version: 66.13
glider: 401
mission: 22
dive: 1199
start: 8 17 117 7 7 13
data:
$ID,401
$MISSION,22
$DIVE,1199
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,170817,064438,6204.7856,-17424.3477,5,0.8,27,6.8,0.3,66.6,11,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-2.4
$GPS2,170817,064438,6204.7856,-17424.3477,5,0.8,27,6.8,0.3,66.6,11,4.7
$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,304.8,19285,-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,-487.5,2398,1950,2342,4092,0.0,0.0,0,17,6.00,0.00,0.00,0.000,4097,0.024,0.000,1817,1949,2342,2342,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.30,52.63
$GC,21,-1.78,-487.5,1817,1943,2342,4094,0.0,0.0,1,34,0.25,1.15,-7.00,0.000,20996,0.049,1.266,1787,1523,3056,3056,4094,0,0,0,0,0,0,26.01,24.58,26.04,10.30,52.36
$GC,42,-1.78,-487.5,1786,1522,3056,4094,0.4,-1.4,4,49,0.00,0.95,0.00,0.000,1030,0.000,0.028,1787,1963,3055,3055,4094,0,0,0,0,0,0,26.01,25.99,26.01,10.46,52.91
$GC,82,-1.78,-487.5,1787,1963,3057,4094,5.7,-13.5,10,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3057,3057,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.46,52.24
$GC,121,-1.78,-487.5,1787,1963,3058,4095,11.4,-14.4,16,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1964,3058,3058,4095,0,0,0,0,0,0,26.26,26.28,26.27,10.46,52.44
$GC,159,-1.78,-487.5,1787,1963,3059,4095,16.8,-13.9,22,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3059,3059,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.47,52.83
$GC,198,-1.78,-487.5,1786,1963,3060,4095,22.0,-13.6,28,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3060,3060,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.46,51.89
$GC,237,-1.78,-487.5,1787,1964,3061,4094,26.0,-9.6,34,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3061,3061,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.42,52.44
$GC,276,-1.78,-487.5,1787,1963,3061,4094,29.4,-8.7,40,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3062,3062,4095,0,0,0,0,0,0,26.38,26.40,26.39,10.40,50.98
$GC,316,-1.78,-487.5,1787,1963,3062,4095,32.9,-9.2,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.38,50.15
$GC,355,-1.78,-487.5,1787,1963,3063,4095,36.5,-9.5,52,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3063,3063,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,49.25
$GC,394,-1.78,-487.5,1786,1963,3064,4095,40.1,-9.1,58,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1963,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.36,49.09
$GC,433,-1.78,-487.5,1786,1963,3064,4095,43.9,-9.7,64,439,0.00,1.12,0.00,0.000,516,0.000,0.051,1787,1526,3064,3064,4094,0,0,0,0,0,0,26.47,26.15,26.48,10.36,48.14
$GC,467,-1.78,-487.5,1787,1526,3065,4094,47.4,-9.7,69,473,0.00,0.90,0.00,0.000,1030,0.000,0.026,1787,1929,3065,3065,4094,0,0,0,0,0,0,26.28,26.27,26.30,10.35,47.95
$GC,507,-1.78,-487.5,1787,1929,3066,4094,51.3,-10.0,75,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1929,3066,3066,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.34,47.59
$GC,546,-1.78,-487.5,1787,1928,3066,4095,55.0,-9.3,81,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1929,3066,3066,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.33,47.44
$GC,585,-1.78,-487.5,1787,1928,3067,4094,58.9,-10.5,87,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1929,3067,3067,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.33,47.71
$STATE,596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,596,begin apogee
$GC,605,-0.45,0.0,1787,2123,3067,4095,60.4,-10.6,89,640,4.28,0.00,28.25,1.302,10244,0.055,0.000,2186,2123,2484,2484,4094,0,0,0,0,0,0,26.23,25.34,24.28,10.32,47.36
$STATE,642,end apogee,CONTROL_FINISHED_OK
$STATE,642,begin climb
$GC,645,1.78,487.5,2185,2123,2484,4094,62.8,0.0,95,687,7.53,0.00,27.95,1.272,11270,0.031,0.000,2891,2123,1915,1915,4094,0,0,0,0,0,0,25.60,25.75,23.84,10.20,47.20
$GC,720,1.78,487.5,2891,2124,1915,4094,57.1,10.6,107,726,0.00,1.17,0.00,0.000,260,0.000,0.052,2892,2553,1914,1914,4094,0,0,0,0,0,0,25.55,25.26,25.56,10.07,46.49
$GC,789,1.78,487.5,2891,2553,1913,4094,48.9,11.9,118,796,0.00,1.05,0.00,0.000,1030,0.000,0.026,2892,2132,1913,1913,4094,0,0,0,0,0,0,25.64,25.58,25.63,10.06,46.22
$GC,829,1.78,487.5,2892,2132,1912,4094,44.3,11.5,124,835,0.00,1.08,0.00,0.000,516,0.000,0.048,2892,1721,1912,1912,4095,0,0,0,0,0,0,25.91,25.61,25.91,10.05,46.53
$GC,892,1.78,487.5,2892,1721,1910,4095,37.1,10.8,134,899,0.00,1.00,0.00,0.000,1030,0.000,0.028,2892,2129,1910,1910,4094,0,0,0,0,0,0,25.82,25.78,25.83,10.05,47.16
$GC,932,1.78,487.5,2891,2129,1909,4094,32.9,10.6,140,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2130,1910,1910,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.05,47.28
$GC,971,1.79,498.3,2891,2130,1908,4094,28.8,10.4,146,979,0.00,1.10,2.20,0.115,8708,0.000,0.045,2892,1714,1902,1902,4095,0,0,0,0,0,0,26.13,25.71,24.70,10.05,47.51
$GC,1111,2.12,716.1,2891,1714,1899,4095,15.6,7.3,168,1130,1.05,1.00,12.65,0.743,11270,0.024,0.028,2998,2129,1647,1647,4094,0,0,0,0,0,0,26.06,26.03,24.84,10.10,50.19
$GC,1164,2.12,716.1,2998,2129,1646,4094,10.3,10.5,176,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2129,1647,1647,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.08,52.28
$GC,1202,2.12,716.1,2998,2129,1646,4094,6.2,10.6,182,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2129,1646,1646,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.10,52.48
$GC,1241,2.12,716.1,2998,2129,1644,4094,2.0,11.3,188,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2129,1644,1644,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.10,53.26
$STATE,1252,end climb,FINISH_DEPTH_REACHED
$STATE,1252,begin subsurface finish
$FINISH1,0.4,1.023802,125
$GC,1261,0.19,125.3,2998,2129,1644,4094,0.4,10.8,190,1280,6.15,1.12,-6.45,0.000,20996,0.023,1.274,2403,1718,2343,2343,4094,0,0,0,0,0,0,26.01,24.57,26.04,10.11,53.81
$FINISH2,0.1
$STATE,1281,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1282,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,052627
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.93
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.84,33.589
$10V_AH,10.39,35.188
$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,25.250,12.650,71.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,494.933,285.355,181.330,281.500,98.471,0.000,396.313,0.000,288.097,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1273.725,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,129.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,14317,193
$CAP_FILE_SIZE,36375,0
$CFSIZE,1024409600,960561152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,064438,6204.786,-17424.348,5,0.8,27,6.8,0.3,66.6,11,4.7