version: 66.13
glider: 401
mission: 22
dive: 1148
start: 8 16 117 10 11 50
data:
$ID,401
$MISSION,22
$DIVE,1148
$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,28
$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
$GPS1,160817,095040,6156.3984,-17413.2168,8,0.8,17,6.9,0.0,75.8,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.5
$GPS2,160817,095040,6156.3984,-17413.2168,8,0.8,17,6.9,0.0,75.8,10,4.8
$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,265.7,7519,-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,6,begin dive
$GC,10,-1.78,-487.5,2399,1964,2343,4092,0.0,0.0,0,29,6.45,0.00,-6.75,0.000,20486,0.022,0.000,1772,1964,3055,3055,4095,0,0,0,0,0,0,26.05,25.43,26.09,10.31,52.75
$GC,33,-1.78,-487.5,1771,1964,3055,4095,0.2,-3.3,2,41,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1965,3056,3056,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.46,52.75
$GC,78,-1.78,-487.5,1771,1965,3057,4095,6.4,-15.4,8,87,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1965,3057,3057,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.46,52.24
$GC,124,-1.78,-487.5,1771,1964,3058,4094,14.7,-18.8,14,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1965,3058,3058,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.47,52.59
$GC,170,-1.78,-487.5,1771,1964,3060,4094,23.2,-18.4,20,180,0.00,1.10,0.00,0.000,260,0.000,0.045,1772,2376,3060,3060,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.45,51.77
$GC,212,-1.78,-487.5,1770,2376,3061,4095,27.4,-9.8,25,221,0.00,1.08,0.00,0.000,1030,0.000,0.029,1772,1947,3061,3061,4094,0,0,0,0,0,0,26.11,26.07,26.14,10.41,51.49
$GC,260,-1.78,-487.5,1771,1946,3062,4094,32.0,-9.7,31,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3062,3062,4095,0,0,0,0,0,0,26.38,26.40,26.39,10.39,50.94
$GC,308,-1.78,-487.5,1771,1946,3062,4095,36.7,-9.7,37,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3062,3062,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.38,49.01
$GC,356,-1.78,-487.5,1771,1946,3063,4094,41.4,-9.9,43,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1946,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,48.97
$GC,404,-1.78,-487.5,1771,1946,3064,4095,46.1,-9.9,49,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1946,3064,3064,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.35,48.18
$GC,450,-1.78,-487.5,1771,1946,3065,4095,50.7,-10.1,55,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3065,3065,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.34,47.59
$GC,498,-1.78,-487.5,1771,1946,3066,4095,55.5,-10.2,61,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1946,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.34,47.32
$STATE,541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,541,begin apogee
$GC,550,-0.45,0.0,1771,2145,3066,4094,60.3,-10.2,67,586,4.45,0.00,28.08,1.310,10244,0.055,0.000,2184,2145,2484,2484,4095,0,0,0,0,0,0,26.22,25.33,24.27,10.32,47.36
$STATE,587,end apogee,CONTROL_FINISHED_OK
$STATE,587,begin climb
$GC,590,1.78,487.5,2184,2145,2483,4095,63.0,0.0,71,636,7.53,1.12,27.90,1.282,10500,0.030,0.052,2891,2562,1919,1919,4094,0,0,0,0,0,0,25.54,25.47,23.84,10.20,46.25
$GC,667,1.78,487.5,2891,2561,1917,4094,57.9,10.6,80,677,0.00,1.10,0.03,0.002,9222,0.000,0.026,2891,2130,1917,1917,4094,0,0,0,0,0,0,25.34,25.37,25.38,10.07,45.47
$GC,715,1.83,523.6,2891,2130,1916,4094,52.9,10.0,86,725,0.10,1.05,3.95,0.651,10756,0.077,0.045,2907,1720,1872,1872,4094,0,0,0,0,0,0,25.55,24.98,24.25,10.07,45.58
$GC,844,1.86,545.0,2906,1719,1870,4094,39.9,10.2,104,854,0.00,0.88,2.88,0.368,9222,0.000,0.027,2907,2091,1849,1849,4094,0,0,0,0,0,0,25.80,25.78,24.53,10.05,46.69
$GC,893,1.89,562.8,2906,2090,1848,4094,34.9,10.3,110,903,0.12,0.00,2.88,0.350,10246,0.066,0.000,2928,2091,1827,1827,4094,0,0,0,0,0,0,25.86,25.28,24.63,10.04,46.69
$GC,942,1.89,564.9,2927,2090,1826,4094,29.8,10.5,116,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2091,1826,1826,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.03,46.88
$GC,989,1.92,580.0,2928,2090,1825,4094,24.9,10.3,122,999,0.00,0.00,2.65,0.261,8198,0.000,0.000,2928,2091,1807,1807,4094,0,0,0,0,0,0,26.17,25.41,24.80,10.04,47.55
$GC,1038,2.19,763.3,2927,2090,1807,4094,20.7,7.8,128,1056,0.95,0.00,11.20,0.770,10246,0.028,0.000,3025,2091,1591,1591,4094,0,0,0,0,0,0,25.98,25.33,24.77,10.07,48.50
$GC,1095,2.19,763.3,3025,2090,1590,4094,14.7,11.3,135,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2091,1590,1590,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.07,50.82
$GC,1142,2.19,763.3,3025,2090,1589,4094,9.2,11.5,141,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2091,1589,1589,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.08,51.41
$GC,1190,2.19,763.3,3024,2090,1587,4094,3.6,11.1,147,1199,0.00,0.98,0.00,0.000,516,0.000,0.049,3026,1722,1587,1587,4094,0,0,0,0,0,0,26.21,25.91,26.23,10.09,51.85
$STATE,1207,end climb,FINISH_DEPTH_REACHED
$STATE,1207,begin subsurface finish
$FINISH1,1.3,1.023806,125
$GC,1217,0.19,125.1,3025,2135,1586,4094,1.3,10.5,149,1237,6.47,1.20,-6.65,0.000,20996,0.023,1.275,2401,1712,2345,2345,4094,0,0,0,0,0,0,26.03,24.60,26.07,10.10,52.32
$FINISH2,0.4
$STATE,1238,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1238,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,094345
$TT8_MAMPS,0.026215,0.248668
$HUMID,52.95
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.84,32.077
$10V_AH,10.15,33.969
$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,26.075,10.625,79.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.354,0.000,140.197,631.693,88.885,0.000,406.737,0.000,367.994,0.000,0.542,0.000
$DEVICE_MAMPS,77.265,1275.255,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.047,410.258,324.717,481.596,627.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,14439,151
$CAP_FILE_SIZE,31978,0
$CFSIZE,1024409600,963084288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,095040,6156.398,-17413.217,8,0.8,17,6.9,0.0,75.8,10,4.8