version: 66.13
glider: 401
mission: 22
dive: 1211
start: 8 17 117 12 7 37
data:
$ID,401
$MISSION,22
$DIVE,1211
$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,35
$R_STBD_OVSHOOT,56
$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
$GPS1,170817,114633,6206.7368,-17427.5000,8,1.0,17,6.8,0.0,271.2,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-3.7
$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,-487.5,2400,1986,2345,4092,0.0,0.0,0,24,6.50,0.00,-6.00,0.000,20482,0.023,0.000,1776,1987,2968,2968,4094,0,0,0,0,0,0,26.01,28.83,26.07,10.29,52.12
$GC,28,-1.78,-487.5,1776,1986,2969,4094,0.1,-1.5,2,35,0.00,1.00,-0.77,0.000,16644,0.000,1.260,1776,2351,3055,3055,4094,0,0,0,0,0,0,26.26,24.59,26.20,10.43,52.48
$GC,170,-1.78,-487.5,1776,2351,3060,4094,22.5,-15.1,25,177,0.00,1.00,0.00,0.000,1030,0.000,0.031,1776,1956,3060,3060,4095,0,0,0,0,0,0,26.07,26.03,26.10,10.43,52.55
$GC,210,-1.78,-487.5,1776,1955,3061,4095,27.2,-11.8,31,217,0.00,1.10,0.00,0.000,516,0.000,0.052,1776,1523,3061,3061,4094,0,0,0,0,0,0,26.34,26.02,26.34,10.38,51.53
$GC,250,-1.78,-487.5,1776,1522,3062,4094,32.5,-13.2,37,256,0.00,0.90,0.00,0.000,1030,0.000,0.026,1776,1915,3062,3062,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.38,51.14
$GC,289,-1.78,-487.5,1775,1914,3063,4095,37.5,-12.6,43,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1915,3063,3063,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.36,49.88
$GC,328,-1.78,-487.5,1776,1914,3064,4094,42.4,-12.4,49,335,0.00,1.17,0.00,0.000,260,0.000,0.044,1776,2364,3064,3064,4094,0,0,0,0,0,0,26.41,26.10,26.42,10.35,48.85
$GC,362,-1.78,-487.5,1776,2363,3064,4094,46.8,-13.1,54,368,0.00,1.08,0.00,0.000,1030,0.000,0.031,1776,1934,3065,3065,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.34,48.54
$GC,401,-1.78,-487.5,1775,1934,3066,4095,51.9,-13.0,60,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1934,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.33,48.74
$GC,440,-1.78,-487.5,1775,1934,3067,4095,57.2,-13.0,66,447,0.00,1.05,0.00,0.000,516,0.000,0.052,1776,1519,3066,3066,4095,0,0,0,0,0,0,26.47,26.15,26.48,10.33,48.34
$STATE,458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,458,begin apogee
$GC,468,-0.45,0.0,1776,2121,3067,4095,60.1,-13.7,69,504,4.43,0.00,28.25,1.307,10244,0.054,0.000,2186,2121,2484,2484,4094,0,0,0,0,0,0,26.17,25.27,24.20,10.32,48.26
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,509,1.78,487.5,2185,2121,2484,4094,63.3,0.0,75,551,7.50,1.20,28.08,1.278,10500,0.031,0.053,2892,2569,1915,1915,4094,0,0,0,0,0,0,25.47,25.41,23.81,10.19,46.85
$GC,611,1.78,487.5,2891,2569,1914,4094,53.8,13.1,91,618,0.00,1.10,0.00,0.000,1030,0.000,0.025,2892,2134,1914,1914,4095,0,0,0,0,0,0,25.46,25.43,25.48,10.06,45.98
$GC,651,1.78,487.5,2891,2133,1912,4095,48.4,13.2,97,657,0.00,1.08,0.00,0.000,516,0.000,0.046,2892,1724,1912,1912,4094,0,0,0,0,0,0,25.78,25.49,25.79,10.06,45.98
$GC,732,1.78,487.5,2891,1723,1911,4094,37.7,13.2,110,739,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2136,1910,1910,4094,0,0,0,0,0,0,25.74,25.71,25.76,10.05,46.77
$GC,772,1.78,487.5,2891,2135,1909,4094,32.6,12.9,116,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2136,1909,1909,4095,0,0,0,0,0,0,26.03,26.04,26.04,10.05,46.92
$GC,811,1.78,487.5,2891,2135,1908,4095,27.8,12.4,122,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2135,1908,1908,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.04,47.12
$GC,850,1.78,487.5,2891,2135,1907,4094,23.2,11.8,128,856,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1720,1907,1907,4094,0,0,0,0,0,0,26.13,25.84,26.15,10.05,47.32
$GC,949,1.90,567.0,2891,1720,1905,4094,13.9,9.4,144,963,0.32,0.95,5.50,0.558,11270,0.037,0.028,2930,2118,1821,1821,4094,0,0,0,0,0,0,26.02,26.00,24.92,10.13,50.82
$GC,997,2.06,676.1,2929,2117,1820,4094,9.7,8.9,151,1009,0.47,0.00,7.22,0.594,10246,0.032,0.000,2983,2117,1695,1695,4094,0,0,0,0,0,0,26.01,25.68,24.93,10.13,51.53
$GC,1043,2.06,676.1,2983,2117,1694,4094,4.4,12.0,158,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2117,1693,1693,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,52.63
$STATE,1060,end climb,FINISH_DEPTH_REACHED
$STATE,1060,begin subsurface finish
$FINISH1,1.8,1.023832,123
$GC,1069,0.18,123.2,2983,2117,1692,4094,1.8,12.3,161,1088,6.10,1.05,-5.93,0.000,20996,0.033,1.268,2403,1717,2344,2344,4094,0,0,0,0,0,0,25.97,24.55,25.98,10.12,52.55
$FINISH2,0.0
$STATE,1089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,102834
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.66
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.81,33.946
$10V_AH,10.38,35.481
$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,25.325,16.900,69.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,426.424,253.971,154.031,238.225,76.672,0.000,333.643,0.000,247.032,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1268.370,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,10890,164
$CAP_FILE_SIZE,29748,0
$CFSIZE,1024409600,959987712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,114633,6206.737,-17427.500,8,1.0,17,6.8,0.0,271.2,10,4.7