version: 66.13
glider: 401
mission: 22
dive: 1208
start: 8 17 117 10 55 31
data:
$ID,401
$MISSION,22
$DIVE,1208
$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,28
$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
$GPS1,170817,103420,6206.0054,-17426.8164,5,0.9,19,6.8,0.0,29.6,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.3
$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,-487.5,2404,1952,2342,4092,0.0,0.0,0,29,6.55,0.00,-6.97,0.000,20486,0.025,0.000,1771,1952,3056,3056,4094,0,0,0,0,0,0,26.03,24.80,26.06,10.29,53.26
$GC,33,-1.78,-487.5,1771,1952,3056,4094,0.0,-0.4,2,42,0.00,1.08,0.00,0.000,260,0.000,0.037,1771,2358,3056,3056,4095,0,0,0,0,0,0,26.15,25.88,26.16,10.44,54.05
$GC,79,-1.78,-487.5,1771,2358,3057,4095,5.1,-13.5,8,89,0.00,1.02,0.00,0.000,1030,0.000,0.033,1771,1954,3058,3058,4095,0,0,0,0,0,0,26.03,25.94,26.00,10.45,53.30
$GC,127,-1.78,-487.5,1770,1954,3059,4095,13.6,-19.2,14,135,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3059,3059,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.45,53.11
$GC,173,-1.78,-487.5,1770,1954,3060,4094,21.9,-17.6,20,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3061,3061,4095,0,0,0,0,0,0,26.30,26.32,26.32,10.43,52.52
$GC,219,-1.78,-487.5,1770,1954,3061,4095,27.5,-11.8,26,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3062,3062,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.39,52.24
$GC,265,-1.78,-487.5,1771,1954,3062,4095,32.8,-11.2,32,275,0.00,1.08,0.00,0.000,260,0.000,0.044,1771,2355,3062,3062,4094,0,0,0,0,0,0,26.37,26.09,26.37,10.38,50.74
$GC,332,-1.78,-487.5,1770,2355,3064,4094,40.6,-11.9,41,340,0.00,1.00,0.00,0.000,1030,0.000,0.031,1771,1955,3064,3064,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.35,49.09
$GC,378,-1.78,-487.5,1770,1956,3065,4094,46.1,-12.1,47,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1956,3065,3065,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.34,48.74
$GC,425,-1.78,-487.5,1770,1955,3066,4095,51.9,-12.6,53,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1956,3066,3066,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.33,47.83
$GC,472,-1.78,-487.5,1770,1955,3067,4094,57.9,-12.9,59,481,0.00,1.08,0.00,0.000,260,0.000,0.044,1771,2358,3067,3067,4094,0,0,0,0,0,0,26.48,26.18,26.49,10.32,47.75
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,498,-0.45,0.0,1771,2113,3068,4095,60.8,-13.1,61,534,4.47,0.00,28.42,1.318,10244,0.057,0.000,2184,2111,2484,2484,4095,0,0,0,0,0,0,26.18,25.28,24.21,10.32,47.51
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,538,1.78,487.5,2184,2111,2484,4095,63.9,0.0,65,582,7.53,0.00,28.12,1.285,11270,0.033,0.000,2893,2111,1916,1916,4094,0,0,0,0,0,0,25.55,25.70,23.82,10.20,46.92
$GC,621,1.78,487.5,2892,2111,1915,4094,57.6,12.0,75,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2111,1915,1915,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.06,45.86
$GC,669,1.78,487.5,2892,2111,1914,4094,51.8,11.9,81,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2111,1914,1914,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.06,45.82
$GC,716,1.78,487.5,2893,2111,1913,4094,45.9,11.7,87,726,0.00,0.98,0.00,0.000,516,0.000,0.047,2893,1738,1912,1912,4094,0,0,0,0,0,0,25.87,25.58,25.89,10.06,45.98
$GC,776,1.78,487.5,2892,1737,1911,4094,38.6,11.9,95,786,0.00,0.90,0.00,0.000,1030,0.000,0.029,2893,2107,1911,1911,4094,0,0,0,0,0,0,25.79,25.75,25.80,10.05,46.37
$GC,825,1.78,487.5,2892,2107,1910,4094,33.2,11.1,101,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2107,1909,1909,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.04,46.81
$GC,872,1.78,487.5,2892,2106,1908,4094,27.5,12.2,107,881,0.00,1.00,0.00,0.000,516,0.000,0.046,2893,1731,1908,1908,4094,0,0,0,0,0,0,26.13,25.83,26.14,10.04,47.28
$GC,898,1.78,487.5,2892,1731,1907,4094,24.4,11.4,110,908,0.00,0.95,0.00,0.000,1030,0.000,0.031,2893,2117,1907,1907,4094,0,0,0,0,0,0,25.92,25.90,25.95,10.05,47.75
$GC,947,1.78,487.5,2892,2117,1907,4094,19.1,11.3,116,955,0.00,1.00,0.00,0.000,516,0.000,0.046,2893,1738,1907,1907,4094,0,0,0,0,0,0,26.21,25.91,26.22,10.08,48.07
$GC,1027,2.05,667.9,2892,1738,1905,4094,13.1,7.9,127,1046,0.82,0.85,10.43,0.692,11270,0.028,0.029,2980,2096,1705,1705,4094,0,0,0,0,0,0,26.08,26.04,24.92,10.13,50.74
$GC,1086,2.11,711.6,2980,2096,1705,4094,7.5,9.9,134,1096,0.12,0.00,4.07,0.412,10246,0.063,0.000,2997,2096,1654,1654,4094,0,0,0,0,0,0,26.01,25.47,24.97,10.11,51.61
$GC,1135,2.32,851.1,2996,2095,1653,4094,3.4,8.5,140,1153,0.68,0.95,8.62,0.568,10756,0.034,0.049,3070,1739,1492,1492,4094,0,0,0,0,0,0,25.98,25.51,25.01,10.11,52.36
$STATE,1161,end climb,FINISH_DEPTH_REACHED
$STATE,1161,begin subsurface finish
$FINISH1,0.4,1.023824,124
$GC,1171,0.19,123.8,3070,2146,1491,4095,0.4,9.4,143,1191,6.97,1.17,-7.80,0.000,20996,0.023,1.271,2399,1731,2346,2346,4095,0,0,0,0,0,0,25.92,24.49,25.96,10.08,52.95
$FINISH2,0.0
$STATE,1192,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1192,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,091246
$TT8_MAMPS,0.026215,0.244923
$HUMID,52.67
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.82,33.861
$10V_AH,10.13,35.422
$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,27.150,15.175,79.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.008,0.000,144.744,604.988,89.175,0.000,409.944,0.000,354.242,0.000,0.541,0.000
$DEVICE_MAMPS,63.495,1271.430,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.530,393.929,311.765,462.472,600.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330852
$DATA_FILE_SIZE,14358,145
$CAP_FILE_SIZE,31568,0
$CFSIZE,1024409600,960135168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,103420,6206.005,-17426.816,5,0.9,19,6.8,0.0,29.6,9,4.7