version: 66.13
glider: 401
mission: 22
dive: 1123
start: 8 16 117 0 11 23
data:
$ID,401
$MISSION,22
$DIVE,1123
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,160817,000020,6154.0889,-17406.4004,4,0.9,38,6.9,0.2,91.2,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-21.1
$GPS2,160817,001045,6154.1216,-17406.3027,7,0.8,23,6.9,0.0,52.9,10,4.9
$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,281.7,14280,-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,-487.5,230,1961,1531,4092,0.0,0.0,0,18,6.88,0.00,0.00,0.000,2049,0.048,0.000,861,1961,1532,1532,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.18,51.10
$GC,22,-1.78,-487.5,861,1961,1532,4094,0.2,0.0,1,52,9.60,1.17,-14.35,0.000,18948,0.041,1.271,1762,1514,3056,3056,4095,0,0,0,0,0,0,25.90,24.53,25.97,10.19,50.98
$GC,242,-1.78,-487.5,1762,1513,3060,4095,19.5,-11.3,37,249,0.00,1.02,0.00,0.000,1030,0.000,0.024,1762,1959,3060,3060,4095,0,0,0,0,0,0,26.11,26.10,26.14,10.52,50.98
$GC,282,-1.78,-487.5,1762,1959,3060,4095,23.7,-10.3,43,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3061,3061,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.50,50.19
$GC,321,-1.78,-487.5,1762,1961,3061,4095,27.5,-9.8,49,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3062,3062,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,49.37
$GC,360,-1.78,-487.5,1762,1962,3062,4095,31.2,-9.2,55,367,0.00,1.15,0.00,0.000,516,0.000,0.051,1762,1519,3062,3062,4095,0,0,0,0,0,0,26.40,26.09,26.41,10.43,48.77
$GC,599,-1.78,-487.5,1762,1519,3066,4095,55.4,-10.6,94,605,0.00,1.00,0.00,0.000,1030,0.000,0.025,1763,1961,3067,3067,4095,0,0,0,0,0,0,26.34,26.31,26.34,10.37,46.18
$GC,638,-1.78,-487.5,1762,1961,3067,4095,59.9,-11.1,100,645,0.00,1.15,0.00,0.000,516,0.000,0.049,1763,1515,3067,3067,4095,0,0,0,0,0,0,26.55,26.22,26.55,10.36,45.78
$STATE,650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,650,begin apogee
$GC,659,-0.45,0.0,1762,2121,3068,4094,61.4,-10.6,102,695,4.55,0.00,28.23,1.314,10244,0.055,0.000,2186,2121,2484,2484,4094,0,0,0,0,0,0,26.25,25.34,24.28,10.36,45.98
$STATE,696,end apogee,CONTROL_FINISHED_OK
$STATE,696,begin climb
$GC,700,1.78,487.5,2186,2121,2484,4094,64.5,0.0,108,742,7.45,1.17,28.05,1.297,10500,0.029,0.050,2893,2562,1916,1916,4094,0,0,0,0,0,0,25.53,25.48,23.84,10.23,45.78
$GC,974,1.78,487.5,2892,2562,1910,4094,37.4,11.3,153,980,0.00,1.08,0.00,0.000,1030,0.000,0.026,2893,2132,1910,1910,4094,0,0,0,0,0,0,25.87,25.84,25.90,10.08,46.65
$GC,1014,1.85,538.6,2893,2132,1909,4094,33.2,9.8,159,1027,0.17,1.17,4.32,0.594,10500,0.056,0.046,2919,2565,1855,1855,4094,0,0,0,0,0,0,25.91,25.68,24.68,10.08,47.20
$GC,1259,2.06,672.3,2919,2565,1849,4094,8.6,8.6,199,1273,0.55,1.08,8.18,0.608,11270,0.027,0.028,2981,2126,1699,1699,4094,0,0,0,0,0,0,26.12,26.10,25.08,10.17,53.15
$GC,1306,2.06,672.3,2980,2126,1699,4094,3.7,10.9,206,1313,0.00,1.20,0.00,0.000,260,0.000,0.049,2981,2566,1698,1698,4094,0,0,0,0,0,0,26.27,25.96,26.27,10.15,53.66
$STATE,1324,end climb,FINISH_DEPTH_REACHED
$STATE,1325,begin subsurface finish
$FINISH1,1.6,1.023850,122
$GC,1335,0.18,122.0,2981,2142,1697,4094,1.6,10.6,209,1355,6.22,1.23,-5.75,0.000,20740,0.055,1.284,2404,2564,2345,2345,4094,0,0,0,0,0,0,26.05,24.65,26.08,10.15,53.46
$FINISH2,0.1
$STATE,1356,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1356,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,000307
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.85
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.84,31.360
$10V_AH,10.30,33.367
$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,35.425,15.000,68.775,0.000,0.000,52.646,42.803,290.380,0.000,0.000,24.273,536.870,420.169,142.645,686.824,211.509,0.000,344.248,0.000,316.503,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1283.670,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,143.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,17728,212
$CAP_FILE_SIZE,32967,0
$CFSIZE,1024409600,964280320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160817,001045,6154.122,-17406.303,7,0.8,23,6.9,0.0,52.9,10,4.9