version: 66.13
glider: 401
mission: 22
dive: 1163
start: 8 16 117 16 9 58
data:
$ID,401
$MISSION,22
$DIVE,1163
$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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,160817,154908,6157.6528,-17417.8652,11,0.8,21,6.8,0.0,83.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-4.2
$GPS2,160817,154908,6157.6528,-17417.8652,11,0.8,21,6.8,0.0,83.5,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W13N
$TGT_LATLONG,6211.700,-17441.039
$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,315.6,32827,-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,-487.5,2400,1966,2341,4092,0.0,0.0,0,28,6.47,0.00,-7.00,0.000,20486,0.023,0.000,1774,1966,3055,3055,4095,0,0,0,0,0,0,26.03,25.48,26.06,10.29,52.24
$GC,32,-1.78,-487.5,1774,1966,3056,4095,0.1,-0.9,3,38,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1966,3055,3055,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.44,52.20
$GC,71,-1.78,-487.5,1774,1966,3056,4094,4.4,-13.4,9,77,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1966,3057,3057,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.44,52.75
$GC,109,-1.78,-487.5,1774,1966,3058,4094,11.2,-17.6,15,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1966,3058,3058,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.45,52.16
$GC,148,-1.78,-487.5,1774,1965,3059,4095,18.4,-19.2,21,154,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1966,3059,3059,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.45,52.79
$GC,187,-1.78,-487.5,1774,1966,3060,4094,23.8,-12.7,27,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1966,3060,3060,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.41,52.04
$GC,225,-1.78,-487.5,1774,1966,3061,4095,28.3,-11.9,33,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1966,3061,3061,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.38,51.45
$GC,264,-1.78,-487.5,1774,1965,3062,4094,32.8,-11.5,39,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1966,3062,3062,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.37,50.27
$GC,303,-1.78,-487.5,1774,1966,3062,4094,37.3,-11.4,45,309,0.00,1.12,0.00,0.000,516,0.000,0.052,1774,1528,3063,3063,4095,0,0,0,0,0,0,26.41,26.09,26.41,10.36,49.29
$GC,348,-1.78,-487.5,1774,1528,3064,4095,42.8,-12.5,52,355,0.00,0.95,0.00,0.000,1030,0.000,0.028,1774,1938,3064,3064,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.34,49.13
$GC,388,-1.78,-487.5,1774,1938,3065,4095,47.8,-12.6,58,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1938,3065,3065,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.34,48.38
$GC,426,-1.78,-487.5,1774,1938,3066,4095,52.8,-12.7,64,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1939,3066,3066,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.33,48.07
$GC,465,-1.78,-487.5,1774,1938,3067,4094,57.7,-12.5,70,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1939,3067,3067,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.32,47.63
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,491,-0.45,0.0,1774,2138,3067,4095,60.3,-12.5,73,527,4.45,0.00,28.25,1.312,10244,0.055,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.22,10.32,47.67
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.78,487.5,2186,2138,2484,4094,62.9,0.0,79,573,7.53,0.00,27.90,1.279,11270,0.032,0.000,2891,2138,1916,1916,4095,0,0,0,0,0,0,25.56,25.72,23.82,10.19,46.96
$GC,606,1.78,487.5,2890,2138,1915,4095,56.6,12.9,91,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2138,1915,1915,4094,0,0,0,0,0,0,25.53,25.55,25.54,10.06,45.98
$GC,645,1.78,487.5,2890,2138,1914,4094,51.5,12.9,97,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2138,1913,1913,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.06,46.02
$GC,684,1.78,487.5,2890,2138,1913,4094,46.4,13.0,103,690,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1718,1913,1913,4094,0,0,0,0,0,0,25.82,25.53,25.83,10.05,46.25
$GC,735,1.78,487.5,2891,1718,1911,4094,39.8,13.0,111,742,0.00,0.98,0.00,0.000,1030,0.000,0.030,2891,2113,1911,1911,4094,0,0,0,0,0,0,25.72,25.69,25.75,10.04,46.88
$GC,775,1.78,487.5,2891,2113,1910,4094,34.6,13.3,117,781,0.00,1.23,0.00,0.000,260,0.000,0.055,2891,2563,1910,1910,4094,0,0,0,0,0,0,26.01,25.68,26.02,10.04,46.77
$GC,796,1.78,487.5,2890,2563,1910,4094,31.7,13.2,120,803,0.00,1.12,0.00,0.000,1030,0.000,0.027,2891,2114,1909,1909,4095,0,0,0,0,0,0,25.83,25.79,25.85,10.03,46.73
$GC,836,1.78,487.5,2891,2114,1908,4095,26.8,11.8,126,842,0.00,1.02,0.00,0.000,516,0.000,0.049,2891,1718,1908,1908,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.04,48.14
$GC,917,1.97,614.8,2891,1718,1906,4094,18.0,8.6,139,931,0.57,0.88,7.95,0.691,11270,0.031,0.028,2959,2086,1766,1766,4094,0,0,0,0,0,0,25.97,25.96,24.83,10.08,48.89
$GC,964,2.02,649.9,2958,2085,1765,4094,13.6,10.0,146,971,0.00,0.00,3.58,0.396,8198,0.000,0.000,2959,2085,1726,1726,4094,0,0,0,0,0,0,26.13,25.66,24.87,10.09,50.66
$GC,1004,2.02,649.9,2958,2085,1725,4094,9.2,11.1,152,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2086,1724,1724,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.09,51.18
$GC,1043,2.02,649.9,2958,2085,1724,4094,4.8,11.3,158,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2085,1723,1723,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.11,52.71
$STATE,1066,end climb,FINISH_DEPTH_REACHED
$STATE,1066,begin subsurface finish
$FINISH1,1.7,1.023821,124
$GC,1076,0.19,124.0,2959,2156,1722,4094,1.7,11.3,162,1094,5.90,0.00,-5.70,0.000,20998,0.040,0.000,2402,2157,2343,2343,4094,0,0,0,0,0,0,25.99,25.46,26.02,10.12,52.48
$FINISH2,0.0
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,143403
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.11
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.82,32.512
$10V_AH,10.39,34.305
$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,24.925,9.575,67.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,424.530,235.946,169.642,240.893,84.284,0.000,360.840,0.000,248.514,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,93.330,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10833,165
$CAP_FILE_SIZE,31702,0
$CFSIZE,1024409600,962347008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,154908,6157.653,-17417.865,11,0.8,21,6.8,0.0,83.5,11,5.0