version: 66.13
glider: 401
mission: 22
dive: 1213
start: 8 17 117 12 57 18
data:
$ID,401
$MISSION,22
$DIVE,1213
$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,25
$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
$GPS1,170817,124840,6207.4331,-17427.9492,7,0.8,15,6.8,0.0,257.0,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-40.8
$GPS2,170817,125642,6207.4565,-17427.9316,8,0.9,16,6.8,0.0,5.2,10,4.8
$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,298.0,13784,-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,-487.5,239,1956,1786,4092,0.0,0.0,0,17,6.03,0.00,0.00,0.000,2049,0.093,0.000,752,1956,1787,1787,4095,0,0,0,0,0,0,26.18,28.83,28.83,10.21,51.92
$GC,21,-1.78,-487.5,751,1956,1788,4095,0.6,0.0,1,51,11.00,1.12,-12.23,0.000,18692,0.052,1.258,1763,2376,3053,3053,4095,0,0,0,0,0,0,25.89,24.49,25.96,10.21,51.18
$GC,165,-1.78,-487.5,1762,2376,3056,4095,17.1,-18.3,24,172,0.00,1.08,0.00,0.000,1030,0.000,0.030,1763,1947,3057,3057,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.49,51.14
$GC,205,-1.78,-487.5,1762,1946,3058,4094,23.7,-12.8,30,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3058,3058,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.44,50.35
$GC,244,-1.78,-487.5,1762,1946,3058,4095,28.7,-12.9,36,250,0.00,1.08,0.00,0.000,516,0.000,0.050,1763,1523,3059,3059,4095,0,0,0,0,0,0,26.31,25.98,26.32,10.41,50.03
$GC,289,-1.78,-487.5,1762,1522,3060,4095,34.9,-13.6,43,296,0.00,1.02,0.00,0.000,1030,0.000,0.026,1763,1957,3060,3060,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.39,48.54
$GC,329,-1.78,-487.5,1762,1957,3061,4095,39.9,-12.3,49,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3061,3061,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.38,47.91
$GC,367,-1.78,-487.5,1762,1957,3061,4094,44.9,-12.6,55,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3062,3062,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.37,46.85
$GC,406,-1.78,-487.5,1762,1957,3062,4094,50.0,-13.5,61,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3063,3063,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.36,46.33
$GC,445,-1.78,-487.5,1762,1957,3064,4095,55.4,-13.9,67,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.35,46.02
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,481,begin apogee
$GC,489,-0.45,0.0,1763,2140,3064,4095,60.9,-13.8,73,525,4.57,0.00,28.20,1.317,10244,0.055,0.000,2186,2140,2484,2484,4095,0,0,0,0,0,0,26.15,25.24,24.18,10.34,46.29
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,530,1.78,487.5,2186,2140,2483,4095,63.8,0.0,79,572,7.50,1.12,28.08,1.287,10500,0.031,0.051,2891,2561,1916,1916,4094,0,0,0,0,0,0,25.46,25.40,23.78,10.22,45.58
$GC,644,1.78,487.5,2891,2560,1913,4094,53.1,12.6,97,650,0.00,1.08,0.00,0.000,1030,0.000,0.025,2892,2133,1913,1913,4094,0,0,0,0,0,0,25.49,25.47,25.51,10.08,45.31
$GC,684,1.78,487.5,2891,2132,1912,4094,47.8,12.2,103,690,0.00,1.08,0.00,0.000,516,0.000,0.046,2891,1722,1912,1912,4094,0,0,0,0,0,0,25.80,25.51,25.82,10.08,45.74
$GC,783,1.78,487.5,2891,1722,1909,4094,35.1,13.3,119,790,0.00,0.95,0.00,0.000,1030,0.000,0.029,2892,2111,1910,1910,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.06,46.57
$GC,823,1.78,487.5,2891,2110,1908,4094,30.1,12.2,125,829,0.00,1.23,0.00,0.000,260,0.000,0.054,2891,2562,1907,1907,4094,0,0,0,0,0,0,26.07,25.75,26.08,10.06,46.37
$GC,862,1.78,487.5,2891,2561,1907,4094,25.4,11.4,131,869,0.00,1.08,0.00,0.000,1030,0.000,0.027,2891,2127,1907,1907,4094,0,0,0,0,0,0,25.92,25.89,25.96,10.06,46.81
$GC,902,1.78,487.5,2891,2127,1906,4094,20.6,12.2,137,909,0.00,1.05,0.00,0.000,516,0.000,0.047,2891,1720,1906,1906,4094,0,0,0,0,0,0,26.17,25.86,26.18,10.07,47.91
$GC,1038,1.96,611.0,2891,1720,1903,4094,9.1,8.7,159,1052,0.55,0.88,7.47,0.601,11270,0.031,0.029,2951,2087,1771,1771,4094,0,0,0,0,0,0,26.07,26.06,25.00,10.15,51.96
$GC,1085,1.96,611.0,2950,2086,1770,4094,4.1,11.1,166,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2086,1770,1770,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.14,52.08
$STATE,1102,end climb,FINISH_DEPTH_REACHED
$STATE,1102,begin subsurface finish
$FINISH1,1.7,1.023842,123
$GC,1112,0.18,122.6,2950,2147,1769,4094,1.7,11.2,169,1132,5.82,1.17,-4.88,0.000,21252,0.039,1.269,2401,1717,2348,2348,4094,0,0,0,0,0,0,26.05,24.59,26.09,10.14,52.63
$FINISH2,0.6
$STATE,1133,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1133,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,114141
$TT8_MAMPS,0.025466,0.133322
$HUMID,53.07
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.78,34.009
$10V_AH,10.33,35.529
$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,35.475,14.450,63.750,0.000,0.000,24.001,16.755,250.917,0.000,0.000,17.828,447.438,271.379,157.439,526.911,227.027,0.000,346.943,0.000,260.114,0.000,0.542,0.000
$DEVICE_MAMPS,92.565,1269.135,1317.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,14433,172
$CAP_FILE_SIZE,33666,0
$CFSIZE,1024409600,959873024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170817,125642,6207.457,-17427.932,8,0.9,16,6.8,0.0,5.2,10,4.8