version: 66.13
glider: 401
mission: 22
dive: 1216
start: 8 17 117 14 12 0
data:
$ID,401
$MISSION,22
$DIVE,1216
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,170817,135934,6208.0479,-17428.2754,4,0.7,30,6.7,0.2,249.5,11,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-38.7
$GPS2,170817,141122,6208.0581,-17428.2617,8,0.9,16,6.7,0.0,0.0,9,4.8
$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,294.7,12937,-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,-487.5,230,1959,1733,4092,0.0,0.0,0,21,9.15,0.00,0.00,0.000,2049,0.090,0.000,1009,1957,1734,1734,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.21,51.96
$GC,25,-1.78,-487.5,1009,1958,1733,4094,0.6,0.0,1,52,8.15,1.15,-12.70,0.000,18692,0.045,1.262,1764,2379,3055,3055,4094,0,0,0,0,0,0,25.91,24.47,25.97,10.22,51.69
$GC,156,-1.78,-487.5,1764,2379,3058,4094,14.8,-17.6,19,166,0.00,1.05,0.00,0.000,1030,0.000,0.028,1764,1959,3058,3058,4095,0,0,0,0,0,0,25.98,25.94,26.01,10.50,50.74
$GC,205,-1.78,-487.5,1764,1959,3059,4095,23.1,-16.1,25,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1959,3059,3059,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.46,49.88
$GC,253,-1.78,-487.5,1764,1959,3060,4095,29.1,-12.2,31,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1959,3061,3061,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.42,48.93
$GC,300,-1.78,-487.5,1764,1959,3062,4095,35.2,-13.2,37,310,0.00,1.10,0.00,0.000,516,0.000,0.049,1764,1523,3062,3062,4095,0,0,0,0,0,0,26.34,26.03,26.36,10.40,47.51
$GC,349,-1.78,-487.5,1764,1523,3063,4095,41.5,-12.7,43,357,0.00,1.02,0.00,0.000,1030,0.000,0.025,1764,1961,3063,3063,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.38,46.41
$GC,396,-1.78,-487.5,1764,1961,3064,4095,47.7,-13.1,49,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1961,3064,3064,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.37,45.94
$GC,444,-1.78,-487.5,1764,1960,3064,4095,54.2,-13.3,55,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1961,3065,3065,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.36,45.39
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,496,-0.45,0.0,1764,2141,3066,4094,60.4,-13.3,61,532,4.53,0.00,28.38,1.320,10244,0.055,0.000,2184,2142,2484,2484,4094,0,0,0,0,0,0,26.15,25.25,24.17,10.35,45.39
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,536,1.78,487.5,2184,2141,2483,4094,63.8,0.0,65,581,7.43,1.12,28.20,1.287,10500,0.031,0.051,2889,2561,1914,1914,4094,0,0,0,0,0,0,25.46,25.39,23.77,10.22,44.88
$GC,611,1.78,487.5,2888,2560,1913,4094,58.0,12.3,74,621,0.00,1.08,0.00,0.000,1030,0.000,0.024,2889,2135,1913,1913,4094,0,0,0,0,0,0,25.33,25.30,25.34,10.10,44.25
$GC,659,1.78,487.5,2888,2135,1912,4094,51.9,13.1,80,668,0.00,1.08,0.00,0.000,516,0.000,0.046,2889,1724,1911,1911,4094,0,0,0,0,0,0,25.71,25.43,25.72,10.09,44.52
$GC,772,1.78,487.5,2888,1723,1908,4094,37.4,12.9,96,781,0.00,0.85,0.00,0.000,1030,0.000,0.028,2889,2079,1908,1908,4094,0,0,0,0,0,0,25.77,25.75,25.80,10.07,45.23
$GC,820,1.78,487.5,2889,2079,1907,4094,31.3,12.5,102,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2079,1907,1907,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.06,45.78
$GC,868,1.78,487.5,2889,2078,1905,4095,25.6,11.7,108,878,0.00,0.95,0.00,0.000,516,0.000,0.046,2889,1718,1905,1905,4094,0,0,0,0,0,0,26.13,25.82,26.14,10.07,45.51
$GC,993,1.98,622.2,2888,1718,1902,4094,13.0,8.5,126,1012,0.65,0.82,8.02,0.647,11270,0.030,0.027,2960,2075,1758,1758,4094,0,0,0,0,0,0,26.03,26.06,24.92,10.15,49.56
$GC,1052,2.05,667.4,2959,2075,1757,4094,7.5,9.9,133,1062,0.10,0.00,4.15,0.420,10246,0.070,0.000,2979,2075,1704,1704,4094,0,0,0,0,0,0,26.03,25.72,24.97,10.14,51.41
$STATE,1097,end climb,FINISH_DEPTH_REACHED
$STATE,1097,begin subsurface finish
$FINISH1,1.3,1.023850,122
$GC,1107,0.18,122.0,2979,2149,1702,4094,1.3,12.5,139,1127,6.03,1.15,-5.90,0.000,20996,0.025,1.266,2398,1720,2348,2348,4094,0,0,0,0,0,0,26.01,24.56,26.05,10.14,51.10
$FINISH2,0.0
$STATE,1128,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1128,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,140438
$TT8_MAMPS,0.025466,0.242676
$HUMID,52.00
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.77,34.100
$10V_AH,10.14,35.611
$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,36.025,11.925,68.750,0.000,0.000,77.344,107.357,236.481,0.000,0.000,17.924,411.938,89.839,122.943,1010.936,219.141,0.000,363.111,0.000,344.641,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,1266.075,1319.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.339,383.108,303.159,449.531,586.971,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329356
$DATA_FILE_SIZE,14280,141
$CAP_FILE_SIZE,32366,0
$CFSIZE,1024409600,959741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170817,141122,6208.058,-17428.262,8,0.9,16,6.7,0.0,0.0,9,4.8