version: 66.13
glider: 401
mission: 22
dive: 1176
start: 8 16 117 21 11 42
data:
$ID,401
$MISSION,22
$DIVE,1176
$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,24
$R_STBD_OVSHOOT,46
$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
$GPS1,160817,203011,6159.8057,-17423.4824,4,0.8,17,6.8,0.0,121.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-1.6
$GPS2,160817,203011,6159.8057,-17423.4824,4,0.8,17,6.8,0.0,121.7,9,5.0
$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,318.7,26745,-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,-487.5,2404,1956,2344,4092,0.0,0.0,0,20,6.38,0.00,-2.08,0.000,20482,0.021,0.000,1786,1956,2556,2556,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.29,53.93
$GC,24,-1.78,-487.5,1786,1956,2556,4094,0.0,0.0,1,34,0.00,1.20,-4.93,0.000,16900,0.000,1.286,1786,1515,3056,3056,4094,0,0,0,0,0,0,26.35,24.69,26.36,10.33,53.62
$GC,130,-1.78,-487.5,1786,1515,3060,4094,13.7,-18.3,16,138,0.00,1.00,0.00,0.000,1030,0.000,0.028,1786,1935,3060,3060,4094,0,0,0,0,0,0,26.17,26.13,26.22,10.44,54.25
$GC,176,-1.78,-487.5,1786,1936,3061,4094,21.9,-17.8,22,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1936,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.44,53.22
$GC,224,-1.78,-487.5,1786,1936,3062,4095,26.7,-9.2,28,233,0.00,1.08,0.00,0.000,516,0.000,0.050,1786,1522,3062,3062,4094,0,0,0,0,0,0,26.43,26.12,26.44,10.40,53.11
$GC,388,-1.78,-487.5,1785,1521,3065,4094,44.0,-10.9,52,397,0.00,1.00,0.00,0.000,1030,0.000,0.026,1786,1953,3065,3065,4095,0,0,0,0,0,0,26.31,26.28,26.33,10.34,48.62
$GC,435,-1.78,-487.5,1785,1953,3066,4095,48.9,-10.4,58,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3066,3066,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.33,48.77
$GC,481,-1.78,-487.5,1786,1953,3067,4094,53.9,-10.8,64,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1953,3067,3067,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.32,48.07
$GC,527,-1.78,-487.5,1785,1953,3068,4095,58.9,-10.7,70,536,0.00,1.12,0.00,0.000,516,0.000,0.050,1786,1520,3068,3068,4094,0,0,0,0,0,0,26.56,26.24,26.58,10.32,47.59
$STATE,544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,544,begin apogee
$GC,554,-0.45,0.0,1786,2127,3068,4095,61.1,-11.0,72,589,4.28,0.00,28.38,1.323,10244,0.054,0.000,2186,2127,2484,2484,4095,0,0,0,0,0,0,26.27,25.35,24.28,10.31,47.71
$STATE,590,end apogee,CONTROL_FINISHED_OK
$STATE,590,begin climb
$GC,594,1.78,487.5,2186,2127,2484,4095,63.8,0.0,76,639,7.50,1.17,28.15,1.296,10500,0.031,0.054,2890,2561,1914,1914,4094,0,0,0,0,0,0,25.54,25.48,23.85,10.19,47.04
$GC,764,1.78,487.5,2890,2561,1911,4094,48.4,11.1,99,772,0.00,1.08,0.00,0.000,1030,0.000,0.026,2891,2133,1911,1911,4094,0,0,0,0,0,0,25.68,25.64,25.69,10.05,46.77
$GC,810,1.78,487.5,2890,2132,1911,4094,43.4,10.9,105,819,0.00,1.10,0.00,0.000,516,0.000,0.048,2891,1713,1910,1910,4094,0,0,0,0,0,0,25.96,25.65,25.98,10.04,46.73
$GC,1074,2.05,666.9,2890,1712,1905,4094,17.7,7.9,144,1093,0.82,1.00,10.48,0.739,11270,0.028,0.028,2979,2127,1706,1706,4094,0,0,0,0,0,0,26.08,26.04,24.89,10.12,51.10
$GC,1132,2.13,725.1,2978,2127,1704,4094,12.5,9.7,151,1143,0.20,1.10,4.80,0.506,10756,0.052,0.047,3002,1715,1637,1637,4094,0,0,0,0,0,0,25.94,25.75,24.91,10.10,52.36
$STATE,1223,end climb,SURFACE_DEPTH_REACHED
$STATE,1223,begin surface coast
$FINISH,-0.0,1.011393
$STATE,1240,end surface coast,CONTROL_FINISHED_OK
$STATE,1240,begin surface
$SM_CCo,1343,0.00,0.000,0,0,1634,730.67
$SM_GC,0.78,29.02,0.57,0.00,0.021,0.033,0.000,238,1967,1634,-6.55,-1.28,730.67,0,0,0,0,0,0,26.05,26.04,26.08
$IRIDIUM_FIX,6149.06,-17422.35,160817,191405
$TT8_MAMPS,0.025466,0.246421
$HUMID,53.74
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.85,32.887
$10V_AH,10.11,34.616
$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,48.200,13.450,71.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.695,60.597,127.319,688.850,76.586,0.000,345.931,0.000,402.230,0.000,0.539,0.000
$DEVICE_MAMPS,53.550,1285.965,1322.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.896,450.971,356.944,529.745,688.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,14325,166
$CAP_FILE_SIZE,27196,0
$CFSIZE,1024409600,961708032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,213514,6200.687,-17424.582,3,0.8,30,6.8,0.5,20.7,10,4.7