version: 66.13
glider: 401
mission: 22
dive: 1133
start: 8 16 117 4 13 48
data:
$ID,401
$MISSION,22
$DIVE,1133
$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,24
$R_STBD_OVSHOOT,40
$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
$GPS1,160817,035241,6154.9438,-17406.7500,6,0.8,18,6.9,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-3.2
$GPS2,160817,035241,6154.9438,-17406.7500,6,0.8,18,6.9,0.0,0.0,11,4.9
$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,276.1,13489,-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,-487.5,2398,1962,2344,4092,0.0,0.0,0,18,6.35,0.00,0.00,0.000,4097,0.027,0.000,1787,1963,2344,2344,4095,0,0,0,0,0,0,26.27,28.83,28.83,10.29,52.48
$GC,22,-1.78,-487.5,1787,1963,2344,4095,0.0,0.0,1,34,0.00,1.20,-6.88,0.000,16900,0.000,1.274,1787,1516,3055,3055,4095,0,0,0,0,0,0,26.25,24.63,26.26,10.29,52.48
$GC,85,-1.78,-487.5,1787,1516,3056,4095,4.7,-13.7,11,92,0.00,1.02,0.00,0.000,1030,0.000,0.027,1787,1952,3056,3056,4095,0,0,0,0,0,0,26.03,26.01,26.05,10.44,52.67
$GC,125,-1.78,-487.5,1787,1952,3057,4095,11.2,-16.6,17,131,0.00,1.10,0.00,0.000,260,0.000,0.047,1788,2366,3058,3058,4094,0,0,0,0,0,0,26.27,25.97,26.28,10.45,52.52
$GC,170,-1.78,-487.5,1786,2366,3059,4094,19.0,-17.2,24,177,0.00,1.02,0.00,0.000,1030,0.000,0.031,1787,1958,3059,3059,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.45,52.36
$GC,209,-1.78,-487.5,1786,1958,3060,4094,24.4,-12.7,30,216,0.00,1.10,0.00,0.000,516,0.000,0.051,1787,1525,3060,3060,4095,0,0,0,0,0,0,26.34,26.03,26.34,10.41,52.28
$GC,255,-1.78,-487.5,1786,1525,3061,4095,29.9,-12.2,37,261,0.00,1.00,0.00,0.000,1030,0.000,0.026,1787,1954,3061,3061,4095,0,0,0,0,0,0,26.17,26.14,26.19,10.38,50.90
$GC,294,-1.78,-487.5,1786,1954,3062,4095,34.2,-11.1,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1954,3062,3062,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.36,50.00
$GC,333,-1.78,-487.5,1786,1954,3062,4095,38.5,-11.4,49,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1954,3063,3063,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.35,49.88
$GC,371,-1.78,-487.5,1786,1954,3063,4095,43.1,-11.7,55,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1954,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.34,48.70
$GC,410,-1.78,-487.5,1786,1954,3064,4095,47.9,-13.1,61,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1954,3064,3064,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.33,48.34
$GC,448,-1.78,-487.5,1786,1954,3065,4095,52.9,-12.5,67,455,0.00,1.08,0.00,0.000,260,0.000,0.046,1787,2366,3066,3066,4095,0,0,0,0,0,0,26.48,26.17,26.48,10.33,47.63
$GC,494,-1.78,-487.5,1786,2365,3066,4095,58.4,-12.2,74,500,0.00,1.02,0.00,0.000,1030,0.000,0.030,1787,1959,3066,3066,4095,0,0,0,0,0,0,26.27,26.24,26.29,10.32,47.59
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,514,-0.45,0.0,1787,2142,3067,4094,60.2,-12.3,76,550,4.28,0.00,28.15,1.304,10244,0.055,0.000,2185,2142,2484,2484,4095,0,0,0,0,0,0,26.20,25.31,24.25,10.32,47.55
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,554,1.78,487.5,2185,2142,2484,4095,62.6,0.0,82,597,7.50,1.10,27.88,1.271,10500,0.031,0.053,2892,2552,1916,1916,4094,0,0,0,0,0,0,25.51,25.45,23.85,10.20,47.28
$GC,648,1.78,487.5,2891,2551,1914,4094,53.9,12.5,97,654,0.00,1.08,0.00,0.000,1030,0.000,0.027,2892,2129,1914,1914,4094,0,0,0,0,0,0,25.44,25.41,25.46,10.06,46.02
$GC,687,1.78,487.5,2891,2128,1914,4094,48.8,13.1,103,694,0.00,1.08,0.00,0.000,516,0.000,0.046,2892,1713,1913,1913,4094,0,0,0,0,0,0,25.77,25.48,25.78,10.06,46.37
$GC,786,1.78,487.5,2891,1713,1911,4094,36.5,12.7,119,793,0.00,0.93,0.00,0.000,1030,0.000,0.030,2892,2092,1911,1911,4094,0,0,0,0,0,0,25.78,25.75,25.80,10.04,46.77
$GC,826,1.78,487.5,2891,2092,1910,4094,31.6,12.7,125,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2092,1910,1910,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.04,47.36
$GC,865,1.78,487.5,2891,2091,1908,4094,26.7,12.8,131,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2092,1908,1908,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.04,47.59
$GC,903,1.78,487.5,2892,2092,1907,4094,22.2,11.5,137,910,0.00,1.00,0.00,0.000,516,0.000,0.047,2892,1714,1907,1907,4093,0,0,0,0,0,0,26.15,25.86,26.17,10.04,47.63
$GC,1003,1.97,618.5,2892,1714,1905,4093,13.7,8.6,153,1017,0.55,0.90,8.02,0.656,11270,0.032,0.028,2956,2093,1762,1762,4094,0,0,0,0,0,0,26.03,26.01,24.94,10.12,51.18
$GC,1050,1.97,618.5,2956,2093,1761,4094,8.9,10.6,160,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2093,1761,1761,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.11,51.57
$GC,1088,1.97,618.5,2956,2093,1760,4094,4.6,11.0,166,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2093,1759,1759,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.12,52.28
$STATE,1112,end climb,FINISH_DEPTH_REACHED
$STATE,1112,begin subsurface finish
$FINISH1,1.5,1.023838,123
$GC,1121,0.18,122.8,2956,2150,1758,4094,1.5,11.8,170,1141,5.72,1.20,-5.38,0.000,20996,0.028,1.278,2402,1718,2347,2347,4095,0,0,0,0,0,0,26.03,24.63,26.08,10.12,52.87
$FINISH2,0.1
$STATE,1142,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1142,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,023715
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.70
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.85,31.644
$10V_AH,10.39,33.605
$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,24.400,16.900,64.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.501,264.169,159.205,251.405,78.070,0.000,350.558,0.000,259.863,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1277.550,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,14269,173
$CAP_FILE_SIZE,31795,0
$CFSIZE,1024409600,963821568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,035241,6154.944,-17406.750,6,0.8,18,6.9,0.0,0.0,11,4.9