version: 66.13
glider: 401
mission: 22
dive: 1210
start: 8 17 117 11 47 9
data:
$ID,401
$MISSION,22
$DIVE,1210
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,170817,113855,6206.7129,-17427.4922,12,0.9,35,6.8,0.3,31.1,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-33.6
$GPS2,170817,114633,6206.7368,-17427.5000,8,1.0,17,6.8,0.0,271.2,10,4.7
$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,301.4,14876,-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,-487.5,239,1966,1671,4092,0.0,0.0,0,20,8.90,0.00,0.00,0.000,2049,0.083,0.000,1005,1967,1671,1671,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.19,52.08
$GC,24,-1.78,-487.5,1005,1966,1670,4094,0.5,0.0,1,52,8.12,1.12,-12.82,0.000,18692,0.042,1.265,1764,2375,3055,3055,4095,0,0,0,0,0,0,25.91,24.49,25.97,10.19,51.81
$GC,134,-1.78,-487.5,1763,2374,3058,4095,13.4,-18.7,16,144,0.00,1.05,0.00,0.000,1030,0.000,0.028,1764,1962,3058,3058,4095,0,0,0,0,0,0,25.98,25.94,26.04,10.50,51.96
$GC,183,-1.78,-487.5,1763,1962,3059,4095,21.6,-17.9,22,192,0.00,1.12,0.00,0.000,516,0.000,0.050,1764,1520,3060,3060,4094,0,0,0,0,0,0,26.25,25.93,26.26,10.48,50.82
$GC,231,-1.78,-487.5,1763,1520,3060,4094,27.9,-12.7,28,240,0.00,0.98,0.00,0.000,1030,0.000,0.025,1764,1936,3061,3061,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.42,49.92
$GC,279,-1.78,-487.5,1763,1936,3061,4095,33.9,-11.9,34,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1937,3062,3062,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.40,49.21
$GC,327,-1.78,-487.5,1763,1938,3062,4094,39.9,-12.6,40,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1938,3063,3063,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,47.95
$GC,373,-1.78,-487.5,1763,1937,3064,4095,45.8,-12.9,46,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1938,3064,3064,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.37,46.96
$GC,421,-1.78,-487.5,1763,1937,3065,4094,52.0,-13.5,52,430,0.00,1.15,0.00,0.000,260,0.000,0.045,1765,2376,3065,3065,4095,0,0,0,0,0,0,26.42,26.12,26.44,10.36,46.45
$GC,461,-1.78,-487.5,1764,2376,3066,4095,57.6,-13.3,57,470,0.00,1.15,0.00,0.000,1030,0.000,0.031,1764,1918,3066,3066,4095,0,0,0,0,0,0,26.22,26.17,26.23,10.35,45.82
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,486,-0.45,0.0,1764,2142,3067,4095,60.3,-13.4,59,529,4.53,0.00,28.45,1.311,10244,0.056,0.000,2184,2143,2483,2483,4094,0,0,0,0,0,0,26.15,24.95,24.18,10.35,45.98
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.78,487.5,2184,2142,2483,4094,63.6,0.0,64,578,7.53,1.10,28.02,1.282,10500,0.031,0.050,2891,2554,1915,1915,4094,0,0,0,0,0,0,25.47,25.44,23.80,10.22,45.11
$GC,641,1.78,487.5,2890,2553,1913,4094,53.7,12.8,78,651,0.00,1.05,0.00,0.000,1030,0.000,0.025,2891,2135,1913,1913,4094,0,0,0,0,0,0,25.48,25.44,25.49,10.09,44.36
$GC,688,1.78,487.5,2890,2135,1911,4094,47.7,12.6,84,698,0.00,1.08,0.00,0.000,516,0.000,0.045,2891,1722,1911,1911,4094,0,0,0,0,0,0,25.81,25.52,25.82,10.08,45.35
$GC,755,1.78,487.5,2890,1722,1910,4094,39.2,12.7,93,764,0.00,1.02,0.00,0.000,1030,0.000,0.031,2890,2134,1909,1909,4094,0,0,0,0,0,0,25.74,25.74,25.77,10.07,45.15
$GC,802,1.78,487.5,2890,2134,1908,4094,33.1,12.9,99,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2135,1907,1907,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.07,46.25
$GC,848,1.78,487.5,2890,2135,1907,4094,27.3,12.3,105,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2135,1907,1907,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.07,45.94
$GC,894,1.78,487.5,2890,2135,1905,4094,21.6,12.7,111,903,0.00,1.10,0.00,0.000,516,0.000,0.044,2891,1718,1905,1905,4094,0,0,0,0,0,0,26.16,25.86,26.17,10.07,46.53
$GC,988,1.96,610.9,2890,1718,1903,4094,13.1,8.7,124,1007,0.52,1.00,7.55,0.629,11270,0.032,0.028,2948,2133,1771,1771,4094,0,0,0,0,0,0,26.03,26.01,24.93,10.14,49.92
$GC,1046,2.01,639.1,2946,2133,1769,4094,7.1,10.1,131,1056,0.10,0.00,3.15,0.301,10246,0.074,0.000,2969,2133,1739,1739,4094,0,0,0,0,0,0,26.02,25.50,25.00,10.14,51.69
$STATE,1092,end climb,FINISH_DEPTH_REACHED
$STATE,1092,begin subsurface finish
$FINISH1,1.2,1.023830,123
$GC,1101,0.19,123.4,2969,2133,1737,4094,1.2,12.3,137,1120,5.93,1.12,-5.62,0.000,20996,0.028,1.267,2400,1718,2346,2346,4094,0,0,0,0,0,0,26.02,24.58,26.06,10.14,52.16
$FINISH2,0.0
$STATE,1122,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1122,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,102834
$TT8_MAMPS,0.025466,0.242676
$HUMID,51.85
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.80,33.923
$10V_AH,10.14,35.470
$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,35.625,14.600,67.175,0.000,0.000,22.584,21.541,224.989,0.000,0.000,18.576,400.818,0.000,133.550,841.114,220.187,0.000,385.503,0.000,339.743,0.000,0.543,0.000
$DEVICE_MAMPS,83.385,1266.840,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.567,377.640,298.842,443.192,576.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,14262,139
$CAP_FILE_SIZE,32701,0
$CFSIZE,1024409600,960036864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170817,114633,6206.737,-17427.500,8,1.0,17,6.8,0.0,271.2,10,4.7