version: 66.13
glider: 401
mission: 22
dive: 1141
start: 8 16 117 7 29 2
data:
$ID,401
$MISSION,22
$DIVE,1141
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,160817,071959,6155.5410,-17410.4121,8,0.7,37,6.9,0.3,286.4,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-37.6
$GPS2,160817,072827,6155.5293,-17410.4512,6,1.0,17,6.9,0.0,318.4,9,4.8
$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,274.2,10110,-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,9,-1.78,-487.5,229,1951,1766,4092,0.0,0.0,0,18,6.38,0.00,0.00,0.000,2049,0.093,0.000,769,1951,1767,1767,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.21,51.29
$GC,22,-1.78,-487.5,769,1951,1767,4094,0.7,0.0,1,52,10.65,0.00,-12.40,0.000,18694,0.044,0.000,1764,1951,3053,3053,4095,0,0,0,0,0,0,25.91,25.38,25.97,10.22,51.73
$GC,84,-1.78,-487.5,1763,1951,3053,4095,3.2,-12.0,11,91,0.00,1.10,0.00,0.000,260,0.000,0.041,1764,2365,3054,3054,4094,0,0,0,0,0,0,26.13,25.84,26.13,10.49,50.82
$GC,130,-1.78,-487.5,1763,2365,3055,4094,11.1,-18.2,18,136,0.00,1.02,0.00,0.000,1030,0.000,0.028,1764,1962,3055,3055,4094,0,0,0,0,0,0,25.97,25.94,25.99,10.50,50.98
$GC,169,-1.78,-487.5,1763,1962,3056,4094,18.7,-20.0,24,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1962,3057,3057,4094,0,0,0,0,0,0,26.23,26.24,26.24,10.50,50.35
$GC,208,-1.78,-487.5,1763,1962,3058,4094,24.9,-14.3,30,214,0.00,1.12,0.00,0.000,516,0.000,0.050,1764,1520,3058,3058,4095,0,0,0,0,0,0,26.26,25.96,26.27,10.46,49.88
$GC,253,-1.78,-487.5,1763,1520,3059,4095,30.7,-13.2,37,260,0.00,0.98,0.00,0.000,1030,0.000,0.025,1764,1940,3059,3059,4095,0,0,0,0,0,0,26.10,26.08,26.11,10.42,49.33
$GC,293,-1.78,-487.5,1763,1940,3060,4095,35.7,-12.3,43,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1940,3060,3060,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.39,48.26
$GC,331,-1.78,-487.5,1763,1941,3060,4094,40.6,-12.7,49,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1941,3061,3061,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.38,47.40
$GC,370,-1.78,-487.5,1763,1941,3062,4094,45.7,-13.5,55,377,0.00,1.10,0.00,0.000,260,0.000,0.044,1764,2363,3061,3061,4094,0,0,0,0,0,0,26.39,26.09,26.40,10.38,46.81
$GC,433,-1.78,-487.5,1763,2363,3063,4094,54.2,-13.1,65,440,0.00,1.05,0.00,0.000,1030,0.000,0.029,1764,1942,3063,3063,4094,0,0,0,0,0,0,26.18,26.15,26.21,10.36,46.22
$GC,473,-1.78,-487.5,1763,1942,3064,4094,59.2,-13.0,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1942,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.35,46.06
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,492,-0.45,0.0,1764,2133,3064,4094,61.1,-12.9,73,528,4.55,0.00,28.27,1.317,10244,0.056,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.15,25.25,24.19,10.35,45.62
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,533,1.78,487.5,2184,2133,2484,4094,63.8,0.0,79,575,7.50,1.15,28.08,1.281,10500,0.031,0.051,2896,2560,1915,1915,4094,0,0,0,0,0,0,25.46,25.40,23.80,10.22,45.31
$GC,626,1.78,487.5,2895,2559,1914,4094,54.4,14.2,94,633,0.00,1.08,0.00,0.000,1030,0.000,0.025,2895,2134,1914,1914,4094,0,0,0,0,0,0,25.42,25.39,25.44,10.09,44.72
$GC,666,1.78,487.5,2895,2133,1913,4094,48.9,13.6,100,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2134,1913,1913,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.08,45.03
$GC,704,1.78,487.5,2895,2133,1911,4094,44.0,12.5,106,711,0.00,1.08,0.00,0.000,516,0.000,0.046,2895,1721,1911,1911,4095,0,0,0,0,0,0,25.85,25.56,25.86,10.08,45.23
$GC,786,1.78,487.5,2895,1721,1909,4095,33.0,13.3,119,792,0.00,1.00,0.00,0.000,1030,0.000,0.029,2895,2127,1909,1909,4095,0,0,0,0,0,0,25.79,25.77,25.82,10.07,46.10
$GC,825,1.78,487.5,2895,2127,1907,4095,27.8,13.4,125,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2127,1908,1908,4095,0,0,0,0,0,0,26.07,26.09,26.08,10.06,45.98
$GC,864,1.78,487.5,2895,2127,1907,4095,23.2,11.6,131,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2128,1907,1907,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.07,46.57
$GC,903,1.89,562.7,2895,2127,1906,4094,19.1,9.4,137,916,0.25,1.08,5.40,0.593,10756,0.044,0.043,2929,1718,1826,1826,4094,0,0,0,0,0,0,25.96,25.42,24.84,10.10,47.55
$GC,973,2.19,762.5,2928,1718,1825,4094,13.3,7.6,148,993,0.88,1.00,11.75,0.709,11270,0.026,0.027,3024,2134,1593,1593,4094,0,0,0,0,0,0,25.96,25.94,24.84,10.14,50.78
$GC,1026,2.27,817.6,3024,2133,1593,4094,8.4,9.7,156,1034,0.20,0.00,4.62,0.467,10246,0.051,0.000,3049,2134,1529,1529,4095,0,0,0,0,0,0,25.85,25.60,24.87,10.10,51.61
$GC,1067,2.27,817.6,3048,2133,1527,4095,3.3,13.4,162,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2134,1527,1527,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,51.92
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.4,1.023814,125
$GC,1086,0.19,124.5,3049,2133,1527,4094,1.4,13.4,164,1105,6.72,0.00,-7.38,0.000,20486,0.024,0.000,2402,2134,2343,2343,4094,0,0,0,0,0,0,25.89,24.80,25.92,10.10,51.49
$FINISH2,0.1
$STATE,1106,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1106,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,061040
$TT8_MAMPS,0.026215,0.161035
$HUMID,52.75
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.80,31.883
$10V_AH,10.28,33.796
$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,37.125,13.225,78.125,0.000,0.000,24.953,17.000,277.255,0.000,0.000,18.980,434.530,237.993,180.577,556.311,219.617,0.000,377.702,0.000,252.699,0.000,0.542,0.000
$DEVICE_MAMPS,93.330,51.255,1316.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,10803,167
$CAP_FILE_SIZE,36807,0
$CFSIZE,1024409600,963411968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160817,072827,6155.529,-17410.451,6,1.0,17,6.9,0.0,318.4,9,4.8