version: 66.13
glider: 401
mission: 22
dive: 1206
start: 8 17 117 10 3 58
data:
$ID,401
$MISSION,22
$DIVE,1206
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,170817,091823,6205.4102,-17425.9688,6,0.8,22,6.8,0.5,327.4,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-4.8
$GPS2,170817,091823,6205.4102,-17425.9688,6,0.8,22,6.8,0.5,327.4,10,5.0
$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,305.0,17470,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,2408,1960,2345,4092,0.0,0.0,0,21,6.55,0.00,-2.25,0.000,20482,0.027,0.000,1777,1959,2577,2577,4095,0,0,0,0,0,0,26.01,28.83,26.07,10.28,54.17
$GC,25,-1.78,-487.5,1776,1959,2576,4095,0.0,0.0,1,36,0.00,1.20,-4.75,0.000,16644,0.000,1.265,1777,2379,3057,3057,4095,0,0,0,0,0,0,26.25,24.59,26.27,10.34,54.84
$GC,99,-1.78,-487.5,1776,2381,3058,4095,7.4,-16.1,11,108,0.00,1.10,0.00,0.000,1030,0.000,0.031,1776,1945,3059,3059,4094,0,0,0,0,0,0,26.01,25.98,26.05,10.44,53.93
$GC,146,-1.78,-487.5,1776,1945,3060,4094,15.7,-18.0,17,155,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1945,3060,3060,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.45,54.25
$GC,193,-1.78,-487.5,1776,1945,3062,4095,23.7,-16.2,23,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3062,3062,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.41,53.26
$GC,241,-1.78,-487.5,1776,1945,3062,4095,29.4,-11.8,29,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3063,3063,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.38,52.63
$GC,288,-1.78,-487.5,1776,1945,3064,4095,35.4,-12.8,35,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3064,3064,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.37,51.37
$GC,334,-1.78,-487.5,1776,1945,3065,4095,41.2,-12.6,41,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1946,3065,3065,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.34,50.19
$GC,381,-1.78,-487.5,1775,1945,3066,4095,46.9,-12.0,47,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.33,50.03
$GC,428,-1.78,-487.5,1776,1945,3067,4095,52.8,-12.8,53,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3067,3067,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.32,48.77
$GC,476,-1.78,-487.5,1776,1945,3068,4094,58.9,-12.8,59,485,0.00,1.15,0.00,0.000,260,0.000,0.044,1776,2374,3068,3068,4095,0,0,0,0,0,0,26.49,26.18,26.51,10.32,49.13
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,501,-0.45,0.0,1776,2112,3069,4095,61.7,-12.7,61,537,4.40,0.00,28.45,1.330,10244,0.055,0.000,2186,2111,2484,2484,4094,0,0,0,0,0,0,26.20,25.28,24.21,10.32,47.99
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,539,begin climb
$GC,542,1.78,487.5,2186,2111,2484,4094,64.9,0.0,65,587,7.57,0.00,28.08,1.298,11270,0.033,0.000,2892,2111,1915,1915,4094,0,0,0,0,0,0,25.55,25.70,23.80,10.19,47.55
$GC,626,1.78,487.5,2891,2111,1915,4094,58.4,12.0,75,636,0.00,1.27,0.00,0.000,260,0.000,0.052,2892,2562,1913,1913,4093,0,0,0,0,0,0,25.57,25.30,25.58,10.06,46.06
$GC,666,1.78,487.5,2891,2562,1913,4093,52.9,13.3,80,676,0.00,1.08,0.00,0.000,1030,0.000,0.027,2892,2135,1913,1913,4094,0,0,0,0,0,0,25.53,25.50,25.56,10.05,46.25
$GC,713,1.78,487.5,2891,2134,1912,4094,46.7,13.1,86,723,0.00,1.08,0.00,0.000,516,0.000,0.047,2892,1723,1912,1912,4094,0,0,0,0,0,0,25.85,25.56,25.86,10.05,47.28
$GC,806,1.78,487.5,2891,1723,1909,4094,35.0,12.3,99,814,0.00,0.93,0.00,0.000,1030,0.000,0.030,2892,2103,1909,1909,4094,0,0,0,0,0,0,25.81,25.78,25.83,10.04,47.12
$GC,853,1.78,487.5,2891,2103,1907,4094,29.2,12.9,105,863,0.00,1.27,0.00,0.000,260,0.000,0.056,2892,2571,1907,1907,4094,0,0,0,0,0,0,26.10,25.77,26.11,10.04,47.91
$GC,913,1.78,487.5,2891,2570,1906,4094,21.5,12.6,113,923,0.00,1.15,0.00,0.000,1030,0.000,0.028,2892,2110,1906,1906,4094,0,0,0,0,0,0,25.96,25.93,26.01,10.05,47.71
$GC,962,2.01,640.3,2891,2109,1905,4094,17.4,8.3,119,980,0.73,1.02,8.90,0.701,10756,0.031,0.047,2971,1713,1741,1741,4094,0,0,0,0,0,0,26.01,25.40,24.83,10.11,49.44
$GC,1070,2.01,640.3,2970,1713,1740,4094,5.7,11.2,134,1079,0.00,0.95,0.00,0.000,1030,0.000,0.031,2971,2100,1739,1739,4094,0,0,0,0,0,0,25.98,25.98,26.01,10.11,52.16
$STATE,1106,end climb,SURFACE_DEPTH_REACHED
$STATE,1106,begin surface coast
$FINISH,0.0,1.023819
$STATE,1129,end surface coast,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$SM_CCo,1232,0.00,0.000,0,0,1737,643.09
$SM_GC,0.71,28.77,0.38,0.00,0.021,0.054,0.000,231,1959,1737,-6.59,1.64,643.09,0,0,0,0,0,0,25.94,25.99,26.03
$IRIDIUM_FIX,6149.06,-17422.35,170817,075654
$TT8_MAMPS,0.025466,0.234437
$HUMID,53.34
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,1.90
$XPDR_PINGS,0
$24V_AH,23.80,33.794
$10V_AH,10.14,35.372
$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,48.025,13.650,65.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,412.555,60.025,146.582,591.841,85.712,0.000,381.552,0.000,345.230,0.000,0.539,0.000
$DEVICE_MAMPS,55.080,1264.545,1329.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.141,385.803,305.296,452.965,589.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,14289,142
$CAP_FILE_SIZE,29630,0
$CFSIZE,1024409600,960233472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,102541,6206.000,-17426.758,8,0.9,32,6.8,0.3,51.2,9,4.8