version: 66.13
glider: 401
mission: 22
dive: 1151
start: 8 16 117 11 27 29
data:
$ID,401
$MISSION,22
$DIVE,1151
$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,38
$R_STBD_OVSHOOT,70
$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
$GPS1,160817,110356,6156.8579,-17414.1699,9,0.7,17,6.9,0.0,58.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.8
$GPS2,160817,110356,6156.8579,-17414.1699,9,0.7,17,6.9,0.0,58.7,11,5.0
$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,258.7,6701,-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,-487.5,2400,1962,2341,4092,0.0,0.0,0,17,6.12,0.00,0.00,0.000,4097,0.023,0.000,1806,1962,2340,2340,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.30,53.50
$GC,21,-1.78,-487.5,1806,1962,2341,4094,0.1,0.0,1,33,0.12,0.00,-6.70,0.000,20486,0.065,0.000,1785,1962,3054,3054,4094,0,0,0,0,0,0,26.09,25.53,26.11,10.30,52.79
$GC,66,-1.78,-487.5,1784,1962,3054,4094,3.8,-12.5,8,73,0.00,0.98,0.00,0.000,260,0.000,0.044,1784,2332,3054,3054,4094,0,0,0,0,0,0,26.25,25.96,26.26,10.45,53.54
$GC,117,-1.78,-487.5,1784,2332,3056,4094,12.1,-16.5,16,124,0.00,0.93,0.00,0.000,1030,0.000,0.030,1785,1967,3056,3056,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.46,52.71
$GC,157,-1.78,-487.5,1784,1967,3057,4094,18.9,-17.3,22,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1967,3057,3057,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.46,52.71
$GC,196,-1.78,-487.5,1784,1967,3058,4094,25.3,-15.9,28,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1967,3058,3058,4095,0,0,0,0,0,0,26.35,26.37,26.36,10.44,52.91
$GC,234,-1.78,-487.5,1784,1967,3059,4095,29.6,-11.2,34,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1968,3059,3059,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.41,52.79
$GC,273,-1.78,-487.5,1784,1968,3060,4095,34.0,-11.3,40,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1968,3060,3060,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.38,51.69
$GC,312,-1.78,-487.5,1784,1967,3061,4095,38.3,-11.0,46,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1968,3061,3061,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,50.86
$GC,350,-1.78,-487.5,1784,1967,3062,4095,42.8,-11.8,52,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1967,3061,3061,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,50.27
$GC,389,-1.78,-487.5,1784,1967,3062,4095,47.4,-11.8,58,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1968,3062,3062,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.35,48.66
$GC,427,-1.78,-487.5,1784,1968,3063,4094,52.1,-12.3,64,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1968,3063,3063,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.34,48.62
$GC,466,-1.78,-487.5,1784,1967,3064,4094,57.0,-13.0,70,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1968,3064,3064,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.33,48.07
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,498,-0.45,0.0,1785,2106,3065,4094,60.4,-12.2,74,534,4.30,0.00,28.15,1.315,10244,0.054,0.000,2185,2106,2484,2484,4094,0,0,0,0,0,0,26.21,25.31,24.25,10.33,47.67
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,538,1.78,487.5,2184,2106,2484,4094,63.0,0.0,80,581,7.50,1.23,28.02,1.284,10500,0.031,0.051,2891,2558,1915,1915,4095,0,0,0,0,0,0,25.51,25.46,23.84,10.21,47.28
$GC,614,1.78,487.5,2891,2557,1914,4095,56.8,12.3,92,620,0.00,1.10,0.00,0.000,1030,0.000,0.026,2892,2127,1914,1914,4094,0,0,0,0,0,0,25.35,25.33,25.37,10.07,46.41
$GC,653,1.78,487.5,2891,2127,1913,4094,51.8,12.8,98,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1914,1914,4095,0,0,0,0,0,0,25.71,25.72,25.72,10.07,46.06
$GC,692,1.78,487.5,2891,2127,1912,4095,46.8,13.2,104,699,0.00,1.08,0.00,0.000,516,0.000,0.047,2891,1717,1912,1912,4094,0,0,0,0,0,0,25.82,25.53,25.84,10.07,46.45
$GC,809,1.78,487.5,2891,1717,1908,4094,31.2,12.6,123,816,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2123,1908,1908,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.05,46.96
$GC,849,1.78,487.5,2891,2123,1908,4094,26.4,12.3,129,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1907,1907,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.05,47.36
$GC,888,1.78,487.5,2891,2123,1907,4094,21.8,11.8,135,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1906,1906,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.08,48.30
$GC,927,1.96,609.4,2891,2123,1905,4094,18.4,8.7,141,940,0.55,0.00,7.60,0.679,10246,0.034,0.000,2949,2123,1772,1772,4094,0,0,0,0,0,0,25.98,25.65,24.84,10.11,49.84
$GC,973,1.96,609.4,2949,2123,1771,4094,13.6,10.6,148,979,0.00,1.08,0.00,0.000,516,0.000,0.047,2949,1718,1771,1771,4095,0,0,0,0,0,0,26.14,25.84,26.15,10.11,51.22
$GC,1036,1.96,609.4,2949,1718,1769,4095,6.8,10.8,158,1043,0.00,1.00,0.00,0.000,1030,0.000,0.030,2950,2127,1770,1770,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.13,52.28
$GC,1076,1.96,609.4,2949,2126,1768,4094,2.2,11.9,164,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2127,1768,1768,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.14,52.52
$STATE,1086,end climb,FINISH_DEPTH_REACHED
$STATE,1086,begin subsurface finish
$FINISH1,0.3,1.023810,125
$GC,1095,0.19,124.8,2949,2127,1768,4094,0.3,12.9,166,1115,5.68,1.10,-5.22,0.000,20996,0.028,1.273,2405,1722,2343,2343,4094,0,0,0,0,0,0,26.01,24.63,26.08,10.15,52.71
$FINISH2,0.3
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1116,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,094520
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.62
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.84,32.162
$10V_AH,10.39,34.032
$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,24.275,10.250,63.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.040,251.201,162.172,245.965,81.299,0.000,352.837,0.000,254.190,0.000,0.541,0.000
$DEVICE_MAMPS,65.025,1272.960,1315.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,10891,169
$CAP_FILE_SIZE,30847,0
$CFSIZE,1024409600,962936832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,110356,6156.858,-17414.170,9,0.7,17,6.9,0.0,58.7,11,5.0