version: 66.13
glider: 401
mission: 22
dive: 1165
start: 8 16 117 16 59 46
data:
$ID,401
$MISSION,22
$DIVE,1165
$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,21
$R_STBD_OVSHOOT,30
$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
$GPS1,160817,165104,6158.0527,-17418.8516,9,1.0,27,6.8,0.3,276.7,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-39.3
$GPS2,160817,165911,6158.0381,-17418.9297,10,0.9,15,6.8,0.0,285.9,10,4.9
$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,316.2,31702,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,230,1954,1664,4092,0.0,0.0,0,18,6.18,0.00,0.00,0.000,2049,0.095,0.000,752,1955,1664,1664,4094,0,0,0,0,0,0,26.16,28.83,28.83,10.18,51.69
$GC,22,-1.78,-487.5,752,1955,1664,4094,0.5,0.0,1,53,11.00,1.23,-13.52,0.000,18948,0.050,1.281,1763,1514,3057,3057,4095,0,0,0,0,0,0,25.89,24.49,25.95,10.18,51.53
$GC,134,-1.78,-487.5,1762,1513,3059,4095,11.5,-18.8,19,140,0.00,1.05,0.00,0.000,1030,0.000,0.028,1763,1945,3059,3059,4095,0,0,0,0,0,0,25.98,25.96,25.99,10.49,51.57
$GC,173,-1.78,-487.5,1762,1945,3061,4095,18.9,-19.2,25,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3061,3061,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.49,51.26
$GC,212,-1.78,-487.5,1762,1946,3062,4094,25.3,-15.2,31,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3062,3062,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.45,50.31
$GC,251,-1.78,-487.5,1762,1946,3062,4095,30.3,-12.8,37,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1947,3062,3062,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.41,49.68
$GC,289,-1.78,-487.5,1762,1946,3064,4095,35.1,-12.0,43,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1947,3064,3064,4095,0,0,0,0,0,0,26.34,26.34,26.35,10.39,48.54
$GC,328,-1.78,-487.5,1762,1946,3064,4095,40.1,-13.4,49,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1947,3064,3064,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.38,48.54
$GC,367,-1.78,-487.5,1762,1946,3065,4094,45.3,-13.3,55,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1947,3066,3066,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.37,47.44
$GC,405,-1.78,-487.5,1763,1947,3066,4095,50.4,-12.9,61,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1947,3066,3066,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.37,46.61
$GC,444,-1.78,-487.5,1762,1947,3067,4095,55.5,-13.6,67,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1947,3067,3067,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.35,46.41
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,488,-0.45,0.0,1762,2146,3068,4094,60.7,-13.5,73,524,4.57,0.00,28.45,1.318,10244,0.055,0.000,2186,2146,2484,2484,4094,0,0,0,0,0,0,26.15,25.25,24.18,10.35,46.49
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,525,begin climb
$GC,528,1.78,487.5,2186,2146,2484,4094,63.6,0.0,79,570,7.55,0.00,28.05,1.285,11270,0.032,0.000,2891,2147,1915,1915,4094,0,0,0,0,0,0,25.53,25.67,23.80,10.22,45.70
$GC,603,1.78,487.5,2890,2146,1915,4094,57.0,13.2,91,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2147,1915,1915,4095,0,0,0,0,0,0,25.51,25.53,25.53,10.09,45.74
$GC,642,1.78,487.5,2890,2146,1913,4095,51.8,13.5,97,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2146,1913,1913,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.08,45.39
$GC,680,1.78,487.5,2890,2146,1912,4094,46.5,13.4,103,687,0.00,1.17,0.00,0.000,516,0.000,0.044,2891,1706,1912,1912,4094,0,0,0,0,0,0,25.80,25.52,25.82,10.08,45.58
$GC,756,1.78,487.5,2890,1706,1910,4094,36.5,13.0,115,762,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2123,1910,1910,4095,0,0,0,0,0,0,25.75,25.72,25.77,10.07,45.62
$GC,795,1.78,487.5,2890,2122,1909,4095,31.3,13.4,121,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1908,1908,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.07,46.92
$GC,834,1.78,487.5,2890,2123,1907,4094,26.3,13.3,127,841,0.00,1.10,0.00,0.000,516,0.000,0.044,2891,1706,1908,1908,4094,0,0,0,0,0,0,26.09,25.79,26.10,10.06,46.18
$GC,916,2.08,692.0,2890,1706,1905,4094,17.6,7.5,140,935,0.95,0.95,11.80,0.754,11270,0.025,0.028,2991,2100,1676,1676,4094,0,0,0,0,0,0,25.98,25.95,24.78,10.11,47.91
$GC,968,2.08,692.0,2990,2099,1675,4094,12.4,10.9,148,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2100,1675,1675,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.10,50.31
$GC,1007,2.08,692.0,2990,2099,1673,4094,7.9,11.7,154,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2099,1673,1673,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.11,51.06
$GC,1045,2.08,692.0,2990,2099,1672,4094,3.1,12.3,160,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2100,1672,1672,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,52.16
$STATE,1056,end climb,FINISH_DEPTH_REACHED
$STATE,1056,begin subsurface finish
$FINISH1,1.3,1.023823,124
$GC,1066,0.19,123.8,2991,2145,1671,4094,1.3,12.6,162,1085,6.10,0.00,-6.20,0.000,20998,0.026,0.000,2404,2152,2343,2343,4094,0,0,0,0,0,0,25.94,25.43,25.97,10.13,51.73
$FINISH2,0.0
$STATE,1086,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,154352
$TT8_MAMPS,0.026215,0.129577
$HUMID,52.63
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.80,32.578
$10V_AH,10.33,34.352
$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,36.350,7.075,68.300,0.000,0.000,25.833,17.475,258.385,0.000,0.000,16.782,424.539,240.795,171.992,529.062,221.038,0.000,364.990,0.000,250.081,0.000,0.542,0.000
$DEVICE_MAMPS,94.860,1281.375,1318.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,10850,165
$CAP_FILE_SIZE,34003,0
$CFSIZE,1024409600,962232320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160817,165911,6158.038,-17418.930,10,0.9,15,6.8,0.0,285.9,10,4.9