version: 66.13
glider: 401
mission: 22
dive: 1157
start: 8 16 117 13 46 19
data:
$ID,401
$MISSION,22
$DIVE,1157
$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,35
$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
$GPS1,160817,132521,6157.3252,-17415.9453,7,0.7,17,6.8,0.0,160.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-0.9
$GPS2,160817,132521,6157.3252,-17415.9453,7,0.7,17,6.8,0.0,160.3,11,5.0
$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,248.2,5317,-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,-487.5,2399,1945,2341,4092,0.0,0.0,0,18,6.38,0.00,-0.38,0.000,20482,0.024,0.000,1786,1945,2380,2380,4095,0,0,0,0,0,0,26.04,28.83,26.09,10.30,52.40
$GC,22,-1.78,-487.5,1785,1944,2380,4095,0.1,0.0,1,35,0.00,1.15,-6.57,0.000,16644,0.000,1.261,1786,2375,3056,3056,4094,0,0,0,0,0,0,26.26,24.64,26.27,10.31,52.36
$GC,140,-1.78,-487.5,1785,2376,3058,4094,13.2,-17.4,20,147,0.00,1.05,0.00,0.000,1030,0.000,0.028,1785,1961,3059,3059,4094,0,0,0,0,0,0,26.08,26.05,26.09,10.46,51.85
$GC,180,-1.78,-487.5,1785,1961,3060,4094,20.2,-18.5,26,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1961,3060,3060,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.46,52.40
$GC,218,-1.78,-487.5,1785,1961,3061,4094,26.1,-14.0,32,225,0.00,1.12,0.00,0.000,516,0.000,0.051,1785,1515,3061,3061,4095,0,0,0,0,0,0,26.35,26.03,26.36,10.42,52.00
$GC,264,-1.78,-487.5,1785,1515,3061,4095,32.1,-13.0,39,270,0.00,1.00,0.00,0.000,1030,0.000,0.026,1785,1944,3062,3062,4095,0,0,0,0,0,0,26.17,26.15,26.19,10.38,50.90
$GC,303,-1.78,-487.5,1785,1944,3063,4095,36.9,-12.2,45,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1944,3063,3063,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.38,49.96
$GC,342,-1.78,-487.5,1785,1944,3064,4094,41.6,-11.9,51,349,0.00,1.10,0.00,0.000,260,0.000,0.044,1785,2365,3064,3064,4095,0,0,0,0,0,0,26.43,26.12,26.44,10.37,49.13
$GC,393,-1.78,-487.5,1784,2365,3066,4095,48.0,-12.6,59,400,0.00,1.05,0.00,0.000,1030,0.000,0.031,1786,1944,3065,3065,4094,0,0,0,0,0,0,26.22,26.17,26.23,10.35,49.29
$GC,433,-1.78,-487.5,1784,1944,3066,4094,52.8,-11.9,65,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1944,3066,3066,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.34,47.91
$GC,472,-1.78,-487.5,1785,1944,3067,4095,57.4,-12.3,71,478,0.00,1.08,0.00,0.000,516,0.000,0.052,1785,1520,3067,3067,4094,0,0,0,0,0,0,26.49,26.18,26.50,10.33,47.32
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,499,-0.45,0.0,1785,2125,3067,4094,60.1,-12.0,74,535,4.32,0.00,28.27,1.307,10244,0.055,0.000,2185,2125,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.24,10.33,47.40
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,540,1.78,487.5,2185,2125,2484,4094,62.8,0.0,80,582,7.55,0.00,27.92,1.275,11270,0.032,0.000,2891,2125,1916,1916,4094,0,0,0,0,0,0,25.57,25.72,23.84,10.20,46.69
$GC,615,1.78,487.5,2890,2125,1915,4094,56.5,13.0,92,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2125,1915,1915,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.07,45.58
$GC,653,1.78,487.5,2890,2125,1914,4094,51.2,13.9,98,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2125,1914,1914,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.07,45.66
$GC,692,1.78,487.5,2890,2125,1913,4094,45.9,13.5,104,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2125,1913,1913,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.06,46.65
$GC,731,1.78,487.5,2890,2125,1912,4094,40.9,13.1,110,737,0.00,1.10,0.00,0.000,516,0.000,0.045,2891,1715,1912,1912,4094,0,0,0,0,0,0,25.91,25.62,25.92,10.06,46.33
$GC,824,1.78,487.5,2890,1714,1909,4094,28.8,12.9,125,831,0.00,1.02,0.00,0.000,1030,0.000,0.030,2891,2130,1909,1909,4094,0,0,0,0,0,0,25.86,25.82,25.87,10.05,46.73
$GC,864,1.78,487.5,2890,2129,1907,4094,23.9,12.3,131,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2130,1907,1907,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.06,47.44
$GC,903,1.81,508.9,2890,2129,1907,4094,19.7,10.2,137,909,0.00,0.00,2.65,0.250,8198,0.000,0.000,2891,2130,1890,1890,4095,0,0,0,0,0,0,26.17,25.70,24.84,10.08,47.83
$GC,943,2.06,673.6,2890,2129,1889,4095,16.5,8.1,143,962,0.90,1.10,10.12,0.718,10756,0.028,0.047,2984,1712,1697,1697,4094,0,0,0,0,0,0,26.00,25.67,24.83,10.12,49.80
$GC,1013,2.06,673.6,2983,1712,1695,4094,9.0,11.2,154,1019,0.00,1.02,0.00,0.000,1030,0.000,0.031,2984,2126,1695,1695,4094,0,0,0,0,0,0,25.91,25.87,25.94,10.10,51.96
$GC,1052,2.06,673.6,2983,2126,1694,4094,4.1,12.6,160,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2127,1694,1694,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.12,52.24
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.7,1.023819,124
$GC,1079,0.19,124.2,2984,2126,1693,4094,1.7,11.9,163,1098,5.97,1.15,-5.45,0.000,20996,0.020,1.269,2401,1709,2346,2346,4095,0,0,0,0,0,0,26.01,24.58,26.03,10.12,52.87
$FINISH2,0.5
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,121106
$TT8_MAMPS,0.025466,0.102613
$HUMID,53.34
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.84,32.333
$10V_AH,10.39,34.167
$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,25.125,14.900,68.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,429.494,249.730,160.904,241.882,76.499,0.000,346.279,0.000,249.937,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1269.135,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330768
$DATA_FILE_SIZE,10795,166
$CAP_FILE_SIZE,30554,0
$CFSIZE,1024409600,962641920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,132521,6157.325,-17415.945,7,0.7,17,6.8,0.0,160.3,11,5.0