version: 66.13
glider: 401
mission: 22
dive: 1127
start: 8 16 117 1 52 37
data:
$ID,401
$MISSION,22
$DIVE,1127
$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,51
$R_STBD_OVSHOOT,49
$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
$GPS1,160817,013044,6154.3887,-17405.8066,7,0.8,20,6.9,0.2,320.9,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-1.3
$GPS2,160817,013044,6154.3887,-17405.8066,7,0.8,20,6.9,0.2,320.9,10,4.9
$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,279.3,14544,-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,-487.5,2400,1970,2346,4092,0.0,0.0,0,18,6.50,0.00,-0.30,0.000,20482,0.024,0.000,1771,1970,2377,2377,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.30,53.34
$GC,22,-1.78,-487.5,1771,1971,2377,4094,0.0,0.0,1,34,0.00,0.00,-6.50,0.000,16390,0.000,0.000,1771,1972,3053,3053,4094,0,0,0,0,0,0,26.27,25.52,26.28,10.30,53.42
$GC,67,-1.78,-487.5,1770,1972,3054,4094,3.3,-11.7,8,73,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3054,3054,4095,0,0,0,0,0,0,26.22,26.24,26.24,10.46,52.91
$GC,105,-1.78,-487.5,1769,1972,3055,4095,9.2,-16.6,14,111,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1972,3056,3056,4095,0,0,0,0,0,0,26.27,26.27,26.27,10.46,52.44
$GC,144,-1.78,-487.5,1770,1971,3056,4095,15.7,-16.8,20,150,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3057,3057,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.46,52.83
$GC,183,-1.78,-487.5,1769,1971,3058,4094,22.3,-17.5,26,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3058,3058,4094,0,0,0,0,0,0,26.33,26.35,26.34,10.46,52.55
$GC,221,-1.78,-487.5,1770,1971,3059,4094,27.8,-13.5,32,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1971,3059,3059,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.41,52.40
$GC,260,-1.78,-487.5,1770,1971,3060,4095,32.3,-11.1,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1971,3060,3060,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.39,51.41
$GC,298,-1.78,-487.5,1770,1971,3060,4094,36.8,-12.0,44,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3060,3060,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.38,50.23
$GC,337,-1.78,-487.5,1770,1971,3061,4095,41.4,-11.7,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3062,3062,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.36,49.05
$GC,375,-1.78,-487.5,1770,1971,3062,4095,46.0,-12.4,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3062,3062,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.35,48.81
$GC,414,-1.78,-487.5,1770,1971,3063,4095,50.7,-12.2,62,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1972,3063,3063,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.34,48.22
$GC,453,-1.78,-487.5,1770,1971,3064,4095,55.1,-11.5,68,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3064,3064,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.33,47.51
$GC,491,-1.78,-487.5,1770,1971,3065,4095,59.8,-12.4,74,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1972,3065,3065,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.33,47.99
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,502,begin apogee
$GC,510,-0.45,0.0,1770,2127,3065,4095,61.4,-11.3,76,546,4.47,0.00,28.12,1.313,10246,0.055,0.000,2185,2126,2484,2484,4094,0,0,0,0,0,0,26.21,25.32,24.25,10.33,47.67
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,547,begin climb
$GC,551,1.78,487.5,2185,2126,2484,4094,63.8,0.0,82,593,7.53,1.15,27.90,1.286,10500,0.031,0.048,2893,2558,1915,1915,4094,0,0,0,0,0,0,25.58,24.58,23.87,10.20,47.32
$GC,653,1.78,487.5,2892,2557,1914,4094,54.4,13.4,98,659,0.00,1.00,0.00,0.000,1030,0.000,0.025,2893,2156,1913,1913,4094,0,0,0,0,0,0,25.49,25.46,25.51,10.06,46.33
$GC,692,1.78,487.5,2892,2156,1912,4094,49.1,12.6,104,699,0.00,1.12,0.00,0.000,516,0.000,0.047,2893,1722,1912,1912,4094,0,0,0,0,0,0,25.80,25.51,25.82,10.06,46.29
$GC,816,1.78,487.5,2892,1722,1908,4094,33.1,12.4,124,822,0.00,0.88,0.00,0.000,1030,0.000,0.028,2893,2087,1909,1909,4094,0,0,0,0,0,0,25.84,25.82,25.87,10.05,46.96
$GC,855,1.78,487.5,2892,2086,1908,4094,28.2,12.4,130,862,0.00,0.98,0.00,0.000,516,0.000,0.047,2893,1720,1907,1907,4094,0,0,0,0,0,0,26.11,25.82,26.12,10.04,47.44
$GC,925,1.89,564.4,2892,1719,1906,4094,20.5,9.4,141,938,0.28,0.80,5.45,0.608,11270,0.039,0.028,2927,2062,1825,1825,4094,0,0,0,0,0,0,25.97,25.96,24.86,10.08,48.70
$GC,972,2.00,633.3,2927,2062,1824,4094,16.2,9.5,148,984,0.28,0.00,5.25,0.555,10246,0.044,0.000,2963,2062,1745,1745,4094,0,0,0,0,0,0,25.95,25.67,24.89,10.11,50.31
$GC,1017,2.00,633.3,2962,2062,1744,4094,11.3,11.2,155,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2062,1744,1744,4094,0,0,0,0,0,0,26.16,26.18,26.17,10.11,51.45
$GC,1056,2.00,633.3,2963,2062,1743,4094,7.0,11.0,161,1062,0.00,0.90,0.00,0.000,516,0.000,0.049,2963,1721,1743,1743,4095,0,0,0,0,0,0,26.21,25.91,26.22,10.12,52.00
$STATE,1098,end climb,FINISH_DEPTH_REACHED
$STATE,1098,begin subsurface finish
$FINISH1,1.7,1.023852,122
$GC,1108,0.18,121.8,2963,2136,1741,4094,1.7,11.6,168,1128,5.88,1.15,-5.03,0.000,20996,0.029,1.275,2397,1717,2349,2349,4094,0,0,0,0,0,0,26.04,24.64,26.07,10.13,53.30
$FINISH2,0.6
$STATE,1129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,000447
$TT8_MAMPS,0.026215,0.109354
$HUMID,53.81
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.87,31.469
$10V_AH,10.39,33.466
$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,24.925,9.900,66.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.535,257.301,163.737,249.194,79.738,0.000,353.772,0.000,256.985,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1275.255,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,10857,171
$CAP_FILE_SIZE,30702,0
$CFSIZE,1024409600,964116480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,013044,6154.389,-17405.807,7,0.8,20,6.9,0.2,320.9,10,4.9