version: 66.13
glider: 401
mission: 22
dive: 1135
start: 8 16 117 5 6 30
data:
$ID,401
$MISSION,22
$DIVE,1135
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,160817,045556,6155.1284,-17407.7168,8,0.9,45,6.9,0.3,199.8,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-37.5
$GPS2,160817,050552,6155.0908,-17407.7344,7,0.9,17,6.9,0.0,181.0,10,4.9
$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,275.8,12593,-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,-487.5,230,1962,1679,4092,0.0,0.0,0,18,6.82,0.00,0.00,0.000,2049,0.082,0.000,821,1963,1679,1679,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.20,51.10
$GC,22,-1.78,-487.5,821,1962,1679,4094,0.5,0.0,1,51,10.10,0.00,-13.23,0.000,18694,0.042,0.000,1763,1963,3052,3052,4094,0,0,0,0,0,0,25.89,25.37,25.96,10.20,51.02
$GC,84,-1.78,-487.5,1762,1963,3054,4094,3.6,-12.7,11,90,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1963,3053,3053,4095,0,0,0,0,0,0,26.13,26.14,26.14,10.50,51.22
$GC,123,-1.78,-487.5,1762,1963,3055,4095,10.2,-17.4,17,129,0.00,1.12,0.00,0.000,260,0.000,0.045,1763,2381,3055,3055,4094,0,0,0,0,0,0,26.18,25.88,26.18,10.50,50.63
$GC,174,-1.78,-487.5,1762,2381,3056,4094,19.6,-18.3,25,181,0.00,1.08,0.00,0.000,1030,0.000,0.029,1762,1951,3056,3056,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.51,50.31
$GC,213,-1.78,-487.5,1762,1951,3057,4094,25.2,-13.2,31,220,0.00,1.08,0.00,0.000,516,0.000,0.049,1763,1521,3058,3058,4095,0,0,0,0,0,0,26.27,25.96,26.28,10.45,49.80
$GC,271,-1.78,-487.5,1762,1521,3059,4095,32.1,-12.5,40,277,0.00,1.02,0.00,0.000,1030,0.000,0.025,1763,1958,3059,3059,4095,0,0,0,0,0,0,26.11,26.09,26.13,10.41,48.50
$GC,310,-1.78,-487.5,1762,1958,3060,4095,36.8,-12.1,46,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1958,3060,3060,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.39,47.63
$GC,349,-1.78,-487.5,1763,1958,3060,4094,41.9,-12.9,52,355,0.00,1.08,0.00,0.000,260,0.000,0.045,1763,2370,3061,3061,4095,0,0,0,0,0,0,26.38,26.07,26.39,10.38,46.96
$GC,394,-1.78,-487.5,1762,2370,3062,4095,48.0,-13.7,59,401,0.00,1.02,0.00,0.000,1030,0.000,0.028,1763,1964,3062,3062,4094,0,0,0,0,0,0,26.19,26.16,26.20,10.37,46.65
$GC,434,-1.78,-487.5,1762,1963,3062,4094,53.1,-12.5,65,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1963,3062,3062,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,46.81
$GC,472,-1.78,-487.5,1762,1963,3063,4095,58.2,-13.4,71,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1963,3063,3063,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,45.78
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,491,-0.45,0.0,1763,2145,3064,4095,60.1,-13.2,73,527,4.55,0.00,28.23,1.307,10244,0.056,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.15,25.26,24.20,10.36,45.51
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.78,487.5,2186,2145,2484,4094,63.0,0.0,79,573,7.53,0.00,28.05,1.275,11270,0.032,0.000,2890,2145,1915,1915,4094,0,0,0,0,0,0,25.54,25.69,23.81,10.23,45.58
$GC,606,1.78,487.5,2889,2145,1915,4094,56.8,12.0,91,613,0.00,1.12,0.00,0.000,260,0.000,0.051,2890,2557,1915,1915,4094,0,0,0,0,0,0,25.52,25.25,25.53,10.10,44.84
$GC,658,1.78,487.5,2889,2557,1914,4094,50.0,13.4,99,664,0.00,1.10,0.00,0.000,1030,0.000,0.025,2891,2120,1912,1912,4094,0,0,0,0,0,0,25.55,25.52,25.56,10.09,45.55
$GC,697,1.78,487.5,2889,2119,1912,4094,44.7,13.2,105,704,0.00,1.05,0.00,0.000,516,0.000,0.047,2890,1717,1912,1912,4094,0,0,0,0,0,0,25.84,25.56,25.86,10.08,45.78
$GC,797,1.78,487.5,2889,1717,1909,4094,31.6,13.2,121,803,0.00,0.90,0.00,0.000,1030,0.000,0.028,2890,2090,1909,1909,4094,0,0,0,0,0,0,25.82,25.79,25.85,10.07,45.90
$GC,836,1.78,487.5,2889,2090,1908,4094,26.5,12.5,127,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2091,1907,1907,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.07,46.77
$GC,875,1.78,487.5,2889,2090,1907,4094,21.6,12.3,133,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2091,1906,1906,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.07,46.61
$GC,914,1.94,598.7,2889,2090,1905,4094,17.9,8.9,139,927,0.47,0.00,7.12,0.658,10246,0.034,0.000,2942,2091,1784,1784,4094,0,0,0,0,0,0,25.98,25.65,24.85,10.10,47.20
$GC,960,2.00,638.7,2941,2091,1784,4094,13.5,9.9,146,968,0.15,0.98,3.80,0.416,10756,0.058,0.046,2967,1718,1739,1739,4094,0,0,0,0,0,0,25.94,25.72,24.89,10.12,50.00
$GC,1031,2.00,638.7,2967,1718,1736,4094,5.7,11.6,157,1038,0.00,0.90,0.00,0.000,1030,0.000,0.030,2967,2093,1736,1736,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.13,51.81
$STATE,1061,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,1.7,1.023827,124
$GC,1071,0.19,123.6,2967,2154,1735,4094,1.7,11.8,162,1090,5.93,1.20,-5.55,0.000,20996,0.033,1.271,2401,1720,2344,2344,4094,0,0,0,0,0,0,26.01,24.60,26.03,10.14,52.00
$FINISH2,0.1
$STATE,1091,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1091,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,045847
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.03
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.81,31.710
$10V_AH,10.29,33.654
$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,35.550,14.200,67.200,0.000,0.000,53.631,46.745,264.724,0.000,0.000,18.313,433.686,287.399,168.676,596.537,219.061,0.000,360.448,0.000,250.088,0.000,0.542,0.000
$DEVICE_MAMPS,81.855,1270.665,1306.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,10874,165
$CAP_FILE_SIZE,36248,0
$CFSIZE,1024409600,963706880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160817,050552,6155.091,-17407.734,7,0.9,17,6.9,0.0,181.0,10,4.9