version: 66.13
glider: 401
mission: 22
dive: 1145
start: 8 16 117 8 59 18
data:
$ID,401
$MISSION,22
$DIVE,1145
$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,26
$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
$GPS1,160817,083800,6155.8960,-17411.9199,7,0.8,26,6.9,0.0,189.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.2
$GPS2,160817,083800,6155.8960,-17411.9199,7,0.8,26,6.9,0.0,189.3,10,5.0
$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,271.4,8733,-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,-487.5,2401,1967,2343,4092,0.0,0.0,0,18,6.53,0.00,-0.20,0.000,20482,0.026,0.000,1775,1968,2364,2364,4095,0,0,0,0,0,0,26.03,28.83,26.09,10.30,52.08
$GC,22,-1.78,-487.5,1775,1967,2364,4095,0.0,0.0,1,35,0.00,1.12,-6.70,0.000,16644,0.000,1.258,1775,2380,3055,3055,4095,0,0,0,0,0,0,26.27,24.65,26.27,10.31,52.12
$GC,104,-1.78,-487.5,1775,2379,3056,4095,8.8,-17.2,14,111,0.00,1.08,0.00,0.000,1030,0.000,0.030,1776,1949,3057,3057,4095,0,0,0,0,0,0,26.03,25.98,26.05,10.46,52.04
$GC,144,-1.78,-487.5,1774,1949,3058,4095,16.1,-19.1,20,149,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3058,3058,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.46,51.96
$GC,182,-1.78,-487.5,1774,1949,3060,4094,23.1,-17.8,26,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3060,3060,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.47,52.52
$GC,221,-1.78,-487.5,1774,1949,3060,4095,28.0,-12.4,32,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3060,3060,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.42,52.12
$GC,259,-1.78,-487.5,1774,1949,3061,4095,32.8,-12.5,38,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3061,3061,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.38,50.66
$GC,298,-1.78,-487.5,1775,1949,3062,4095,37.6,-12.2,44,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3062,3062,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,49.48
$GC,337,-1.78,-487.5,1774,1949,3063,4094,42.5,-12.9,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3063,3063,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.36,48.74
$GC,375,-1.78,-487.5,1774,1949,3064,4095,47.4,-12.7,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3064,3064,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,48.14
$GC,414,-1.78,-487.5,1774,1949,3065,4094,52.3,-12.8,62,420,0.00,1.12,0.00,0.000,260,0.000,0.044,1775,2373,3065,3065,4095,0,0,0,0,0,0,26.46,26.17,26.48,10.35,47.67
$GC,471,-1.78,-487.5,1774,2373,3066,4095,59.8,-13.0,71,478,0.00,1.05,0.00,0.000,1030,0.000,0.030,1775,1951,3066,3066,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.33,47.99
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,491,-0.45,0.0,1775,2142,3067,4094,61.7,-13.0,73,527,4.40,0.00,28.33,1.327,10244,0.055,0.000,2185,2143,2484,2484,4095,0,0,0,0,0,0,26.20,25.29,24.23,10.33,47.59
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,531,1.78,487.5,2184,2142,2484,4095,64.6,0.0,79,574,7.50,1.12,28.02,1.295,10500,0.031,0.052,2891,2557,1916,1916,4094,0,0,0,0,0,0,25.48,25.44,23.82,10.20,46.85
$GC,633,1.78,487.5,2890,2557,1914,4094,55.2,12.9,95,640,0.00,1.05,0.00,0.000,1030,0.000,0.025,2891,2139,1914,1914,4094,0,0,0,0,0,0,25.47,25.44,25.48,10.07,46.18
$GC,673,1.78,487.5,2891,2138,1913,4094,49.6,13.1,101,680,0.00,1.10,0.00,0.000,516,0.000,0.046,2891,1720,1913,1913,4094,0,0,0,0,0,0,25.78,25.50,25.79,10.07,45.90
$GC,730,1.78,487.5,2891,1719,1911,4094,42.0,13.1,110,737,0.00,1.00,0.00,0.000,1030,0.000,0.030,2891,2123,1910,1910,4095,0,0,0,0,0,0,25.70,25.67,25.73,10.05,45.94
$GC,770,1.78,487.5,2891,2122,1910,4095,36.9,12.9,116,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1910,1910,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.05,46.65
$GC,809,1.78,487.5,2891,2122,1909,4094,31.8,13.3,122,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1909,1909,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.05,47.59
$GC,847,1.78,487.5,2891,2122,1908,4094,27.0,12.2,128,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1907,1907,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.05,47.91
$GC,886,1.78,487.5,2891,2122,1907,4094,22.5,11.2,134,893,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1717,1907,1907,4095,0,0,0,0,0,0,26.15,25.86,26.17,10.06,47.55
$GC,1028,1.89,559.7,2891,1717,1903,4095,9.5,9.5,157,1041,0.30,0.98,5.03,0.503,11270,0.039,0.028,2928,2120,1831,1831,4094,0,0,0,0,0,0,26.08,26.04,25.06,10.15,52.44
$GC,1074,1.89,559.7,2928,2120,1830,4094,4.7,10.7,164,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2120,1830,1830,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.15,52.24
$STATE,1097,end climb,FINISH_DEPTH_REACHED
$STATE,1098,begin subsurface finish
$FINISH1,1.7,1.023810,125
$GC,1106,0.19,124.8,2928,2120,1829,4094,1.7,11.7,168,1126,5.72,1.10,-4.72,0.000,20996,0.058,1.274,2403,1722,2343,2343,4095,0,0,0,0,0,0,26.06,24.65,26.11,10.16,52.79
$FINISH2,0.0
$STATE,1127,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1127,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,072245
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.70
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.82,31.989
$10V_AH,10.38,33.886
$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,24.450,12.725,61.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.394,263.116,155.905,248.813,78.209,0.000,342.788,0.000,256.963,0.000,0.541,0.000
$DEVICE_MAMPS,58.140,1274.490,1326.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,10879,171
$CAP_FILE_SIZE,30021,0
$CFSIZE,1024409600,963231744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,083800,6155.896,-17411.920,7,0.8,26,6.9,0.0,189.3,10,5.0