version: 66.13
glider: 401
mission: 22
dive: 1121
start: 8 15 117 23 11 49
data:
$ID,401
$MISSION,22
$DIVE,1121
$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,15
$R_STBD_OVSHOOT,51
$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
$GPS1,150817,225010,6153.3364,-17406.1621,7,0.9,16,6.9,0.0,319.5,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.4
$GPS2,150817,225010,6153.3364,-17406.1621,7,0.9,16,6.9,0.0,319.5,9,4.7
$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,286.8,14919,-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,-487.5,2400,1975,2349,4092,0.0,0.0,0,17,6.20,0.00,0.00,0.000,4097,0.026,0.000,1803,1976,2349,2349,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.31,52.63
$GC,21,-1.78,-487.5,1803,1976,2349,4094,0.0,0.0,1,33,0.00,1.25,-6.70,0.000,16900,0.000,1.277,1803,1514,3054,3054,4095,0,0,0,0,0,0,26.25,24.63,26.27,10.31,51.96
$GC,60,-1.78,-487.5,1802,1513,3055,4095,2.3,-8.4,7,68,0.10,1.00,0.00,0.000,5126,0.047,0.026,1784,1949,3055,3055,4095,0,0,0,0,0,0,25.96,25.98,25.99,10.46,52.67
$GC,101,-1.78,-487.5,1784,1949,3056,4095,7.2,-12.1,13,107,0.00,1.08,0.00,0.000,260,0.000,0.043,1784,2359,3056,3056,4094,0,0,0,0,0,0,26.25,25.96,26.26,10.46,52.08
$GC,146,-1.78,-487.5,1783,2359,3057,4094,12.5,-11.7,20,152,0.00,1.05,0.00,0.000,1030,0.000,0.032,1784,1943,3057,3057,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.47,51.96
$GC,185,-1.78,-487.5,1783,1943,3058,4094,17.1,-12.1,26,192,0.00,1.08,0.00,0.000,516,0.000,0.054,1784,1523,3058,3058,4094,0,0,0,0,0,0,26.32,26.01,26.34,10.47,51.96
$GC,267,-1.78,-487.5,1784,1523,3059,4094,26.0,-9.5,39,274,0.00,0.95,0.00,0.000,1030,0.000,0.025,1784,1949,3059,3059,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.43,51.61
$GC,307,-1.78,-487.5,1783,1949,3060,4095,29.9,-9.7,45,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1949,3060,3060,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.41,51.45
$GC,346,-1.78,-487.5,1784,1949,3061,4094,33.8,-10.0,51,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1949,3061,3061,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.40,50.19
$GC,385,-1.78,-487.5,1783,1950,3061,4095,37.6,-9.4,57,392,0.00,1.10,0.00,0.000,516,0.000,0.052,1784,1523,3061,3061,4095,0,0,0,0,0,0,26.46,26.14,26.46,10.38,49.52
$GC,431,-1.78,-487.5,1783,1522,3062,4095,42.2,-10.2,64,437,0.00,0.90,0.00,0.000,1030,0.000,0.025,1784,1926,3062,3062,4095,0,0,0,0,0,0,26.28,26.26,26.29,10.37,48.97
$GC,470,-1.78,-487.5,1783,1926,3063,4095,46.2,-10.2,70,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1926,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.36,47.71
$GC,510,-1.78,-487.5,1783,1926,3064,4095,50.0,-9.9,76,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1926,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.35,47.44
$GC,549,-1.78,-487.5,1783,1926,3064,4095,53.8,-9.4,82,555,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1926,3065,3065,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.35,47.59
$GC,588,-1.78,-487.5,1783,1926,3065,4094,57.7,-9.6,88,594,0.00,1.05,0.00,0.000,516,0.000,0.051,1784,1522,3066,3066,4095,0,0,0,0,0,0,26.54,26.23,26.55,10.34,47.04
$STATE,612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,612,begin apogee
$GC,621,-0.45,0.0,1784,2115,3066,4095,60.5,-10.5,92,657,4.32,0.00,28.17,1.301,10244,0.055,0.000,2186,2115,2484,2484,4094,0,0,0,0,0,0,26.25,25.36,24.30,10.34,46.88
$STATE,658,end apogee,CONTROL_FINISHED_OK
$STATE,658,begin climb
$GC,662,1.78,487.5,2185,2115,2484,4094,62.9,0.0,98,704,7.45,1.20,27.98,1.277,10500,0.031,0.052,2892,2565,1916,1916,4094,0,0,0,0,0,0,25.55,25.49,23.87,10.20,46.29
$GC,752,1.78,491.2,2891,2565,1915,4094,57.0,10.5,112,758,0.00,1.08,0.00,0.000,1030,0.000,0.026,2891,2140,1915,1915,4094,0,0,0,0,0,0,25.44,25.41,25.46,10.08,46.02
$GC,791,1.81,510.2,2891,2139,1914,4094,52.8,10.2,118,799,0.00,1.10,3.10,0.473,8708,0.000,0.046,2893,1717,1889,1889,4095,0,0,0,0,0,0,25.79,25.37,24.30,10.07,46.61
$GC,880,1.95,601.6,2892,1717,1887,4095,44.6,9.2,132,894,0.47,0.98,6.57,0.837,11270,0.031,0.027,2947,2120,1782,1782,4094,0,0,0,0,0,0,25.76,25.74,24.46,10.06,46.45
$GC,927,1.95,601.6,2946,2119,1781,4094,39.9,10.6,139,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2120,1781,1781,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.04,46.85
$GC,966,1.96,609.9,2946,2119,1781,4094,35.8,10.4,145,973,0.00,0.00,2.30,0.167,8198,0.000,0.000,2947,2120,1772,1772,4093,0,0,0,0,0,0,26.02,25.55,24.60,10.03,47.48
$GC,1006,2.01,644.2,2946,2119,1771,4093,31.6,10.0,151,1013,0.10,0.00,3.60,0.485,10246,0.075,0.000,2967,2120,1732,1732,4094,0,0,0,0,0,0,25.89,25.58,24.68,10.03,47.67
$GC,1046,2.02,650.3,2967,2119,1731,4094,27.5,10.4,157,1054,0.00,1.08,2.22,0.125,8708,0.000,0.047,2968,1716,1724,1724,4094,0,0,0,0,0,0,26.10,25.69,24.73,10.02,47.51
$GC,1081,2.02,650.3,2967,1715,1724,4094,23.9,10.7,162,1088,0.00,0.95,0.00,0.000,1030,0.000,0.028,2968,2111,1724,1724,4094,0,0,0,0,0,0,25.93,25.90,25.95,10.02,47.79
$GC,1121,2.26,809.2,2967,2111,1723,4094,20.5,8.2,168,1134,0.75,0.00,9.82,0.744,10246,0.032,0.000,3043,2111,1540,1540,4094,0,0,0,0,0,0,25.97,25.59,24.79,10.06,48.62
$GC,1168,2.27,814.5,3042,2110,1539,4094,15.9,10.4,175,1174,0.00,0.00,1.45,0.003,8198,0.000,0.000,3043,2111,1539,1539,4094,0,0,0,0,0,0,26.09,26.07,26.07,10.06,50.82
$GC,1207,2.27,814.5,3043,2110,1538,4094,11.7,10.8,181,1213,0.00,0.00,1.12,0.003,8198,0.000,0.000,3043,2110,1538,1538,4094,0,0,0,0,0,0,26.15,26.13,26.13,10.07,52.36
$GC,1246,2.27,814.5,3043,2110,1537,4094,7.6,10.5,187,1253,0.00,1.02,0.00,0.000,516,0.000,0.049,3043,1721,1537,1537,4094,0,0,0,0,0,0,26.20,25.88,26.20,10.08,52.32
$STATE,1300,end climb,FINISH_DEPTH_REACHED
$STATE,1301,begin subsurface finish
$FINISH1,1.6,1.023850,122
$GC,1311,0.18,122.0,3043,2140,1534,4094,1.6,9.9,196,1330,6.85,1.20,-7.22,0.000,20996,0.043,1.281,2400,1715,2347,2347,4095,0,0,0,0,0,0,26.04,24.63,26.06,10.10,53.26
$FINISH2,0.1
$STATE,1331,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1332,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,150817,213423
$TT8_MAMPS,0.025466,0.102613
$HUMID,54.76
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.87,31.289
$10V_AH,10.39,33.311
$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,26.250,21.175,86.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,522.158,301.257,185.304,289.432,93.394,0.000,404.375,0.000,296.588,0.000,0.542,0.000
$DEVICE_MAMPS,74.970,1280.610,1301.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330840
$DATA_FILE_SIZE,14260,199
$CAP_FILE_SIZE,40644,0
$CFSIZE,1024409600,964395008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150817,225010,6153.336,-17406.162,7,0.9,16,6.9,0.0,319.5,9,4.7