version: 66.13
glider: 401
mission: 22
dive: 1209
start: 8 17 117 11 17 10
data:
$ID,401
$MISSION,22
$DIVE,1209
$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,49
$R_STBD_OVSHOOT,35
$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,0.28
$_SM_ANGLEo,-7.2
$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,-487.5,2399,1967,2346,4092,0.0,0.0,0,18,6.35,0.00,-0.62,0.000,20482,0.025,0.000,1788,1967,2410,2410,4094,0,0,0,0,0,0,25.99,28.83,26.06,10.29,53.22
$GC,23,-1.78,-487.5,1788,1967,2409,4094,0.1,0.0,1,35,0.00,1.10,-6.28,0.000,16644,0.000,1.259,1788,2368,3055,3055,4095,0,0,0,0,0,0,26.23,24.57,26.25,10.30,53.46
$GC,164,-1.78,-487.5,1787,2369,3058,4095,15.8,-14.0,24,171,0.00,1.00,0.00,0.000,1030,0.000,0.031,1788,1975,3058,3058,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.45,52.63
$GC,204,-1.78,-487.5,1787,1975,3059,4095,21.9,-15.6,30,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1975,3060,3060,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.43,52.99
$GC,243,-1.78,-487.5,1787,1975,3060,4095,26.4,-11.3,36,249,0.00,1.17,0.00,0.000,516,0.000,0.051,1788,1517,3061,3061,4095,0,0,0,0,0,0,26.34,26.02,26.36,10.40,52.40
$GC,270,-1.78,-487.5,1787,1518,3061,4095,30.0,-13.0,40,277,0.00,1.00,0.00,0.000,1030,0.000,0.027,1788,1944,3061,3061,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.38,52.20
$GC,310,-1.78,-487.5,1787,1944,3062,4095,34.7,-11.8,46,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1944,3062,3062,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.37,50.70
$GC,349,-1.78,-487.5,1787,1944,3063,4095,39.5,-12.2,52,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1945,3063,3063,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.35,50.00
$GC,387,-1.78,-487.5,1787,1945,3064,4095,44.1,-12.4,58,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1945,3064,3064,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.33,49.13
$GC,426,-1.78,-487.5,1787,1945,3064,4094,49.0,-12.4,64,433,0.00,1.10,0.00,0.000,260,0.000,0.045,1788,2366,3064,3064,4094,0,0,0,0,0,0,26.45,26.15,26.46,10.34,49.13
$GC,478,-1.78,-487.5,1787,2366,3066,4094,55.3,-12.3,72,484,0.00,1.12,0.00,0.000,1030,0.000,0.031,1788,1918,3066,3066,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.32,48.58
$STATE,514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,514,begin apogee
$GC,523,-0.45,0.0,1788,2137,3067,4094,60.3,-12.5,78,559,4.28,0.00,28.23,1.309,10244,0.055,0.000,2185,2138,2484,2484,4095,0,0,0,0,0,0,26.19,25.29,24.21,10.32,47.67
$STATE,560,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,563,1.78,487.5,2184,2137,2484,4095,63.1,0.0,84,606,7.53,1.12,27.98,1.279,10500,0.032,0.054,2893,2556,1916,1916,4094,0,0,0,0,0,0,25.48,25.44,23.82,10.19,47.16
$GC,657,1.78,487.5,2892,2556,1915,4094,54.6,12.7,99,664,0.00,1.05,0.00,0.000,1030,0.000,0.026,2893,2139,1914,1914,4094,0,0,0,0,0,0,25.43,25.40,25.44,10.06,47.08
$GC,697,1.78,487.5,2892,2138,1913,4094,49.5,12.6,105,703,0.00,1.10,0.00,0.000,516,0.000,0.047,2893,1720,1914,1914,4094,0,0,0,0,0,0,25.75,25.46,25.77,10.06,46.45
$GC,754,1.78,487.5,2892,1720,1912,4094,42.2,12.6,114,761,0.00,0.98,0.00,0.000,1030,0.000,0.029,2893,2115,1912,1912,4094,0,0,0,0,0,0,25.69,25.65,25.71,10.05,46.65
$GC,794,1.78,487.5,2892,2114,1911,4094,37.0,13.3,120,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2114,1910,1910,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.04,47.32
$GC,833,1.78,487.5,2892,2114,1909,4094,32.0,12.5,126,839,0.00,1.05,0.00,0.000,516,0.000,0.045,2893,1719,1909,1909,4094,0,0,0,0,0,0,26.04,25.75,26.05,10.04,47.16
$GC,896,1.78,487.5,2892,1719,1907,4094,23.9,12.6,136,903,0.00,0.93,0.00,0.000,1030,0.000,0.030,2893,2100,1907,1907,4094,0,0,0,0,0,0,25.91,25.87,25.93,10.05,47.51
$GC,936,1.78,487.5,2892,2100,1906,4094,19.3,11.0,142,942,0.00,1.00,0.00,0.000,516,0.000,0.048,2892,1722,1906,1906,4094,0,0,0,0,0,0,26.17,25.87,26.18,10.07,48.14
$GC,1000,2.09,692.9,2892,1722,1905,4094,14.1,7.5,152,1019,0.93,0.82,11.75,0.717,11270,0.027,0.032,2991,2065,1674,1674,4094,0,0,0,0,0,0,26.01,25.98,24.84,10.12,51.06
$GC,1052,2.09,693.1,2990,2064,1673,4094,8.9,10.5,160,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2065,1673,1673,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.09,52.40
$GC,1091,2.09,693.1,2990,2064,1672,4094,4.7,10.8,166,1098,0.00,0.93,0.00,0.000,516,0.000,0.047,2991,1715,1672,1672,4094,0,0,0,0,0,0,26.17,25.86,26.17,10.10,52.63
$STATE,1115,end climb,SURFACE_DEPTH_REACHED
$STATE,1115,begin surface coast
$FINISH,0.1,1.023773
$STATE,1128,end surface coast,CONTROL_FINISHED_OK
$STATE,1128,begin surface
$SM_CCo,1231,0.00,0.000,0,0,1671,698.90
$SM_GC,0.71,28.85,0.60,0.00,0.020,0.034,0.000,239,1959,1671,-6.55,-1.23,698.90,0,0,0,0,0,0,26.01,25.97,26.04
$IRIDIUM_FIX,6149.06,-17422.35,170817,091246
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.62
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.82,33.884
$10V_AH,10.37,35.433
$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,47.925,17.175,67.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.562,330.105,177.446,249.737,84.969,0.000,364.091,0.000,258.343,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1259.190,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330852
$DATA_FILE_SIZE,14287,172
$CAP_FILE_SIZE,33026,0
$CFSIZE,1024409600,960069632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,113855,6206.713,-17427.492,12,0.9,35,6.8,0.3,31.1,10,4.6