version: 66.13
glider: 401
mission: 22
dive: 1225
start: 8 17 117 17 49 9
data:
$ID,401
$MISSION,22
$DIVE,1225
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,170817,174006,6207.1089,-17428.4590,4,0.8,17,6.7,0.0,256.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-43.5
$GPS2,170817,174833,6207.0928,-17428.5020,5,0.8,19,6.7,0.6,219.3,11,4.7
$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,156.7,20316,-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,-487.5,238,1949,1778,4093,0.0,0.0,0,17,5.88,0.00,0.00,0.000,2049,0.100,0.000,731,1950,1778,1778,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.20,51.49
$GC,21,-1.78,-487.5,730,1949,1778,4094,0.6,0.0,1,51,11.30,1.17,-12.25,0.000,18948,0.054,1.282,1763,1516,3053,3053,4095,0,0,0,0,0,0,25.91,24.46,25.97,10.21,51.10
$GC,241,-1.78,-487.5,1763,1516,3058,4095,27.7,-13.6,37,248,0.00,1.02,0.00,0.000,1030,0.000,0.027,1764,1948,3058,3058,4094,0,0,0,0,0,0,26.10,26.06,26.12,10.42,49.68
$GC,281,-1.78,-487.5,1763,1948,3059,4094,32.7,-12.3,43,288,0.00,1.10,0.00,0.000,260,0.000,0.045,1764,2368,3059,3059,4095,0,0,0,0,0,0,26.34,26.03,26.35,10.39,48.81
$GC,363,-1.78,-487.5,1763,2368,3061,4095,43.0,-12.7,56,369,0.00,1.02,0.00,0.000,1030,0.000,0.029,1764,1954,3061,3061,4094,0,0,0,0,0,0,26.15,26.12,26.18,10.37,47.12
$GC,402,-1.78,-487.5,1763,1954,3062,4094,48.0,-13.1,62,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3062,3062,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.36,47.00
$GC,441,-1.78,-487.5,1763,1954,3063,4095,53.1,-13.3,68,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3063,3063,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.35,46.33
$GC,480,-1.78,-487.5,1763,1954,3064,4094,58.4,-13.4,74,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3064,3064,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.35,46.88
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,499,-0.45,0.0,1763,2143,3064,4094,60.3,-13.9,76,535,4.55,0.00,28.17,1.314,10244,0.055,0.000,2186,2143,2483,2483,4094,0,0,0,0,0,0,26.15,25.26,24.19,10.34,46.25
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,540,1.78,487.5,2186,2143,2484,4094,63.4,0.0,82,582,7.53,0.00,27.95,1.282,11270,0.032,0.000,2892,2143,1915,1915,4095,0,0,0,0,0,0,25.53,25.69,23.80,10.21,45.55
$GC,615,1.78,487.5,2891,2142,1914,4095,57.0,12.0,94,621,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1713,1914,1914,4095,0,0,0,0,0,0,25.52,25.25,25.53,10.09,44.72
$GC,666,1.78,487.5,2892,1713,1913,4095,50.2,13.3,102,673,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2124,1913,1913,4094,0,0,0,0,0,0,25.53,25.49,25.54,10.08,44.95
$GC,706,1.78,487.5,2892,2124,1912,4094,45.0,13.1,108,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,1911,1911,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.07,45.03
$GC,745,1.78,487.5,2892,2124,1911,4094,39.9,12.8,114,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,1911,1911,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.06,45.74
$GC,784,1.78,487.5,2891,2124,1909,4094,34.8,12.9,120,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,1909,1909,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.06,45.47
$GC,822,1.78,487.5,2891,2124,1908,4094,29.8,12.9,126,829,0.00,1.08,0.00,0.000,516,0.000,0.046,2892,1720,1908,1908,4094,0,0,0,0,0,0,26.06,25.76,26.07,10.06,45.86
$GC,874,1.78,487.5,2892,1719,1907,4094,23.8,11.2,134,880,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2135,1907,1907,4094,0,0,0,0,0,0,25.90,25.86,25.93,10.05,46.33
$GC,913,1.78,487.5,2892,2134,1905,4094,19.2,12.1,140,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1905,1905,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.08,46.96
$GC,952,1.90,568.9,2892,2135,1905,4094,15.5,9.3,146,966,0.32,0.00,5.57,0.578,10246,0.041,0.000,2931,2135,1820,1820,4094,0,0,0,0,0,0,25.99,25.43,24.88,10.12,49.84
$GC,999,1.97,618.5,2930,2135,1819,4094,11.1,9.8,153,1012,0.17,1.10,4.35,0.459,10756,0.054,0.045,2956,1716,1761,1761,4095,0,0,0,0,0,0,25.98,25.75,24.91,10.13,50.78
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.9,1.023824,124
$GC,1092,0.19,123.8,2956,2139,1758,4094,1.9,11.5,166,1105,5.75,0.00,-5.35,0.000,20486,0.026,0.000,2403,2141,2345,2345,4094,0,0,0,0,0,0,26.01,24.84,26.06,10.14,51.96
$FINISH2,0.1
$STATE,1106,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,162933
$TT8_MAMPS,0.026215,0.133322
$HUMID,53.07
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.80,34.367
$10V_AH,10.33,35.813
$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,35.500,11.250,66.050,0.000,0.000,25.777,22.490,264.202,0.000,0.000,20.701,436.834,260.219,157.828,544.422,228.653,0.000,344.982,0.000,254.260,0.000,0.542,0.000
$DEVICE_MAMPS,100.215,1282.140,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,10832,168
$CAP_FILE_SIZE,33107,0
$CFSIZE,1024409600,959283200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170817,174833,6207.093,-17428.502,5,0.8,19,6.7,0.6,219.3,11,4.7