version: 66.13
glider: 401
mission: 22
dive: 1217
start: 8 17 117 14 32 34
data:
$ID,401
$MISSION,22
$DIVE,1217
$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,34
$R_STBD_OVSHOOT,54
$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
$GPS1,170817,141122,6208.0581,-17428.2617,8,0.9,16,6.7,0.0,0.0,9,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-3.4
$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,6,begin dive
$GC,10,-1.78,-487.5,2397,1971,2347,4092,0.0,0.0,0,24,6.43,0.00,-5.55,0.000,20482,0.020,0.000,1771,1972,2922,2922,4094,0,0,0,0,0,0,26.04,28.83,26.08,10.29,52.28
$GC,28,-1.78,-487.5,1771,1971,2922,4094,0.2,-3.4,2,36,0.00,1.02,-1.25,0.000,16644,0.000,1.261,1771,2357,3057,3057,4095,0,0,0,0,0,0,26.26,24.59,26.22,10.42,52.40
$GC,141,-1.78,-487.5,1770,2357,3061,4095,17.3,-18.4,20,147,0.00,1.00,0.00,0.000,1030,0.000,0.028,1771,1963,3061,3061,4094,0,0,0,0,0,0,26.07,26.03,26.08,10.46,52.59
$GC,180,-1.78,-487.5,1770,1963,3062,4094,23.6,-15.1,26,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1963,3062,3062,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.42,51.89
$GC,219,-1.78,-487.5,1770,1963,3063,4094,28.5,-12.8,32,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1963,3063,3063,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.39,51.85
$GC,258,-1.78,-487.5,1770,1963,3064,4095,33.4,-12.4,38,264,0.00,1.12,0.00,0.000,516,0.000,0.051,1771,1521,3064,3064,4095,0,0,0,0,0,0,26.37,26.06,26.38,10.37,51.02
$GC,303,-1.78,-487.5,1770,1522,3065,4095,39.2,-13.1,45,310,0.00,1.00,0.00,0.000,1030,0.000,0.027,1771,1947,3065,3065,4094,0,0,0,0,0,0,26.19,26.16,26.21,10.36,49.64
$GC,343,-1.78,-487.5,1770,1947,3066,4094,44.4,-12.8,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1947,3066,3066,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.35,49.25
$GC,382,-1.78,-487.5,1770,1947,3066,4095,49.4,-12.8,57,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1947,3067,3067,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.34,48.07
$GC,421,-1.78,-487.5,1770,1947,3067,4095,54.4,-12.5,63,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1947,3068,3068,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.34,47.48
$GC,459,-1.78,-487.5,1770,1947,3068,4094,59.2,-12.6,69,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1947,3069,3069,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.32,47.75
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,479,-0.45,0.0,1770,2136,3069,4095,61.0,-13.0,71,515,4.50,0.00,28.33,1.320,10244,0.055,0.000,2186,2136,2484,2484,4094,0,0,0,0,0,0,26.18,25.27,24.20,10.32,47.79
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,519,1.78,487.5,2186,2136,2484,4094,63.7,0.0,77,562,7.50,1.15,28.00,1.287,10500,0.031,0.053,2891,2561,1916,1916,4094,0,0,0,0,0,0,25.47,25.42,23.80,10.19,46.57
$GC,613,1.78,487.5,2891,2560,1914,4094,54.9,13.4,92,620,0.00,1.08,0.00,0.000,1030,0.000,0.025,2891,2134,1914,1914,4094,0,0,0,0,0,0,25.42,25.40,25.44,10.06,45.98
$GC,653,1.78,487.5,2891,2133,1913,4094,49.6,13.1,98,660,0.00,1.08,0.00,0.000,516,0.000,0.047,2891,1724,1913,1913,4095,0,0,0,0,0,0,25.75,25.47,25.77,10.06,46.02
$GC,770,1.78,487.5,2891,1723,1910,4095,34.3,12.6,117,777,0.00,0.93,0.00,0.000,1030,0.000,0.030,2892,2102,1910,1910,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.04,47.24
$GC,810,1.78,487.5,2891,2102,1908,4094,29.5,12.3,123,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2102,1909,1909,4094,0,0,0,0,0,0,26.07,26.09,26.08,10.04,47.24
$GC,849,1.78,487.5,2891,2102,1907,4094,24.9,12.2,129,856,0.00,1.02,0.00,0.000,516,0.000,0.047,2892,1716,1907,1907,4094,0,0,0,0,0,0,26.13,25.82,26.14,10.05,47.40
$GC,961,1.95,602.3,2891,1715,1905,4094,14.1,8.8,147,975,0.50,0.85,7.22,0.632,11270,0.032,0.028,2945,2079,1781,1781,4094,0,0,0,0,0,0,26.03,26.01,24.91,10.12,50.82
$GC,1008,2.01,643.1,2944,2078,1780,4094,9.6,9.9,154,1016,0.15,0.00,3.83,0.405,10246,0.057,0.000,2970,2078,1734,1734,4094,0,0,0,0,0,0,25.99,25.70,24.95,10.12,52.20
$GC,1049,2.01,643.1,2969,2079,1733,4094,4.8,12.1,160,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2079,1732,1732,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,52.32
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1072,begin subsurface finish
$FINISH1,1.7,1.023853,122
$GC,1082,0.18,121.8,2970,2163,1731,4094,1.7,11.9,164,1101,5.90,1.23,-5.47,0.000,20996,0.024,1.271,2401,1723,2350,2350,4094,0,0,0,0,0,0,26.01,24.58,26.04,10.12,53.03
$FINISH2,0.1
$STATE,1102,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,140438
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.46
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.80,34.123
$10V_AH,10.38,35.622
$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,24.975,12.600,67.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.487,262.421,148.939,242.864,74.070,0.000,329.448,0.000,251.297,0.000,0.541,0.000
$DEVICE_MAMPS,56.610,1271.430,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,10889,167
$CAP_FILE_SIZE,29303,0
$CFSIZE,1024409600,959692800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,141122,6208.058,-17428.262,8,0.9,16,6.7,0.0,0.0,9,4.8