version: 66.13
glider: 401
mission: 22
dive: 1214
start: 8 17 117 13 17 56
data:
$ID,401
$MISSION,22
$DIVE,1214
$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,31
$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
$GPS1,170817,125642,6207.4565,-17427.9316,8,0.9,16,6.8,0.0,5.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-7.5
$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,-487.5,2401,1950,2348,4092,0.0,0.0,0,20,6.47,0.00,-2.22,0.000,20482,0.023,0.000,1773,1952,2577,2577,4094,0,0,0,0,0,0,26.03,28.83,26.07,10.29,53.15
$GC,24,-1.78,-487.5,1773,1951,2577,4094,0.1,0.0,1,35,0.00,1.17,-4.68,0.000,16644,0.000,1.256,1773,2375,3056,3056,4095,0,0,0,0,0,0,26.25,24.59,26.26,10.34,53.18
$GC,226,-1.78,-487.5,1772,2376,3061,4095,25.2,-12.8,30,235,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1955,3061,3061,4095,0,0,0,0,0,0,26.12,26.13,26.15,10.40,52.59
$GC,275,-1.78,-487.5,1772,1955,3062,4095,31.2,-12.7,36,284,0.00,1.10,0.00,0.000,516,0.000,0.052,1773,1523,3062,3062,4095,0,0,0,0,0,0,26.39,26.07,26.40,10.38,51.53
$GC,328,-1.78,-487.5,1772,1522,3062,4095,38.4,-12.8,43,337,0.00,0.95,0.00,0.000,1030,0.000,0.026,1773,1932,3063,3063,4095,0,0,0,0,0,0,26.22,26.18,26.23,10.36,50.59
$GC,375,-1.78,-487.5,1772,1932,3064,4095,44.3,-12.5,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1933,3064,3064,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.34,48.97
$GC,421,-1.78,-487.5,1772,1932,3066,4095,50.1,-13.1,55,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1933,3065,3065,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.34,48.93
$GC,466,-1.78,-487.5,1772,1932,3067,4094,56.1,-13.2,61,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1932,3067,3067,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.32,48.07
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,506,-0.45,0.0,1772,2135,3067,4094,60.4,-12.8,65,542,4.45,0.00,28.33,1.320,10244,0.055,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.22,10.32,47.32
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,547,1.78,487.5,2185,2134,2483,4094,63.6,0.0,69,592,7.55,1.12,27.90,1.286,10500,0.031,0.052,2891,2556,1920,1920,4094,0,0,0,0,0,0,25.50,25.48,23.81,10.19,46.88
$GC,643,1.78,487.5,2890,2556,1919,4094,55.1,13.1,81,653,0.00,1.05,0.05,0.003,9222,0.000,0.025,2891,2138,1919,1919,4095,0,0,0,0,0,0,25.43,25.41,25.46,10.06,45.98
$GC,692,1.78,487.5,2891,2137,1917,4095,49.0,12.9,87,701,0.00,1.10,0.00,0.000,516,0.000,0.046,2891,1713,1917,1917,4094,0,0,0,0,0,0,25.79,25.50,25.80,10.05,45.74
$GC,798,1.78,487.5,2891,1713,1914,4094,34.9,13.3,102,807,0.00,0.95,0.00,0.000,1030,0.000,0.030,2892,2102,1914,1914,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.05,46.49
$GC,845,1.78,487.5,2891,2102,1913,4094,29.1,12.0,108,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2102,1912,1912,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.04,46.73
$GC,892,1.78,487.5,2890,2102,1911,4094,23.5,12.4,114,902,0.00,1.02,0.00,0.000,516,0.000,0.047,2891,1717,1911,1911,4094,0,0,0,0,0,0,26.15,25.85,26.16,10.05,47.32
$GC,998,1.92,579.7,2891,1716,1908,4094,12.8,9.2,129,1010,0.38,0.90,6.25,0.589,11270,0.035,0.029,2934,2093,1807,1807,4094,0,0,0,0,0,0,26.02,26.01,24.93,10.12,50.59
$GC,1049,1.95,603.4,2933,2093,1806,4094,8.0,10.2,135,1058,0.00,0.00,3.00,0.282,8198,0.000,0.000,2933,2093,1779,1779,4094,0,0,0,0,0,0,26.22,25.51,25.01,10.12,51.33
$GC,1096,1.95,603.4,2933,2093,1778,4094,2.6,11.3,141,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2093,1777,1777,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.13,52.32
$STATE,1113,end climb,FINISH_DEPTH_REACHED
$STATE,1113,begin subsurface finish
$FINISH1,0.2,1.023843,122
$GC,1123,0.18,122.5,2933,2145,1778,4094,0.2,11.3,143,1142,5.50,1.17,-5.25,0.000,20996,0.023,1.271,2403,1719,2344,2344,4095,0,0,0,0,0,0,26.03,24.60,26.09,10.14,52.32
$FINISH2,0.0
$STATE,1143,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1143,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,114141
$TT8_MAMPS,0.026964,0.251664
$HUMID,52.87
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.81,34.031
$10V_AH,10.12,35.561
$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,24.350,12.700,65.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,409.573,0.000,110.535,607.654,75.314,0.000,338.464,0.000,353.550,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1271.430,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.469,393.931,311.769,462.566,604.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,14305,145
$CAP_FILE_SIZE,26505,0
$CFSIZE,1024409600,959840256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,125642,6207.457,-17427.932,8,0.9,16,6.8,0.0,5.2,10,4.8