version: 66.13
glider: 401
mission: 22
dive: 1207
start: 8 17 117 10 34 56
data:
$ID,401
$MISSION,22
$DIVE,1207
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,170817,102541,6206.0000,-17426.7578,8,0.9,32,6.8,0.3,51.2,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-35.1
$GPS2,170817,103420,6206.0054,-17426.8164,5,0.9,19,6.8,0.0,29.6,9,4.7
$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,303.8,16193,-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,-487.5,230,1957,1735,4092,0.0,0.0,0,17,6.00,0.00,0.00,0.000,2049,0.096,0.000,735,1956,1736,1736,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.21,51.49
$GC,21,-1.78,-487.5,735,1956,1736,4094,0.6,0.0,1,52,11.12,1.17,-12.70,0.000,18692,0.048,1.262,1762,2384,3053,3053,4095,0,0,0,0,0,0,25.86,24.47,25.94,10.21,51.33
$GC,159,-1.78,-487.5,1762,2385,3056,4095,12.2,-17.7,23,166,0.00,1.10,0.00,0.000,1030,0.000,0.029,1763,1944,3056,3056,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.50,51.45
$GC,199,-1.78,-487.5,1762,1944,3057,4095,19.6,-17.9,29,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3058,3058,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.48,50.47
$GC,238,-1.78,-487.5,1762,1945,3058,4095,24.7,-12.4,35,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3058,3058,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.44,50.47
$GC,277,-1.78,-487.5,1762,1945,3059,4094,29.7,-12.6,41,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3059,3059,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.42,49.13
$GC,316,-1.78,-487.5,1762,1944,3060,4095,34.8,-12.9,47,322,0.00,1.15,0.00,0.000,260,0.000,0.043,1763,2373,3060,3060,4095,0,0,0,0,0,0,26.36,26.05,26.36,10.40,48.50
$GC,343,-1.78,-487.5,1763,2373,3061,4095,38.4,-13.3,51,350,0.00,1.10,0.00,0.000,1030,0.000,0.029,1763,1934,3061,3061,4095,0,0,0,0,0,0,26.14,26.10,26.16,10.38,47.51
$GC,383,-1.78,-487.5,1762,1933,3062,4095,43.4,-12.4,57,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1934,3062,3062,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,46.81
$GC,421,-1.78,-487.5,1762,1933,3062,4094,48.4,-12.8,63,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1934,3063,3063,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.37,46.02
$GC,460,-1.78,-487.5,1762,1933,3064,4094,53.5,-13.7,69,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1934,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.36,46.06
$GC,499,-1.78,-487.5,1762,1934,3064,4095,58.8,-13.9,75,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1934,3065,3065,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.35,45.55
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,510,begin apogee
$GC,518,-0.45,0.0,1762,2145,3065,4095,60.8,-13.8,77,554,4.55,0.00,28.17,1.314,10244,0.054,0.000,2184,2145,2484,2484,4094,0,0,0,0,0,0,26.16,25.27,24.20,10.35,45.66
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,559,1.78,487.5,2184,2144,2484,4094,63.7,0.0,83,601,7.50,1.10,27.95,1.283,10500,0.031,0.050,2891,2555,1916,1916,4094,0,0,0,0,0,0,25.47,25.41,23.80,10.22,45.94
$GC,652,1.78,487.5,2890,2555,1914,4094,55.0,12.9,98,659,0.00,1.05,0.00,0.000,1030,0.000,0.025,2892,2137,1914,1914,4094,0,0,0,0,0,0,25.42,25.39,25.44,10.09,44.48
$GC,692,1.78,487.5,2891,2136,1913,4094,49.9,13.1,104,699,0.00,1.08,0.00,0.000,516,0.000,0.044,2892,1724,1913,1913,4094,0,0,0,0,0,0,25.75,25.47,25.77,10.08,44.84
$GC,780,1.78,487.5,2891,1723,1910,4094,38.5,12.9,118,786,0.00,0.95,0.00,0.000,1030,0.000,0.028,2892,2113,1910,1910,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.07,45.78
$GC,819,1.78,487.5,2891,2113,1909,4094,33.6,12.8,124,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1909,1909,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.07,46.77
$GC,858,1.78,487.5,2891,2113,1909,4094,28.7,12.7,130,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2113,1908,1908,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.06,45.86
$GC,897,1.78,487.5,2891,2113,1907,4094,23.9,12.0,136,903,0.00,1.23,0.00,0.000,260,0.000,0.054,2892,2565,1907,1907,4094,0,0,0,0,0,0,26.13,25.81,26.15,10.06,46.41
$GC,930,1.78,487.5,2891,2565,1906,4094,20.0,11.5,141,937,0.00,1.15,0.00,0.000,1030,0.000,0.027,2892,2105,1906,1906,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.07,47.51
$GC,970,2.07,679.7,2891,2104,1905,4094,16.4,7.7,147,989,0.90,0.95,11.12,0.731,10756,0.027,0.044,2986,1716,1690,1690,4094,0,0,0,0,0,0,26.01,25.37,24.81,10.11,48.85
$GC,1077,2.07,679.7,2986,1715,1688,4094,4.7,12.4,164,1083,0.00,0.88,0.00,0.000,1030,0.000,0.029,2986,2079,1688,1688,4094,0,0,0,0,0,0,25.96,25.92,25.98,10.12,51.53
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.3,1.023822,124
$GC,1111,0.19,123.9,2986,2157,1686,4094,1.3,12.6,168,1130,6.03,0.00,-5.93,0.000,20742,0.024,0.000,2404,2157,2342,2342,4095,0,0,0,0,0,0,25.98,25.44,26.01,10.13,52.00
$FINISH2,0.1
$STATE,1131,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1131,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,091246
$TT8_MAMPS,0.025466,0.131824
$HUMID,52.95
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.80,33.836
$10V_AH,10.34,35.389
$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,36.100,13.550,67.250,0.000,0.000,25.108,20.600,274.623,0.000,0.000,21.182,442.612,254.780,171.816,563.875,231.608,0.000,368.874,0.000,258.554,0.000,0.542,0.000
$DEVICE_MAMPS,96.390,1262.250,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14317,171
$CAP_FILE_SIZE,35399,0
$CFSIZE,1024409600,960167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170817,103420,6206.005,-17426.816,5,0.9,19,6.8,0.0,29.6,9,4.7