version: 66.13
glider: 401
mission: 22
dive: 1219
start: 8 17 117 15 23 40
data:
$ID,401
$MISSION,22
$DIVE,1219
$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,30
$R_STBD_OVSHOOT,50
$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
$GPS1,170817,151339,6208.5103,-17428.7715,4,0.8,15,6.7,0.5,45.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-42.6
$GPS2,170817,152304,6208.5190,-17428.7559,15,0.8,19,6.7,0.0,0.0,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$TGT_LATLONG,6156.580,-17421.840
$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,158.1,22917,-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,-487.5,238,1985,1747,4092,0.0,0.0,0,17,6.07,0.00,0.00,0.000,2049,0.103,0.000,744,1979,1747,1747,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.21,51.53
$GC,21,-1.78,-487.5,744,1984,1747,4094,0.7,0.0,1,51,11.18,1.25,-12.52,0.000,18948,0.054,1.271,1764,1523,3057,3057,4094,0,0,0,0,0,0,25.86,24.44,25.94,10.21,51.29
$GC,259,-1.78,-487.5,1763,1523,3062,4094,27.9,-13.1,40,266,0.00,0.98,0.00,0.000,1030,0.000,0.026,1764,1940,3062,3062,4095,0,0,0,0,0,0,26.10,26.08,26.12,10.43,49.76
$GC,299,-1.78,-487.5,1763,1940,3063,4095,32.7,-11.8,46,306,0.00,1.12,0.00,0.000,260,0.000,0.044,1764,2370,3063,3063,4095,0,0,0,0,0,0,26.34,26.04,26.35,10.41,49.13
$GC,381,-1.78,-487.5,1763,2370,3064,4095,42.3,-12.3,59,387,0.00,1.00,0.00,0.000,1030,0.000,0.028,1764,1971,3065,3065,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.38,47.16
$GC,420,-1.78,-487.5,1763,1971,3066,4095,47.3,-12.9,65,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1971,3066,3066,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.37,46.88
$GC,459,-1.78,-487.5,1763,1971,3067,4094,52.2,-13.1,71,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1971,3066,3066,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,46.06
$GC,498,-1.78,-487.5,1763,1971,3067,4095,57.3,-12.7,77,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1971,3068,3068,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.35,45.90
$STATE,515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,515,begin apogee
$GC,524,-0.45,0.0,1763,2138,3068,4094,60.0,-13.2,80,560,4.53,0.00,28.17,1.310,10244,0.055,0.000,2184,2138,2484,2484,4094,0,0,0,0,0,0,26.16,25.26,24.18,10.35,45.70
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,565,1.78,487.5,2184,2138,2483,4094,62.9,0.0,86,606,7.55,0.00,27.92,1.280,11270,0.031,0.000,2893,2138,1916,1916,4094,0,0,0,0,0,0,25.54,25.69,23.80,10.22,45.55
$GC,639,1.78,487.5,2891,2138,1915,4094,56.8,12.5,98,646,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1709,1915,1915,4094,0,0,0,0,0,0,25.52,25.25,25.53,10.09,44.56
$GC,697,1.78,487.5,2892,1708,1913,4094,49.2,13.2,107,703,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2120,1913,1913,4095,0,0,0,0,0,0,25.52,25.51,25.57,10.08,45.27
$GC,736,1.78,487.5,2891,2119,1912,4095,43.9,13.9,113,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1912,1912,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.08,45.62
$GC,775,1.78,487.5,2891,2119,1911,4094,38.8,13.2,119,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1910,1910,4095,0,0,0,0,0,0,25.94,25.96,25.95,10.07,45.66
$GC,814,1.78,487.5,2892,2119,1910,4095,33.6,13.6,125,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.07,46.18
$GC,853,1.78,487.5,2892,2119,1908,4094,28.5,12.8,131,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1908,1908,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.06,46.02
$GC,892,1.78,487.5,2891,2119,1907,4094,23.9,11.7,137,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1907,1907,4095,0,0,0,0,0,0,26.12,26.14,26.13,10.06,46.29
$GC,930,1.78,487.5,2892,2119,1907,4095,19.6,10.5,143,937,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1712,1906,1906,4094,0,0,0,0,0,0,26.17,25.86,26.17,10.08,46.73
$GC,1121,1.90,568.1,2892,1711,1901,4094,2.5,9.3,174,1130,0.32,1.02,4.32,0.412,11266,0.037,0.028,2930,2136,1844,1844,4094,0,0,0,0,0,0,26.12,26.08,26.14,10.18,52.55
$STATE,1131,end climb,FINISH_DEPTH_REACHED
$STATE,1131,begin subsurface finish
$FINISH1,1.9,1.023856,122
$GC,1140,0.18,121.6,2930,2135,1844,4094,1.9,9.1,175,1154,5.50,0.00,-4.60,0.000,20486,0.029,0.000,2400,2136,2347,2347,4094,0,0,0,0,0,0,26.08,24.91,26.13,10.17,53.03
$FINISH2,0.1
$STATE,1155,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1155,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,140613
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.89
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.80,34.189
$10V_AH,10.26,35.671
$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,35.150,9.025,60.425,0.000,0.000,24.357,21.974,323.362,0.000,0.000,20.298,458.075,289.011,146.544,590.928,250.010,0.000,334.807,0.000,267.094,0.000,0.542,0.000
$DEVICE_MAMPS,102.510,1271.430,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,14275,177
$CAP_FILE_SIZE,32772,0
$CFSIZE,1024409600,959578112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170817,152304,6208.519,-17428.756,15,0.8,19,6.7,0.0,0.0,10,4.7