version: 66.13
glider: 401
mission: 22
dive: 1175
start: 8 16 117 20 51 40
data:
$ID,401
$MISSION,22
$DIVE,1175
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,160817,203011,6159.8057,-17423.4824,4,0.8,17,6.8,0.0,121.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-3.1
$GPS2,160817,203011,6159.8057,-17423.4824,4,0.8,17,6.8,0.0,121.7,9,5.0
$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,318.7,26745,-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,-487.5,2401,1977,2342,4092,0.0,0.0,0,29,6.50,0.00,-7.05,0.000,20486,0.024,0.000,1772,1977,3054,3054,4094,0,0,0,0,0,0,26.07,25.48,26.12,10.30,52.63
$GC,33,-1.78,-487.5,1772,1977,3054,4094,0.1,-1.3,3,40,0.00,1.15,0.00,0.000,516,0.000,0.057,1772,1532,3053,3053,4094,0,0,0,0,0,0,26.20,25.89,26.20,10.45,52.52
$GC,91,-1.78,-487.5,1772,1531,3056,4094,8.1,-16.8,12,97,0.00,0.95,0.00,0.000,1030,0.000,0.028,1772,1934,3055,3055,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.45,52.63
$GC,130,-1.78,-487.5,1771,1934,3057,4095,15.3,-18.8,18,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1934,3057,3057,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.46,51.89
$GC,169,-1.78,-487.5,1772,1934,3058,4094,22.5,-18.6,24,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1934,3058,3058,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.45,51.85
$GC,207,-1.78,-487.5,1772,1935,3059,4095,27.7,-13.1,30,214,0.00,1.05,0.00,0.000,516,0.000,0.050,1772,1530,3060,3060,4094,0,0,0,0,0,0,26.36,26.06,26.37,10.40,51.73
$GC,265,-1.78,-487.5,1772,1529,3060,4094,34.9,-12.1,39,271,0.00,1.00,0.00,0.000,1030,0.000,0.027,1772,1955,3060,3060,4095,0,0,0,0,0,0,26.19,26.17,26.21,10.38,51.14
$GC,304,-1.78,-487.5,1771,1955,3061,4095,39.7,-12.0,45,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3061,3061,4094,0,0,0,0,0,0,26.41,26.44,26.43,10.36,49.33
$GC,343,-1.78,-487.5,1772,1955,3062,4094,44.5,-12.2,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3062,3062,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.35,48.58
$GC,382,-1.78,-487.5,1772,1955,3063,4094,49.4,-12.8,57,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3063,3063,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,48.34
$GC,420,-1.78,-487.5,1772,1955,3064,4095,54.4,-12.9,63,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.33,47.59
$GC,459,-1.78,-487.5,1771,1956,3065,4095,59.5,-13.0,69,466,0.00,1.08,0.00,0.000,260,0.000,0.046,1772,2368,3065,3065,4094,0,0,0,0,0,0,26.49,26.19,26.51,10.33,47.67
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,479,-0.45,0.0,1772,2117,3066,4094,61.5,-13.7,71,515,4.45,0.00,28.27,1.325,10244,0.055,0.000,2184,2115,2484,2484,4095,0,0,0,0,0,0,26.20,25.29,24.22,10.32,47.36
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,520,1.78,487.5,2184,2115,2484,4095,64.5,0.0,77,561,7.57,0.00,28.02,1.293,11270,0.033,0.000,2891,2115,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.80,10.20,46.57
$GC,595,1.78,487.5,2890,2115,1915,4094,58.5,11.8,89,601,0.00,1.23,0.00,0.000,260,0.000,0.051,2891,2554,1915,1915,4094,0,0,0,0,0,0,25.52,25.24,25.53,10.08,45.62
$GC,634,1.78,487.5,2890,2553,1913,4094,53.2,13.8,95,641,0.00,1.02,0.00,0.000,1030,0.000,0.025,2890,2143,1913,1913,4094,0,0,0,0,0,0,25.51,25.48,25.53,10.06,46.33
$GC,674,1.78,487.5,2890,2142,1912,4094,47.9,13.2,101,680,0.00,1.10,0.00,0.000,516,0.000,0.045,2891,1722,1912,1912,4094,0,0,0,0,0,0,25.82,25.52,25.82,10.06,46.14
$GC,761,1.78,487.5,2890,1721,1910,4094,36.1,13.2,115,768,0.00,0.88,0.00,0.000,1030,0.000,0.029,2891,2084,1910,1910,4094,0,0,0,0,0,0,25.79,25.76,25.81,10.04,46.88
$GC,801,1.78,487.5,2890,2083,1908,4094,30.7,14.1,121,807,0.00,1.27,0.00,0.000,260,0.000,0.054,2891,2551,1908,1908,4094,0,0,0,0,0,0,26.06,25.75,26.07,10.05,47.55
$GC,846,1.78,487.5,2890,2550,1907,4094,24.7,12.6,128,853,0.00,1.10,0.00,0.000,1030,0.000,0.028,2891,2111,1907,1907,4094,0,0,0,0,0,0,25.91,25.88,25.93,10.05,47.51
$GC,886,1.83,522.8,2890,2110,1906,4094,20.5,10.0,134,895,0.10,1.02,3.33,0.392,10756,0.080,0.047,2907,1715,1874,1874,4094,0,0,0,0,0,0,25.95,25.74,24.82,10.09,48.11
$GC,1049,1.89,559.9,2906,1714,1870,4094,4.9,10.0,160,1057,0.12,0.82,3.65,0.362,11270,0.047,0.028,2927,2066,1828,1828,4094,0,0,0,0,0,0,26.06,26.06,25.10,10.15,52.71
$STATE,1075,end climb,FINISH_DEPTH_REACHED
$STATE,1075,begin subsurface finish
$FINISH1,1.8,1.023812,125
$GC,1084,0.19,124.7,2927,2152,1828,4094,1.8,10.7,164,1098,5.80,0.00,-4.82,0.000,20486,0.066,0.000,2404,2153,2345,2345,4094,0,0,0,0,0,0,26.03,24.91,26.09,10.15,52.99
$FINISH2,-0.0
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,191405
$TT8_MAMPS,0.025466,0.106358
$HUMID,53.62
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.80,32.862
$10V_AH,10.37,34.580
$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,24.550,14.950,63.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.655,256.136,148.211,241.876,77.336,0.000,329.302,0.000,249.877,0.000,0.541,0.000
$DEVICE_MAMPS,80.325,80.325,1324.980,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,10778,166
$CAP_FILE_SIZE,30400,0
$CFSIZE,1024409600,961757184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,203011,6159.806,-17423.482,4,0.8,17,6.8,0.0,121.7,9,5.0