-12.8,32,267,0.00,1.00,0.00,0.000,1030,0.000,0.026,1763,1954,3064,3064,4095,0,0,0,0,0,0,26.15,26.10,26.11,10.41,49.52
$GC,304,-1.78,-487.5,1763,1954,3065,4095,37.0,-11.6,38,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3065,3065,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.39,48.58
$GC,349,-1.78,-487.5,1763,1954,3066,4095,42.6,-12.6,44,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3066,3066,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.38,47.28
$GC,394,-1.78,-487.5,1762,1954,3067,4095,48.4,-13.2,50,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3067,3067,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.37,46.88
$GC,439,-1.78,-487.5,1763,1954,3068,4094,54.3,-13.2,56,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1955,3068,3068,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.36,45.86
$STATE,481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,481,begin apogee
$GC,490,-0.45,0.0,1763,2137,3070,4095,60.3,-13.5,62,526,4.55,0.00,28.45,1.319,10244,0.057,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.16,25.26,24.18,10.35,45.78
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,530,1.78,487.5,2186,2136,2483,4094,63.5,0.0,66,575,7.57,0.00,28.12,1.285,11270,0.032,0.000,2893,2137,1917,1917,4094,0,0,0,0,0,0,25.53,25.68,23.80,10.22,45.58
$GC,614,1.78,487.5,2892,2137,1915,4094,56.7,12.7,76,623,0.00,1.15,0.00,0.000,260,0.000,0.051,2893,2559,1915,1915,4094,0,0,0,0,0,0,25.56,25.28,25.58,10.09,44.76
$GC,654,1.78,487.5,2893,2558,1914,4094,51.1,13.7,81,663,0.00,1.08,0.00,0.000,1030,0.000,0.026,2893,2130,1914,1914,4094,0,0,0,0,0,0,25.53,25.51,25.55,10.09,45.19
$GC,701,1.78,487.5,2892,2129,1913,4094,44.8,13.3,87,710,0.00,1.08,0.00,0.000,516,0.000,0.046,2893,1717,1913,1913,4094,0,0,0,0,0,0,25.85,25.56,25.86,10.08,44.68
$GC,832,1.78,487.5,2892,1717,1909,4094,27.1,13.8,106,842,0.00,0.93,0.00,0.000,1030,0.000,0.028,2893,2100,1908,1908,4094,0,0,0,0,0,0,25.87,25.85,25.89,10.06,46.45
$GC,879,1.78,487.5,2892,2099,1907,4094,21.3,11.8,112,888,0.00,1.23,0.00,0.000,260,0.000,0.053,2893,2552,1907,1907,4094,0,0,0,0,0,0,26.15,25.82,26.16,10.08,46.06
$GC,900,1.83,520.1,2892,2552,1907,4094,19.4,10.0,114,910,0.00,1.15,3.30,0.381,9222,0.000,0.028,2893,2094,1875,1875,4094,0,0,0,0,0,0,25.96,25.92,24.84,10.10,46.29
$GC,949,2.07,681.3,2892,2094,1875,4094,15.5,8.1,120,968,0.88,0.98,9.90,0.705,10756,0.028,0.047,2985,1714,1688,1688,4094,0,0,0,0,0,0,26.03,25.39,24.84,10.13,48.74
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1072,begin subsurface finish
$FINISH1,1.6,1.023814,125
$GC,1082,0.19,124.5,2985,2140,1685,4094,1.6,12.0,137,1101,6.05,0.00,-6.15,0.000,20998,0.027,0.000,2402,2148,2343,2343,4095,0,0,0,0,0,0,25.98,25.41,26.03,10.13,51.65
$FINISH2,0.1
$STATE,1102,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,180229
$TT8_MAMPS,0.025466,0.276381
$HUMID,52.08
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.80,32.667
$10V_AH,10.07,34.430
$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,36.400,13.325,69.775,0.000,0.000,49.704,39.044,255.945,0.000,0.000,17.740,395.417,44.375,123.569,919.337,213.164,0.000,359.524,0.000,338.869,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1277.550,1318.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.866,377.641,298.891,442.853,574.592,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14325,139
$CAP_FILE_SIZE,31685,0
$CFSIZE,1024409600,962101248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160817,180924,6158.499,-17420.305,10,0.7,16,6.8,0.0,0.0,11,4.7