version: 66.13
glider: 401
mission: 22
dive: 1139
start: 8 16 117 6 36 50
data:
$ID,401
$MISSION,22
$DIVE,1139
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,160817,061532,6155.2368,-17409.0625,7,0.8,17,6.9,0.0,168.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.8
$GPS2,160817,061532,6155.2368,-17409.0625,7,0.8,17,6.9,0.0,168.9,10,4.9
$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,275.7,11405,-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,-487.5,2400,1973,2343,4092,0.0,0.0,0,29,6.50,0.00,-6.93,0.000,20486,0.026,0.000,1776,1974,3055,3055,4094,0,0,0,0,0,0,26.01,25.44,26.07,10.29,52.08
$GC,33,-1.78,-487.5,1776,1973,3054,4094,0.1,-0.8,3,40,0.00,1.00,0.00,0.000,260,0.000,0.038,1776,2359,3054,3054,4095,0,0,0,0,0,0,26.15,25.89,26.15,10.44,52.32
$GC,84,-1.78,-487.5,1776,2359,3055,4095,4.6,-13.0,11,91,0.00,1.02,0.00,0.000,1030,0.000,0.030,1776,1956,3055,3055,4095,0,0,0,0,0,0,25.99,25.96,26.01,10.45,52.12
$GC,124,-1.78,-487.5,1776,1955,3056,4095,11.2,-17.8,17,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1956,3057,3057,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,51.81
$GC,162,-1.78,-487.5,1776,1955,3058,4095,18.2,-18.7,23,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1955,3059,3059,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.46,51.89
$GC,201,-1.78,-487.5,1776,1956,3059,4095,23.9,-12.8,29,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1956,3059,3059,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.42,52.44
$GC,240,-1.78,-487.5,1776,1955,3060,4095,28.7,-12.5,35,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1955,3060,3060,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.38,51.37
$GC,278,-1.78,-487.5,1776,1956,3061,4095,33.1,-11.1,41,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1956,3061,3061,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.37,50.00
$GC,317,-1.78,-487.5,1776,1955,3062,4095,37.7,-11.6,47,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1956,3062,3062,4095,0,0,0,0,0,0,26.41,26.41,26.41,10.36,49.25
$GC,356,-1.78,-487.5,1776,1955,3062,4095,42.3,-12.5,53,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1956,3062,3062,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.35,48.89
$GC,394,-1.78,-487.5,1776,1955,3063,4095,47.1,-12.2,59,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1956,3063,3063,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.34,48.58
$GC,433,-1.78,-487.5,1776,1955,3064,4094,51.9,-12.4,65,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1955,3064,3064,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.33,47.87
$GC,472,-1.78,-487.5,1776,1955,3065,4095,56.9,-13.0,71,478,0.00,1.08,0.00,0.000,260,0.000,0.044,1776,2358,3065,3065,4095,0,0,0,0,0,0,26.48,26.18,26.49,10.32,47.67
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,504,-0.45,0.0,1776,2111,3066,4095,60.4,-12.6,75,540,4.43,0.00,28.20,1.314,10244,0.055,0.000,2186,2110,2484,2484,4095,0,0,0,0,0,0,26.20,25.29,24.23,10.32,47.16
$STATE,541,end apogee,CONTROL_FINISHED_OK
$STATE,541,begin climb
$GC,545,1.78,487.5,2186,2110,2484,4095,63.2,0.0,81,586,7.55,0.00,28.02,1.283,11270,0.032,0.000,2890,2110,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.82,10.19,46.49
$GC,619,1.78,487.5,2890,2109,1914,4094,57.1,11.9,93,626,0.00,1.23,0.00,0.000,260,0.000,0.051,2891,2544,1914,1914,4095,0,0,0,0,0,0,25.53,25.25,25.54,10.07,46.33
$GC,659,1.78,487.5,2890,2544,1913,4095,51.9,13.0,99,665,0.00,0.98,0.00,0.000,1030,0.000,0.025,2891,2152,1913,1913,4094,0,0,0,0,0,0,25.52,25.49,25.53,10.06,46.29
$GC,698,1.78,487.5,2890,2152,1912,4094,46.6,13.1,105,705,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1722,1911,1911,4094,0,0,0,0,0,0,25.82,25.53,25.83,10.05,46.33
$GC,768,1.78,487.5,2890,1722,1910,4094,37.5,13.0,116,774,0.00,0.93,0.00,0.000,1030,0.000,0.030,2891,2100,1910,1910,4094,0,0,0,0,0,0,25.76,25.72,25.77,10.05,46.65
$GC,807,1.78,487.5,2890,2099,1908,4094,32.5,12.6,122,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2100,1908,1908,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.04,46.61
$GC,846,1.78,487.5,2890,2099,1907,4094,27.6,12.6,128,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2099,1908,1908,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.04,47.04
$GC,885,1.78,487.5,2890,2099,1907,4094,22.8,12.3,134,891,0.00,1.00,0.00,0.000,516,0.000,0.046,2891,1722,1907,1907,4094,0,0,0,0,0,0,26.14,25.85,26.15,10.04,47.83
$GC,1008,1.96,610.7,2890,1721,1904,4094,11.9,8.7,154,1022,0.55,0.95,7.57,0.624,11270,0.032,0.030,2952,2113,1770,1770,4094,0,0,0,0,0,0,26.04,26.01,24.97,10.13,51.61
$GC,1055,1.96,610.7,2952,2112,1769,4094,6.9,10.9,161,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2112,1769,1769,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,52.91
$GC,1094,1.96,610.7,2951,2112,1768,4094,2.3,11.9,167,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2112,1768,1768,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.13,52.87
$STATE,1105,end climb,FINISH_DEPTH_REACHED
$STATE,1105,begin subsurface finish
$FINISH1,0.6,1.023818,124
$GC,1114,0.19,124.2,2952,2112,1768,4094,0.6,11.9,169,1133,5.78,1.08,-5.28,0.000,20996,0.030,1.279,2402,1724,2345,2345,4095,0,0,0,0,0,0,26.03,24.63,26.08,10.13,53.18
$FINISH2,0.1
$STATE,1134,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1134,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,050027
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.85
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,31.817
$10V_AH,10.38,33.744
$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,24.800,11.525,63.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.812,255.258,166.457,251.425,80.710,0.000,360.474,0.000,258.305,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1279.080,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,14221,172
$CAP_FILE_SIZE,31166,0
$CFSIZE,1024409600,963526656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,061532,6155.237,-17409.062,7,0.8,17,6.9,0.0,168.9,10,4.9