version: 66.13
glider: 401
mission: 22
dive: 1222
start: 8 17 117 16 37 50
data:
$ID,401
$MISSION,22
$DIVE,1222
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,170817,162624,6207.8618,-17428.3887,5,0.7,41,6.7,0.0,31.4,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-38.1
$GPS2,170817,163714,6207.8535,-17428.4277,8,1.0,15,6.7,0.0,233.1,9,5.0
$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,157.9,21653,-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,-487.5,238,1953,1784,4092,0.0,0.0,0,19,8.82,0.00,0.00,0.000,2049,0.103,0.000,970,1949,1784,1784,4094,0,0,0,0,0,0,26.12,28.83,28.83,10.22,51.02
$GC,24,-1.78,-487.5,970,1954,1784,4094,0.7,0.0,1,51,8.55,1.15,-12.23,0.000,18948,0.043,1.269,1763,1521,3055,3055,4095,0,0,0,0,0,0,25.85,24.41,25.92,10.23,50.70
$GC,248,-1.78,-487.5,1762,1521,3060,4095,26.6,-12.6,33,258,0.00,1.00,0.00,0.000,1030,0.000,0.024,1763,1950,3060,3060,4095,0,0,0,0,0,0,26.08,26.05,26.09,10.43,49.29
$GC,295,-1.78,-487.5,1762,1950,3061,4095,32.2,-11.9,39,305,0.00,1.08,0.00,0.000,260,0.000,0.044,1763,2366,3061,3061,4094,0,0,0,0,0,0,26.32,26.03,26.33,10.41,48.77
$GC,409,-1.78,-487.5,1762,2366,3064,4094,44.9,-11.3,55,417,0.00,1.02,0.00,0.000,1030,0.000,0.030,1763,1953,3064,3064,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.37,46.25
$GC,456,-1.78,-487.5,1762,1952,3064,4094,50.6,-12.3,61,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3065,3065,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.36,45.74
$GC,504,-1.78,-487.5,1762,1952,3066,4095,56.6,-12.5,67,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1952,3067,3067,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.35,45.03
$STATE,527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,527,begin apogee
$GC,536,-0.45,0.0,1763,2136,3067,4094,60.2,-12.6,70,572,4.55,0.00,28.35,1.313,10244,0.055,0.000,2185,2137,2484,2484,4095,0,0,0,0,0,0,26.16,25.26,24.18,10.36,45.51
$STATE,573,end apogee,CONTROL_FINISHED_OK
$STATE,573,begin climb
$GC,576,1.78,487.5,2185,2136,2484,4095,63.3,0.0,74,620,7.55,0.00,27.92,1.285,11270,0.031,0.000,2891,2136,1919,1919,4094,0,0,0,0,0,0,25.54,25.69,23.79,10.22,44.92
$GC,659,1.78,487.5,2890,2136,1917,4094,57.3,11.5,84,667,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1716,1918,1918,4094,0,0,0,0,0,0,25.56,25.29,25.57,10.09,43.97
$GC,739,1.78,487.5,2891,1716,1915,4094,47.2,12.8,95,748,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2127,1915,1915,4094,0,0,0,0,0,0,25.65,25.59,25.64,10.08,45.03
$GC,787,1.78,487.5,2891,2127,1914,4094,40.9,13.2,101,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2127,1914,1914,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.07,45.15
$GC,835,1.78,487.5,2891,2127,1912,4094,34.7,13.1,107,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2127,1912,1912,4094,0,0,0,0,0,0,26.02,26.04,26.04,10.06,45.55
$GC,882,1.78,487.5,2891,2127,1911,4094,28.7,12.4,113,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2127,1911,1911,4095,0,0,0,0,0,0,26.10,26.11,26.10,10.07,45.90
$GC,929,1.78,487.5,2890,2127,1910,4095,23.1,11.8,119,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2127,1909,1909,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.07,46.69
$GC,977,1.83,521.9,2891,2127,1908,4094,18.0,10.0,125,988,0.10,1.05,3.40,0.389,10756,0.078,0.043,2907,1714,1875,1875,4094,0,0,0,0,0,0,25.99,25.46,24.86,10.12,47.83
$GC,1071,1.88,552.9,2906,1714,1872,4094,8.9,10.1,138,1081,0.10,1.02,3.30,0.333,11270,0.051,0.028,2925,2137,1839,1839,4095,0,0,0,0,0,0,26.00,26.01,25.01,10.16,50.78
$GC,1120,1.90,570.9,2925,2137,1838,4095,4.2,10.3,144,1130,0.00,0.00,2.78,0.230,8198,0.000,0.000,2925,2137,1816,1816,4094,0,0,0,0,0,0,26.29,25.58,25.08,10.16,51.26
$STATE,1137,end climb,FINISH_DEPTH_REACHED
$STATE,1137,begin subsurface finish
$FINISH1,1.8,1.023838,123
$GC,1147,0.18,122.9,2925,2136,1816,4095,1.8,10.2,146,1165,5.55,0.00,-4.78,0.000,20486,0.041,0.000,2401,2137,2346,2346,4094,0,0,0,0,0,0,26.06,25.46,26.10,10.16,51.37
$FINISH2,0.2
$STATE,1166,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1166,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,151632
$TT8_MAMPS,0.025466,0.253162
$HUMID,51.85
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.79,34.282
$10V_AH,10.13,35.754
$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,35.225,8.925,65.750,0.000,0.000,40.839,23.660,391.355,0.000,0.000,16.643,425.310,0.000,118.456,1008.425,280.240,0.000,357.126,0.000,360.964,0.000,0.542,0.000
$DEVICE_MAMPS,103.275,1269.135,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.405,402.089,318.206,471.592,614.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,14310,148
$CAP_FILE_SIZE,31985,0
$CFSIZE,1024409600,959447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170817,163714,6207.854,-17428.428,8,1.0,15,6.7,0.0,233.1,9,5.0